Pickup device

Abstract

The utility model provides a pickup device which comprises a pickup mechanism and further comprises a seat body, the seat body comprises a guide plate, and a first guide groove is formed in the guide plate; the connecting rod mechanism comprises a connecting rod and a connecting assembly, a second guide groove is formed in the connecting rod, the first guide groove and the second guide groove are connected through the connecting assembly, the connecting assembly can move along the first guide groove and the second guide groove, and the picking mechanism is connected with the connecting assembly; the driving mechanism is fixedly connected with the guide plate, the end, away from the second guide groove, of the connecting rod is in transmission connection with the driving mechanism through a rotating shaft penetrating through the guide plate, and the driving mechanism is used for driving the connecting rod to rotate around a rotating center so as to drive the picking mechanism to move along the first guide groove. According to the picking device, feeding and discharging can be continuously completed only through a single driving mechanism used for power output, the mechanism space is simplified, the action is coherent, the running speed is increased, the working efficiency is high and stable, and the manufacturing and maintaining cost is low.

Description

Technical Field

[0001] The present disclosure relates to the technical field of loading mechanisms, and in particular, to a picking device. Background Art

[0002] Currently, in the battery and electronics industries, the commonly used loading mechanism is to use a module assembly in combination with a suction cup or a gripper to complete the loading action. There are mainly two types of mechanisms. One is for occasions with high requirements for loading accuracy. Generally, a servo motor and a linear module are used to drive the suction cup to move in the X-axis direction and the Z-axis direction to complete the loading action. The other is for occasions with low requirements for accuracy. Generally, a rodless cylinder and a slide cylinder are used to drive the suction cup to move in the X-axis direction and the Z-axis direction to complete the loading action. However, for the first mechanism, the requirements for module installation and processing accuracy are high, the cost is high, the speed is slow, and the occupied volume is large, which is less applicable to occasions with high speed requirements and limited space. For the second mechanism, the accuracy is low, the speed is slow, and the stability is poor, which is less applicable to occasions with high requirements for speed, accuracy, and stability. Summary of the Utility Model

[0003] The present disclosure provides a picking device to at least solve the above technical problems existing in the prior art.

[0004] The picking device according to the present disclosure includes a picking mechanism, and further includes:

[0005] A base body, including a guide plate, and a first guide groove is formed on the guide plate;

[0006] A link mechanism, including a connecting rod and a connecting component. A second guide groove is formed on the connecting rod. The first guide groove and the second guide groove are connected by the connecting component, and the connecting component can move along the first guide groove and the second guide groove. The picking mechanism is connected to the connecting component; and

[0007] A driving mechanism, fixedly connected to the guide plate. One end of the connecting rod away from the second guide groove is in transmission connection with the driving mechanism through a rotating shaft penetrating the guide plate. The driving mechanism is used to drive the connecting rod to rotate around a rotation center to drive the picking mechanism to move along the first guide groove.

[0008] In an implementable manner, the connecting component includes a connecting shaft, a first bearing and a second bearing sleeved on the connecting shaft. The first bearing is arranged in the first guide groove, the second bearing is arranged in the second guide groove, and the picking mechanism is fixedly connected to the end of the connecting shaft.

[0009] In an implementable manner, γ > α - β;

[0010] Wherein, α is the maximum distance between the center of the first guiding groove and the rotation center; β is the shortest distance between the center of the first guiding groove and the rotation center; γ is the distance that the connecting component moves within the second guiding groove.

[0011] In an implementable embodiment, a guide rail mechanism is further included. The guide rail mechanism includes a first guide rail component, a second guide rail component, and a transition plate. The first guide rail component is disposed on a surface of the guide plate close to the picking mechanism and is arranged along a first direction. The second guide rail component is disposed on the transition plate and is arranged along a second direction. The transition plate is slidably connected to the first guide rail component, and the picking mechanism is slidably connected to the second guide rail component.

[0012] In an implementable embodiment, a slider is disposed on a side of the transition plate away from the second guide rail component, and the slider is slidably connected to the first guide rail component.

[0013] In an implementable embodiment, the guide plate includes opposite first and second surfaces. The connecting rod is disposed on the first surface, and the driving mechanism is fixed to the second surface.

[0014] In an implementable embodiment, a detection mechanism is further included. The detection mechanism is disposed on the second surface and beside the first guiding groove, and is used for detecting the position of the connecting component within the first guiding groove.

