Pickup assembly and robot

Abstract

The utility model provides a pick-up assembly and robot wherein the pick-up assembly comprises a mounting base, a first clamping assembly and a first suction assembly, the first clamping assembly comprises a first telescopic driving part, a first clamping driving part and a first clamping arm which are in transmission connection in sequence, and the first suction assembly comprises a second telescopic driving part, a second clamping driving part and a second clamping arm which are in transmission connection in sequence; the first telescopic driving part is mounted on the mounting base and can move in the vertical direction, and the multiple first clamping arms are arranged; the first suction assembly comprises a second telescopic driving part, a suction connecting piece and a first vacuum suction head which are sequentially in transmission connection, the second telescopic driving part is arranged on the mounting base and can move in the vertical direction, and the first vacuum suction head is located within the clamping range of the multiple first clamping arms. When the picking assembly is applied to the robot, products are sucked by the first vacuum suction head and clamped by the first clamping arm at the same time, the products are aligned and fixed in position, the position precision of the products is improved, the consistency of follow-up assembling and buckling of the products is improved, and the percent of pass of the products is increased.

Description

Technical Field

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

[0002] With the vigorous development of 3C mobile phone products, the requirements for assembly efficiency and assembly accuracy of each module are also increasing.

[0003] In the existing technology, manual assembly is usually adopted. Due to the differences in manual operation levels and the increase in operator fatigue, technical problems such as inconsistent assembly and fastening, low assembly accuracy, low product qualification rate and low assembly efficiency arise. Utility Model Content

[0004] The purpose of the utility model is to provide a picking assembly to solve the technical problems of low assembly precision, low product qualification rate and low assembly efficiency in the prior art due to manual assembly.

[0005] In order to solve the above technical problems, the present invention provides a picking component applied to a robot, comprising:

[0006] Mounting seat;

[0007] a first clamping assembly comprising a first telescopic drive component, a first clamping drive component, and a first clamping arm that are sequentially connected in a transmission manner, wherein the first telescopic drive component is mounted on the mounting seat and is movable in a vertical direction, the first clamping arms are provided with a plurality of first clamping arms, the first clamping drive component is configured to drive the first clamping arms to move toward each other to clamp the side wall surface of the first portion of the product or to move away from each other to release the side wall surface of the first portion of the product; and

[0008] The first suction assembly includes a second telescopic drive component, a suction connector and a first vacuum suction head that are sequentially connected in transmission. The second telescopic drive component is arranged on the mounting base and can move in a vertical direction. The first vacuum suction head is located within the clamping range of the multiple first clamping arms and is used to suck the upper surface of the first part of the product.

[0009] When the pickup assembly provided by the embodiment of the present invention is applied to a robot, firstly, the second telescopic drive component drives the first vacuum suction head to move downward and extend out of the clamping range of the first clamping arm to pick up the first part of the product. The second telescopic drive component drives the first vacuum suction head to move upward to the clamping range of the first clamping arm. The first clamping drive component drives the first clamping arms to move toward each other to clamp the side wall surface of the first part of the product, thereby aligning and fixing the product, improving the position accuracy of the product relative to the mounting seat, ensuring the position accuracy of the product during subsequent processing or assembly, improving the consistency of subsequent assembly and fastening of the product, and improving the product qualification rate. Secondly, the first part of the product is simultaneously picked up by the first vacuum suction head and clamped by the first clamping arm, which improves the stability of the pickup assembly in picking up the product and reduces the possibility of positional deviation relative to the first vacuum suction head during subsequent processing operations such as film tearing, which affects the subsequent assembly accuracy of the product. Thirdly, the first vacuum suction head and the first clamping arm are both liftable, and the pickup assembly can move the position of the product by lifting and lowering, thereby increasing the vertical working range of the pickup assembly. In addition, compared with manual assembly, the assembly efficiency is high.

[0010] Optionally, the second telescopic driving component is mounted on the mounting seat and is arranged adjacent to the first telescopic driving component along a first direction, wherein the first direction is perpendicular to the vertical direction.

[0011] Optionally, the pickup assembly further includes a second suction assembly, comprising a suction rod and a second vacuum head. The upper end of the suction rod is connected to the mounting base and is located on a side of the second telescopic drive component away from the first telescopic drive component. The lower end of the suction rod is connected to the second vacuum head for suctioning the upper surface of a second portion of the product. The second portion of the product is connected to the first portion of the product. In this configuration, the second suction assembly is provided in addition to the first suction assembly to achieve simultaneous suction of different portions of the product.