[0015] In an implementable embodiment, the detection mechanism is a photoelectric switch.

[0016] In an implementable embodiment, a light-shielding sheet is disposed at an end of the connecting component close to the second surface.

[0017] In an implementable embodiment, a connecting block is fixed to the picking mechanism, and the picking mechanism is fixedly connected to an end of the connecting shaft through the connecting block.

[0018] In the present disclosure, since a first guiding groove is formed on the guide plate of the picking device seat body, and a second guiding groove is formed on the connecting rod of the link mechanism, and the first guiding groove and the second guiding groove are connected through a connecting component, and since the connecting component can move within the first guiding groove and the second guiding groove, when the driving mechanism drives the connecting rod to rotate around the rotation center, the driving mechanism can drive the picking mechanism to move along the first guiding groove, thereby converting the rotational motion of the driving mechanism into up-and-down, left-and-right motions. The picking device of the present disclosure only needs a single driving mechanism for power output to continuously complete feeding and discharging, simplifies the mechanism space, has continuous actions, improves the operating speed, has high working efficiency and stability, and has low manufacturing and maintenance costs; in addition, the first guiding groove and the second guiding groove can be adaptively designed according to needs to meet different running trajectories required by the picking mechanism, and has strong adaptability.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By referring to the drawings and reading the following detailed description, the above and other objects, features, and advantages of the exemplary embodiments of the present disclosure will become readily understandable. In the drawings, several embodiments of the present disclosure are shown in an exemplary rather than restrictive manner, where:

[0021] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0022] Figure 1 Shows the overall structural schematic of a pick-up device according to an exemplary embodiment of the present disclosure Figure 1 ;

[0023] Figure 2 Shows the overall structural schematic of a pick-up device according to an exemplary embodiment of the present disclosure Figure 2 ;

[0024] Figure 3 Shows the schematic of the cooperation between the driving mechanism and the link structure of a pick-up device according to an exemplary embodiment of the present disclosure Figure 1 ;

[0025] Figure 4 Shows the schematic of the cooperation between the driving mechanism and the link structure of a pick-up device according to an exemplary embodiment of the present disclosure Figure 2 ;

[0026] Figure 5 Shows the structural schematic diagram of the guide rail mechanism of a pick-up device according to an exemplary embodiment of the present disclosure;

[0027] Figure 6 Shows the structural schematic diagram of the connection component of a pick-up device according to an exemplary embodiment of the present disclosure;

[0028] Figure 7 Shows the schematic diagram of the cooperation between the connecting rod and the second bearing of a pick-up device according to an exemplary embodiment of the present disclosure;

[0029] Figure 8 Shows the schematic diagram of the cooperation between the connection component and the pick-up mechanism of a pick-up device according to an exemplary embodiment of the present disclosure;

[0030] Figure 9 Shows the schematic diagram of the cooperation between the connecting rod and the guide plate of a pick-up device according to an exemplary embodiment of the present disclosure;

[0031] Figure 10Shows a design schematic diagram of the first guiding groove of the picking device according to an exemplary embodiment of the present disclosure;

[0032] Figure 11 Shows a design schematic diagram of the second guiding groove of the picking device according to an exemplary embodiment of the present disclosure;

[0033] Figure 12 Shows a design schematic diagram of the first guiding groove of the picking device according to an exemplary embodiment of the present disclosure (the trajectory of the first guiding groove is closed);

[0034] Figure 13 Shows a design schematic diagram of the first guiding groove of the picking device according to an exemplary embodiment of the present disclosure (the trajectory of the first guiding groove is not closed).

[0035] Explanation of the reference numerals in the figure: 1, picking mechanism; 2, seat body; 3, link mechanism; 4, driving mechanism; 5, rotating shaft; 6, guide rail mechanism; 7, detection mechanism; 8, light shielding sheet; 11, suction cup; 12, connecting block; 21, guide plate; 22, support plate; 31, connecting rod; 32, connecting component; 61, first guide rail component; 62, second guide rail component; 63, transition plate; 64, slider; 211, first guiding groove; 311, second guiding groove; 321, connecting shaft; 322, first bearing; 323, second bearing. Detailed implementation manners

[0036] To make the objectives, features, and advantages of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present disclosure.

[0037] The embodiments of the present disclosure will be described in detail below with reference to the drawings.