[0012] Optionally, a flexible layer is provided at the lower end of the second vacuum suction head, so as to reduce the occurrence of the second vacuum suction head crushing the product when taking and placing the product, and reduce the scratches on the product caused by the second vacuum suction head contacting the product.

[0013] Optionally, the pickup assembly further includes a second clamping assembly comprising a second clamping drive component and a second clamping arm in a transmission connection. The second clamping drive component is mounted on the mounting base and is capable of vertical movement. A plurality of second clamping arms are provided, and the second clamping drive component is configured to drive the second clamping arms toward each other to clamp the sidewall surface of the second portion of the product, or away from each other to release the sidewall surface of the second portion of the product. The second vacuum suction head is located within the clamping range of the plurality of second clamping arms. With this arrangement, the second portion of the product is simultaneously picked up by the second vacuum suction head and clamped by the second clamping arm, thereby improving the stability of the pickup assembly in picking up the product and reducing the possibility of positional displacement relative to the second vacuum suction head during subsequent processing operations such as film tearing, which could affect subsequent assembly accuracy.

[0014] Optionally, the inner side surfaces of the lower ends of the plurality of second clamping arms are each provided with a groove, which is configured to engage with the edge of the second portion of the product. In this configuration, the groove 521 clamps and supports the second portion of the product, thereby improving the stability of the clamping of the second portion of the product. Alternatively, the lower ends of the plurality of second clamping arms are each vertically connected to a support plate, which is configured to engage with the lower surface of the second portion of the product. In this configuration, the support plate clamps and supports the second portion of the product, thereby improving the stability of the clamping of the second portion of the product.

[0015] Optionally, the second clamping drive component is a parallel air gripper or a parallel electric gripper capable of automatically adjusting the clamping force. This arrangement ensures that the clamping force is within a preset range, avoiding insufficient clamping force that may result in a failure to clamp the product, and excessive clamping force that may result in deformation or damage to the product.

[0016] Optionally, there are two second clamping arms, and a Y-shaped space is formed between the inner side surfaces of the two second clamping arms, and the Y-shaped space is used to accommodate the suction rod.

[0017] Optionally, the mounting base includes a horizontal mounting plate and a first angled connector, the first angled connector including a first vertical connector and a third vertical connector that are bent and connected to each other, the first vertical connector being connected to the horizontal mounting plate, and the first and second telescopic drive components being mounted to the third vertical connector. With this arrangement, the first angled connector is screwed to the horizontal mounting plate, ensuring a secure connection; the first and second telescopic drive components are both mounted to the vertical connector of the first angled connector, facilitating installation and reducing the number of components.

[0018] Optionally, the suction connection comprises a vertical connection and a horizontal connection, wherein the vertical connection is connected to the power output end of the second telescopic drive component, and the first vacuum suction head is connected to the end of the horizontal connection. This arrangement allows the first vacuum suction head to be replaceable, allowing for a reasonable design based on the shape and size of the product, thereby improving the practicality of the pickup assembly.

[0019] Optionally, a horizontal adapter plate is connected between the first clamping drive component and the first telescopic drive component, so as to facilitate the connection between the two.

[0020] Optionally, the first clamping arm includes a vertical arm, a horizontal arm, and a clamping plate. The upper end of the vertical arm is connected to the power output of the first clamping drive component. The horizontal arm and the vertical arm each have at least two arms, which are connected to each other in a stepped manner. The clamping plate is connected to the end of the horizontal arm and is located on the inner wall of the horizontal arm. The clamping plate is used to clamp the side wall surface of the first portion of the product. This arrangement, in which the horizontal and vertical arms are connected in a stepped manner, can improve the structural rigidity of the first clamping arm.

[0021] Optionally, the first telescopic driving component is an electric push rod, a sliding cylinder, or a linear cylinder.

[0022] Optionally, the second telescopic driving component is an electric push rod, a sliding cylinder, or a linear cylinder.

[0023] Optionally, the first clamping drive component is a parallel air gripper or a parallel electric gripper capable of automatically adjusting the clamping force. This arrangement ensures that the clamping force is within a preset range, avoiding insufficient clamping force that may result in a failure to clamp the product, and excessive clamping force that may result in deformation or damage to the product.