[0038] Refer to Figures 1 to 4As shown, a picking device of an exemplary embodiment of the present disclosure includes a base 2, a picking mechanism 1, a connecting rod mechanism 3 and a driving mechanism 4. The base 2 includes a guide plate 21, and a first guide groove 211 is formed on the guide plate 21. The connecting rod mechanism 3 includes a connecting rod 31 and a connecting assembly 32. A second guide groove 311 is formed on the connecting rod 31. The first guide groove 211 and the second guide groove 311 are connected by the connecting assembly 32, and the connecting assembly 32 can move along the first guide groove 211 and the second guide groove 311. The picking mechanism 1 is connected to the connecting assembly 32. The driving mechanism 4 is fixedly connected to the guide plate 21, and one end of the connecting rod 31 away from the second guide groove 311 is transmission-connected to the driving mechanism 4 through a rotating shaft 5 penetrating the guide plate 21. The driving mechanism 4 is used to drive the connecting rod 31 to rotate around a rotation center to drive the picking mechanism 1 to move along the first guide groove 211.

[0039] In this embodiment, the picking mechanism 1 is used to accurately pick up materials from the magazine or the conveyor belt during the production process and place them at a specified position for subsequent processing. The picking mechanism 1 can pick up materials using a suction cup 11 or can also use a manipulator to grab the materials. In this disclosure, the structure and picking method of the picking mechanism 1 are not limited in detail. The base body 2 includes a support plate 22 and a guide plate 21. The support plate 22 and the guide plate 21 meet the perpendicular condition. The support plate 22 is used to support the entire picking device, and the guide plate 21 is arranged along the Z-axis direction in the three-dimensional coordinate system. The first guide groove 211 penetrates through two surfaces of the guide plate 21, connecting the two surfaces of the guide plate 21. The connecting component 32 can slide in the first guide groove 211. Specifically, the first guide groove 211 can be an unclosed groove type, that is, the two ends of the first guide groove 211 are not connected. At this time, when the driving mechanism 4 rotates forward, it drives the connecting rod 31 to rotate, so that the connecting component 32 can slide from one end to the other end in the first guide groove 211. While the connecting component 32 slides in the first guide groove 211, it also moves linearly along the second guide groove 311 in the second guide groove 311; the driving mechanism 4 can also drive the connecting rod 31 to rotate in the reverse direction, so that the connecting component 32 can slide reversely in the first guide groove 211. Among them, forward rotation and reverse rotation are only used to indicate two opposite rotation directions of the driving mechanism 4. Therefore, in the actual production process, forward rotation can be clockwise rotation or counterclockwise rotation. Correspondingly, reverse rotation is counterclockwise rotation or clockwise rotation. The first guide groove 211 can also be a closed groove type, that is, the two ends of the first guide groove 211 are connected to form a closed ring. At this time, the rotation center of the connecting rod 31 can be located inside the closed groove. The driving mechanism 4 can continuously rotate in the same rotation direction to drive the connecting rod 31 to rotate 360°, so that the connecting component 32 can slide in the first guide groove 211 in the same direction as the rotation direction of the driving mechanism 4. While the connecting component 32 slides in the first guide groove 211, it also moves linearly along the second guide groove 311 in the second guide groove 311. It can be understood that when the first guide groove 211 is a closed groove type, the rotation center of the connecting rod 31 can also be located outside the closed groove. At this time, the driving mechanism 4 needs to cooperate with forward rotation and reverse rotation to make the connecting component 32 slide continuously in the first guide groove 211. The driving mechanism 4 can specifically include but is not limited to a servo motor, a stepper motor, a DC motor, an AC induction motor, etc. In this disclosure, the driving mechanism 4 is taken as an example of using a servo motor. The servo motor can provide precise power control to make the picking device operate stably.

[0040] In this embodiment, since a first guiding groove 211 is formed in the guiding plate 21 of the pick-up device base 2, a second guiding groove 311 is formed in the connecting rod 31 of the link mechanism 3, and the first guiding groove 211 and the second guiding groove 311 are connected by a connecting component 32. Also, since the connecting component 32 can move within the first guiding groove 211 and the second guiding groove 311, when the driving mechanism 4 drives the connecting rod 31 to rotate around the rotation center, the driving mechanism 4 can drive the pick-up mechanism 1 to move along the first guiding groove 211, thereby converting the rotational motion of the driving mechanism 4 into a motion in all directions (up, down, left, and right). The pick-up device of the present disclosure only requires a single driving mechanism 4 for power output to continuously complete loading and unloading, streamlining the mechanism space, with continuous actions, increased operating speed, high work efficiency and stability, and lower manufacturing and maintenance costs. In addition, the first guiding groove 211 and the second guiding groove 311 can be adaptively designed as needed to meet different running trajectories required by the pick-up mechanism 1, with strong adaptability.