[0024] Optionally, a flexible layer is provided at the lower end of the first vacuum suction head, so as to reduce the occurrence of the first vacuum suction head crushing the product when taking and placing the product, and reduce the scratches caused by the first vacuum suction head when contacting the product.

[0025] Optionally, the mounting base includes a horizontal mounting plate, a second vertical connecting plate, and a third angled connecting plate. The second vertical connecting plate is connected to the horizontal mounting plate. The third angled connecting plate includes a vertical connecting block connected to each other and a horizontal connecting block bent at the lower end of the vertical connecting block. The vertical connecting block is connected to the first surface of the second vertical connecting plate. The upper end of the suction rod is connected to the horizontal connecting block. This arrangement connects the second vertical connecting plate to the horizontal connecting plate. The third angled connecting plate facilitates the installation of the suction rod, ensuring a secure connection.

[0026] Optionally, the mounting base further includes a fourth angled connector, comprising a fourth vertical connecting plate and a horizontal connecting plate bent at the lower end of the fourth vertical connecting plate. The fourth vertical connecting plate is connected to the second surface of the second vertical connecting plate, the second surface of the second vertical connecting plate being disposed opposite the first surface of the second vertical connecting plate. The second clamping drive component is mounted on the horizontal connecting plate. With this arrangement, both the fourth angled connector and the third angled mounting base are mounted on the second vertical plate, reducing the number of components and facilitating installation.

[0027] Optionally, the vertical connecting block is provided with a strip-shaped hole, the length of which extends along a first direction, and the strip-shaped hole and the second vertical connecting plate are connected by screws, wherein the first direction is the clamping direction of the clamping arms, and the first direction is perpendicular to the vertical direction. This arrangement facilitates adjustment of the position of the suction rod between the two second clamping arms.

[0028] Optionally, a multi-dimensional force sensor is mounted on the upper surface of the mounting base. The multi-dimensional force sensor can be mounted on the end of a robotic arm and is configured to detect the force applied during assembly of the product. This arrangement enables monitoring of the forces acting on the product in all directions during assembly, ensuring that the forces acting on the product during assembly are within a preset range, thereby avoiding damage or crushing the product.

[0029] The utility model also provides a robot, including a robotic arm, a multi-dimensional force sensor and the above-mentioned picking assembly, the lower end of the multi-dimensional force sensor is installed on the upper surface of the mounting seat, and the upper end of the multi-dimensional force sensor is installed on the end of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the exploded structure of a pickup assembly provided by an embodiment of the present utility model;

[0031] Figure 2 A front view of a pickup assembly provided by an embodiment of the present utility model;

[0032] Figure 3 for Figure 2 The middle circle shows the enlarged structural diagram of part A;

[0033] Figure 4 A schematic diagram of the partial structure of the second suction component and the second clamping component in a pickup component provided by an embodiment of the utility model Figure 1 ;

[0034] Figure 5 A schematic diagram of the axonometric structure of a pickup assembly provided in an embodiment of the present utility model;

[0035] Figure 6 A schematic structural diagram of a first suction component in a pickup component provided by an embodiment of the present utility model;

[0036] Figure 7 A schematic structural diagram of a first clamping assembly in a pickup assembly provided by an embodiment of the present utility model;

[0037] Figure 8 A schematic diagram of the partial structure of the second suction component and the second clamping component in a pickup component provided by an embodiment of the utility model Figure 2 .

[0038] Description of reference numerals:

[0039] 10. Mounting seat; 110. Horizontal mounting plate; 120. First angled connector; 121. First vertical connector; 122. Third vertical connector; 130. Second vertical connector; 140. Third angled connector; 141. Vertical connector; 142. Horizontal connector; 143. Strip hole; 150. Fourth angled connector; 151. Fourth vertical connector; 152. Horizontal connector; 160. Reinforcement rib; 20. First suction assembly; 210. Second telescopic drive component; 220. Suction connector; 221. Vertical connector; 222. Horizontal connecting member; 230, first vacuum suction head; 30, first clamping assembly; 310, first telescopic drive component; 320, horizontal adapter plate; 330, first clamping drive component; 340, first clamping arm; 341, vertical arm; 342, horizontal arm; 343, clamping plate; 40, second suction assembly; 410, suction rod; 411, first rod segment; 412, second rod segment; 420, second vacuum suction head; 50, second clamping assembly; 510, second clamping drive component; 520, second clamping arm; 521, groove; 60, multi-dimensional force sensor. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purpose, features and advantages of the present invention more obvious and easy to understand, the following is a brief description of the present invention in conjunction with the attached Figure 1 —8 A detailed description of the specific embodiments of the present invention is given.