[0041] Referring to Figure 5 As shown, in an implementable embodiment, the pick-up device further includes a guide rail mechanism 6. The guide rail mechanism 6 includes a first guide rail assembly 61, a second guide rail assembly 62, and a transition plate 63. The first guide rail assembly 61 is disposed on one side of the guiding plate 21 close to the pick-up mechanism 1 and is arranged along a first direction. The second guide rail assembly 62 is disposed on the transition plate 63 and is arranged along a second direction. The transition plate 63 is slidably connected to the first guide rail assembly 61, and the pick-up mechanism 1 is slidably connected to the second guide rail assembly 62.

[0042] Further, in an implementable embodiment, a slider 64 is disposed on a side of the transition plate 63 away from the second guide rail assembly 62, and the slider 64 is slidably connected to the first guide rail assembly 61.

[0043] In this embodiment, the first direction is the Y-axis direction in a three-dimensional coordinate system, and the second direction is the Z-axis direction in a three-dimensional coordinate system. Both the first guide rail assembly 61 and the second guide rail assembly 62 use linear guide rails for guiding. Linear guide rails have advantages such as high rigidity, high precision, and strong interchangeability, and can meet the stability during the high-speed movement of the pick-up mechanism 1, ensuring that the pick-up device can load materials at high speed and stably. The first guide rail assembly 61 is installed on the guiding plate 21, the second guide rail assembly 62 is installed on the transition plate 63, and the transition plate 63 is installed on the first guide rail assembly 61 through the slider 64. Thus, the driving mechanism 4 converts the rotational motion of the driving mechanism 4 into a motion in the Y-axis direction and the Z-axis direction through the link mechanism 3. Under the guidance of the guide rail mechanism 6, the pick-up mechanism 1 is driven by the link mechanism 3 to complete the automatic loading function of the product.

[0044] Referring to Figure 6 、 Figure 7 and Figure 8As shown, in an implementable embodiment, the connection component 32 includes a connection shaft 321, and a first bearing 322 and a second bearing 323 sleeved on the connection shaft 321. The first bearing 322 is disposed in the first guide groove 211, the second bearing 323 is disposed in the second guide groove 311, and the picking mechanism 1 is fixedly connected to the end of the connection shaft 321.

[0045] In this embodiment, the connection component 32 is a double-bearing connecting rod structure including a connection shaft 321, and a first bearing 322 and a second bearing 323 sleeved on the connection shaft 321. The whole connecting rod mechanism 3 is driven by a driving mechanism 4 to drive the connecting rod 31 to perform a rotational motion. The two bearings, i.e., the first bearing 322 and the second bearing 323 in the connection component 32 respectively perform rolling rotations in the first guide groove 211 and the second guide groove 311. When the connecting rod 31 rotates, it drives the connection component 32 to move along the trajectory of the first guide groove 211. The rolling motion has a small frictional force, which can ensure that when the driving mechanism 4 operates at a high speed, the entire picking device moves smoothly and meets the high-speed feeding function. To meet various feeding requirements, the design of the first guide groove 211 will present different trajectories. Therefore, the connecting rod 31 will also be designed according to the trajectory of the first guide groove 211 for the second guide groove 311 to meet the different changes in the rotational center distance from the connection component 32 to the connecting rod 31.

[0046] Refer to Figure 9 、 Figure 10 and Figure 11 As shown, in an implementable embodiment, the designs of the first guide groove 211 and the second guide groove 311 need to satisfy the following formula:

[0047] γ > α - β;

[0048] Wherein, α is the maximum distance between the center of the first guide groove 211 and the rotation center; β is the shortest distance between the center of the first guide groove 211 and the rotation center; γ is the distance that the connection component 32 moves in the second guide groove 311.

[0049] In this embodiment, taking the movement trajectory of the picking mechanism 1 as an arc, and the three points at both ends of the first guide groove 211 and the rotation center of the connecting rod 31 being on the same horizontal line as an example, at this time, the first guide groove 211 is designed as an unclosed semi-circular shape. Figure 10 The path formed by the multiple dashed circles in the shown first guide groove 211 is the running trajectory of the first bearing 322 in the first guide groove 211. Figure 11The two dashed circles respectively represent the extreme distances that the second bearing 323 needs to move within the second guiding groove 311. Taking the rotation center as the origin, assuming that the shortest distance β between the center of the first guiding groove 211 and the rotation center is 60 mm (which is also the farthest distance that the connecting assembly 32 can move along the Y-axis direction within the first guiding groove 211 at this time), and the maximum distance α between the center of the first guiding groove 211 and the rotation center is 75 mm (which is also the farthest distance that the connecting assembly 32 can move along the Z-axis direction within the first guiding groove 211 at this time). The distance between the connecting assembly 32 and the rotation center changes in real time during rotation, and the value of the difference α - β is 15 mm. Therefore, during rotation, the connecting assembly 32 needs to perform a linear motion within the second guiding groove 311 to adapt to different changes in the center distance. To meet the design requirements, the distance γ that the connecting assembly 32 can move within the second guiding groove 311 needs to be greater than 15 mm. At the same time, to accommodate the precision tolerance in the processing of the second guiding groove 311, γ can be enlarged in the design. Thus, when α is 75 mm and β is 60 mm, γ can be designed as 21 mm, so as not to touch the two ends of the second guiding groove 311, preventing processing errors and avoiding impacts. In the guide rail mechanism 6, the effective moving distance of the first guide rail assembly 61 needs to be greater than the range that the connecting assembly 32 can move along the Y-axis direction within the first guiding groove 211, and the effective moving distance of the second guide rail assembly 62 needs to be greater than the range that the connecting assembly 32 can move along the Z-axis direction within the first guiding groove 211. It can be understood that, referring to Figure 12 and Figure 13 As shown, the first guiding groove 211 can be adaptively designed according to the moving trajectory required by the picking mechanism 1. When designing, it can include but is not limited to straight line segments or arc segments, etc. The moving trajectory can also be a closed trajectory, such as an elliptical trajectory or a square trajectory, etc. Correspondingly, the first guiding groove 211 can be designed as an elliptical annular closed trajectory or a square closed trajectory.

[0050] In an implementable embodiment, the guiding plate 21 includes an opposite first surface and a second surface. The connecting rod 31 is disposed on the first surface, and the driving mechanism 4 is fixed on the second surface.

[0051] In an implementable embodiment, the picking device further includes a detection mechanism 7. The detection mechanism 7 is disposed on the second surface and beside the first guiding groove 211 for detecting the position of the connecting assembly 32 within the first guiding groove 211.

[0052] In this embodiment, the first guiding groove 211 penetrates through the first surface and the second surface of the guiding plate 21, connecting the first surface and the second surface of the guiding plate 21. The connecting assembly 32 can slide within the first guiding groove 211. The detection mechanism 7 can specifically be a groove switch. Multiple detection mechanisms 7 can be provided, respectively disposed at both ends of the first guiding groove 211, the farthest position in the Y-axis direction, and the farthest position in the Z-axis direction.

[0053] Specifically, in an implementable embodiment, the detection mechanism 7 is a photoelectric switch.

[0054] Further, in an implementable embodiment, a light-shielding sheet 8 is provided at one end of the connecting component 32 close to the second surface.

[0055] In this embodiment, the detection mechanism 7 is specifically a photoelectric switch, which is a sensor that uses the occlusion or reflection of a light beam by a detected object to turn on a circuit, thereby detecting the presence or absence of an object. The light-shielding sheet 8 is fixedly connected to the connecting shaft 321 of the connecting component 32. When the light-shielding sheet 8 on the connecting component 32 passes by the photoelectric switch, the light is blocked and the signal is triggered, enabling the detection of the signal at this position.

[0056] In an implementable embodiment, a connecting block 12 is fixed to the picking mechanism 1, and the picking mechanism 1 is fixedly connected to the end of the connecting shaft 321 through the connecting block 12.

[0057] In the description of the present disclosure, it should be understood that the orientation or positional relationship indicated by the orientation terms is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description. Without contrary instructions, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present disclosure; the orientation terms "inside" and "outside" refer to the inside and outside relative to the contour of each component itself.