[0041] In the present invention, the terms "connection" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated structure.

[0042] In the present invention, the terms "inside", "outside", "upper" and "lower" and so on indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0043] The present invention provides a picking component for use in a robot. Figure 1 The picking assembly includes a mounting base 10, a first clamping assembly 30 and a first suction assembly 20, wherein the first clamping assembly 30 includes a first telescopic driving component 310, a first clamping driving component 330 and a first clamping arm 340 that are sequentially connected in a transmission manner, the first telescopic driving component 310 is installed on the mounting base 10 and can move in a vertical direction, the first clamping arm 340 has multiple, the first clamping driving component 330 is used to drive the first clamping arms 340 to move closer to each other to clamp the side wall surface of the first part of the product or move away from each other to release the side wall surface of the first part of the product; the first suction assembly 20 includes a second telescopic driving component 210, a suction connecting piece 220 and a first vacuum suction head 230 that are sequentially connected in a transmission manner, the second telescopic driving component 210 is provided on the mounting base 10 and can move in a vertical direction, the first vacuum suction head 230 is located within the clamping range of the multiple first clamping arms 340, and is used to suck the upper surface of the first part of the product.

[0044] Specifically, the fixed end of the first clamping drive component 330 is connected to the power output end of the first telescopic drive component 310, and the power output end of the first clamping drive component 330 is connected to the first clamping arm 340; the upper end of the suction connection 220 is connected to the power output end of the second telescopic drive component 210, and the lower end is connected to the first vacuum suction head 230.

[0045] The picking assembly provided by the embodiment of the present invention is applied to a robot, and the mounting base 10 of the picking assembly is fixedly connected to the end of the robotic arm; when in use, the first clamping drive component 330 drives the first clamping arms 340 to move away from each other, providing a spatial position for the movement of the first vacuum suction head 230; then, the first vacuum suction head 230 is connected to the vacuum assembly, and when it is necessary to pick up a product, the robotic arm drives the picking assembly to move above the product picking position through the mounting base 10, and the second telescopic drive component 210 drives the first vacuum suction head 230 to descend until the lower surface of the first vacuum suction head 230 abuts against the upper surface of the first part of the product; then, the second telescopic drive component 210 drives The first vacuum suction head 230 rises to the clamping range of the first clamping arm 340, and the first clamping drive component 330 drives the first clamping arms 340 to approach each other to clamp the side wall surface of the first part of the product; then, the first telescopic drive component 310 or the first telescopic drive component 310 and the second telescopic drive component 210 drive the first clamping arm 340 and the first vacuum system 230 to move the product to the discharge position or assembly position, and then the vacuum pumping component is closed, the first telescopic drive component 310 drives the first clamping arm 340 to return to the initial position, and the second telescopic drive component 210 drives the first vacuum suction head 230 to return to the initial position, completing the picking and placement of the product.

[0046] When the pickup assembly provided by the embodiment of the present invention is applied to a robot, on the one hand, the second telescopic driving component 210 drives the first vacuum suction head 230 to move downward to extend out of the clamping range of the first clamping arm 340 to pick up the first part of the product, and the second telescopic driving component 210 drives the first vacuum suction head 230 to move upward to the clamping range of the first clamping arm 340, and the first clamping driving component 330 drives the first clamping arm 340 to move toward each other to clamp the side wall surface of the first part of the product, thereby aligning and fixing the position of the product, improving the position accuracy of the product relative to the mounting seat 10, and ensuring the subsequent processing or installation of the product On the one hand, the first part of the product is sucked by the first vacuum suction head 230 and clamped by the first clamping arm 340 at the same time, which improves the stability of the pickup component in picking up the product and reduces the position offset relative to the first vacuum suction head 230 during subsequent processing operations such as film tearing of the product, which affects the subsequent assembly accuracy of the product; on the other hand, the first vacuum suction head 230 and the first clamping arm 340 can both be raised and lowered, and the pickup component can move the position of the product by raising and lowering, thereby increasing the vertical working range of the pickup component; in addition, compared with manual assembly, the assembly efficiency is high.