[0058] For the convenience of description, spatial relative terms such as "above...", "above...", "on the upper surface of...", "above" etc. can be used here to describe the spatial positional relationship between one or more components or features shown in the drawings and other components or features. It should be understood that the spatial relative terms not only include the orientation of the components described in the drawings, but also different orientations during use or operation. For example, if the components in the drawings are inverted as a whole, the component "above other components or features" or "above other components or features" will include the situation where the component is "below other components or structures" or "below other components or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". In addition, these components or features can also be positioned at other different angles (for example, rotated 90 degrees or other angles), and this article is intended to include all these situations.

[0059] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of features, steps, operations, components, assemblies, and / or combinations thereof.

[0060] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein.

[0061] The present disclosure has been illustrated by the above embodiments. However, it should be understood that the above embodiments are only for illustrative and exemplary purposes and are not intended to limit the present disclosure within the scope of the described embodiments. In addition, those skilled in the art can understand that the present disclosure is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present disclosure, and these variations and modifications all fall within the scope of protection required by the present disclosure. The scope of protection of the present disclosure is defined by the appended claims and their equivalent scope.

Claims

1. A picking device, comprising a picking mechanism (1), characterized in that: Also includes: The seat body (2) comprises a guide plate (21), wherein the guide plate (21) is provided with a first guide groove (211); A connecting rod mechanism (3), comprising a connecting rod (31) and a connecting assembly (32), wherein the connecting rod (31) is provided with a second guide groove (311), the first guide groove (211) and the second guide groove (311) are connected via the connecting assembly (32), and the connecting assembly (32) can move along the first guide groove (211) and the second guide groove (311), and the picking mechanism (1) is connected to the connecting assembly (32); and A driving mechanism (4) is fixedly connected to the guide plate (21); one end of the connecting rod (31) away from the second guide groove (311) is transmission-connected to the driving mechanism (4) via a rotating shaft (5) penetrating the guide plate (21); the driving mechanism (4) is used to drive the connecting rod (31) to rotate around a rotation center so as to drive the picking mechanism (1) to move along the first guide groove (211).

2. The pickup device according to claim 1, characterized in that: The connecting assembly (32) comprises a connecting shaft (321) and a first bearing (322) and a second bearing (323) sleeved on the connecting shaft (321); the first bearing (322) is arranged in the first guide groove (211); the second bearing (323) is arranged in the second guide groove (311); and the picking mechanism (1) is fixedly connected to the end of the connecting shaft (321).

3. The pickup device according to claim 1, characterized in that: γ>α-β; Wherein, α is the maximum distance between the center of the first guide groove (211) and the rotation center; β is the shortest distance between the center of the first guide groove (211) and the rotation center; and γ is the distance moved by the connecting component (32) in the second guide groove (311).

4. The pickup device according to claim 1, characterized in that: The invention also comprises a guide rail mechanism (6), wherein the guide rail mechanism (6) comprises a first guide rail component (61), a second guide rail component (62) and a transition plate (63), wherein the first guide rail component (61) is arranged on a side of the guide plate (21) close to the picking mechanism (1) and arranged along a first direction, and the second guide rail component (62) is arranged on the transition plate (63) and arranged along a second direction, and the transition plate (63) is slidably connected to the first guide rail component (61), and the picking mechanism (1) is slidably connected to the second guide rail component (62).

5. The pickup device according to claim 4, characterized in that: A sliding block (64) is provided on a side of the transition plate (63) away from the second guide rail assembly (62), and the sliding block (64) is slidably connected to the first guide rail assembly (61).

6. The pickup device according to claim 1, characterized in that: The guide plate (21) comprises a first surface and a second surface that are opposite to each other, the connecting rod (31) is arranged on the first surface, and the driving mechanism (4) is fixed on the second surface.

7. The pickup device according to claim 6, characterized in that: It also comprises a detection mechanism (7), which is arranged on the second surface and located beside the first guide groove (211) and is used to detect the position of the connecting component (32) in the first guide groove (211).

8. The pickup device according to claim 7, characterized in that: The detection mechanism (7) is a photoelectric switch.

9. The pickup device according to claim 8, characterized in that: A light shielding sheet (8) is provided at one end of the connection component (32) close to the second surface.

10. The pickup device according to claim 2, characterized in that: The picking mechanism (1) is fixed with a connecting block (12), and the picking mechanism (1) is fixedly connected to the end of the connecting shaft (321) via the connecting block (12).

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