[0047] In the embodiment of the present utility model, the second telescopic driving component 210 is provided on the mounting base 10, which means that the second telescopic driving component 210 can be directly mounted on the mounting base 10 or indirectly mounted on the mounting base 10, as follows:

[0048] See attached Figure 1 In one embodiment, the second telescopic drive component 210 is mounted on the mounting base 10 and is positioned adjacent to the first telescopic drive component 310 along a first direction, wherein the first direction is perpendicular to the vertical direction. With this arrangement, the first clamping arm 340 and the first vacuum head 230 can be raised and lowered independently.

[0049] In another embodiment, the fixed end of the second telescopic driving component 210 is mounted on the power output end of the first telescopic driving component 310. In this configuration, the first vacuum suction head 230 can be raised and lowered independently or together with the first clamping arm 340.

[0050] See attached Figure 1 and Figure 4In an embodiment of the utility model, the picking assembly further includes a second suction assembly 40, and the second suction assembly 40 includes a suction rod 410 and a second vacuum suction head 420. The upper end of the suction rod 410 is connected to the mounting seat 10 and the suction rod 410 is located on the side of the second telescopic drive component 210 away from the first telescopic drive component 310; the lower end of the suction rod 410 is connected to the second vacuum suction head 420, which is used to suck the upper surface of the second part of the product; wherein the second part of the product and the first part of the product are connected to each other. It should be noted that the first part of the product and the second part of the product can be a flexible connection or a rigid connection. Since the product may include two or more positions that need to be buckled, such an arrangement is made so that the second suction assembly 40 is provided on the basis of the first suction assembly 20 to achieve synchronous suction of different parts of the product.

[0051] In the embodiment of the present invention, the first part of the product is the chip part, the second part of the product is the wiring part, and the chip part and the wiring part are connected by a flat cable.

[0052] In this embodiment of the present invention, a flexible layer is provided at the lower end of the second vacuum head 420. For example, if the second vacuum head 420 is coated with anti-static silicone, this configuration reduces the risk of the second vacuum head 420 crushing the product during placement and handling, and also reduces scratches on the product caused by contact between the second vacuum head 420 and the product.

[0053] See attached Figure 1 and Figure 8 In this embodiment of the present invention, the pickup assembly further includes a second clamping assembly 50, which includes a second clamping drive component 510 and a second clamping arm 520, which are transmission-connected. The second clamping drive component 510 is mounted on the mounting base 10 and is capable of vertical movement. The second clamping arm 520 is connected to the power output end of the second clamping drive component 510. The second clamping arm 520 has multiple clamping arms. The second clamping drive component 510 is used to drive the second clamping arms 520 to move toward each other to clamp the side wall surface of the second portion of the product, or to move away from each other to release the side wall surface of the second portion of the product. The second vacuum suction head 420 is located within the clamping range of the multiple second clamping arms 520. This arrangement allows the second portion of the product to be simultaneously picked up by the second vacuum suction head 420 and clamped by the second clamping arm 520, thereby improving the stability of the pickup assembly in picking up the product and reducing the possibility of positional displacement relative to the second vacuum suction head 520 during subsequent processing operations such as film tearing, which could affect subsequent assembly accuracy.

[0054] The picking assembly provided by the embodiment of the present invention is applied to a robot, and the mounting base 10 of the picking assembly is fixed to the end of the robotic arm; when in use, the second vacuum suction head 420 is located in the clamping space of the second clamping drive component 510; the second clamping drive component 510 drives the second clamping arms 520 to move away from each other, providing a space position for the movement of the second vacuum suction head 420; then, the second vacuum suction head 420 is connected to the vacuum assembly, and when it is necessary to pick up a product, the robotic arm drives the picking assembly to move above the product picking position through the mounting base 10, and the lower surface of the second vacuum suction head 420 abuts against the upper surface of the second part of the product; then, the second clamping drive component 510 drives the second clamping arms 520 to move closer to each other to clamp the side wall surface of the second part of the product; thereafter, after the robotic arm drives the product to move to the discharge position or assembly position through the mounting base 10, the vacuum assembly is closed, and the second clamping drive component 510 drives the second clamping arms 520 to return to the initial position, completing the picking and placement of the product.

[0055] In the embodiment of the present invention, the second clamping driving component 510 may also be connected to a fourth telescopic driving component, which is mounted on the mounting base 10 and can move in the vertical direction.

[0056] In this embodiment of the utility model, the second suction assembly 40 may also be connected to a third telescopic drive component, which is connected to the mounting base 10 and can move in the vertical direction. The third telescopic drive component can be directly connected to the mounting base 10 or indirectly connected to the mounting base 10, as follows:

[0057] In one embodiment, the third telescopic driving component is mounted on the mounting seat 10 .

[0058] In another embodiment, the fixed end of the third telescopic driving component is installed at the power output end of the fourth telescopic driving component.

[0059] See attached Figure 3 In one embodiment of the present invention, the inner side surfaces of the lower ends of the plurality of second clamping arms 520 are each provided with a groove 521. The groove 521 is configured to engage with the edge of the second portion of the product. This arrangement of the groove 521 achieves clamping and support for the second portion of the product, improving the stability of the clamping of the second portion of the product.

[0060] In another embodiment of the present invention, the lower ends of the plurality of second clamping arms 520 are vertically connected to a support plate, which is adapted to fit the lower surface of the second portion of the product. This arrangement allows the support plate to clamp and support the second portion of the product, thereby improving the stability of the clamping of the second portion of the product.

[0061] See attached Figure 1In this embodiment of the present invention, the second clamping drive component 510 is a parallel air gripper or parallel electric gripper that automatically adjusts the clamping force. This arrangement ensures that the clamping force is within a preset range, preventing insufficient clamping force from causing product failure and excessive clamping force from causing product deformation or damage.

[0062] See attached Figure 1 In the embodiment of the present invention, the second clamping arms 520 have two, and a Y-shaped space is formed between the inner sides of the two second clamping arms 520 , and the Y-shaped space is used to accommodate the suction rod 410 .

[0063] See attached Figure 4 In an embodiment of the present invention, the suction rod 410 includes a first rod segment 411 and a second rod segment 412. The upper end of the first rod segment 411 is connected to the mounting base 10, the upper end of the second rod segment 412 is connected to the lower end of the first rod segment 411, and the second vacuum suction head 420 is connected to the lower end of the second rod segment 412. The dimension of the first rod segment 411 along the first direction is greater than the dimension of the second rod segment 412 along the first direction. The first direction is the clamping direction of the second clamping arm 520. The first rod segment 411 and the second rod segment 412 can be an integral structure or a separate structure. In this arrangement, the first rod segment 411 and the second rod segment 412 are connected to each other, with a larger upper end and a smaller lower end, thereby improving the structural strength of the suction rod 410 and adapting to the size of the second part of the product.

[0064] See attached Figure 5 In an embodiment of the present invention, the mounting base 10 includes a horizontal mounting plate 110 and a first angled connecting base 120. The first angled connecting base 120 includes a first vertical connecting plate 121 and a third vertical connecting plate 122 that are bent and connected to each other. The first vertical connecting plate 121 is connected to the horizontal mounting plate 110, and the first telescopic drive component 310 and the second telescopic drive component 210 are both mounted on the third vertical connecting plate 122. The first vertical connecting plate 121 can be connected to the side of the horizontal mounting plate 110 or to the bottom of the horizontal mounting plate 110. With this arrangement, the first angled connecting base 120 is connected to the horizontal mounting plate 110 by screws, ensuring a stable connection. The first telescopic drive component 310 and the second telescopic drive component 210 are both mounted on the vertical connecting plate 122 of the first angled connecting base 120, making installation easy and reducing the number of parts.

[0065] See attached Figure 6In this embodiment of the present invention, the suction connection member 220 includes a vertical connection member 221 and a horizontal connection member 222, which are interconnected. The vertical connection member 221 is connected to the power output end of the second telescopic drive component 210, and the first vacuum suction head 230 is connected to the end of the horizontal connection member 222. This arrangement makes the first vacuum suction head 230 replaceable, allowing for a reasonable design based on the shape and size of the product, improving the practicality of the pickup assembly.

[0066] See attached Figure 1 and Figure 7 In the embodiment of the present invention, a horizontal adapter plate 320 is connected between the first clamping drive component 330 and the first telescopic drive component 310. This arrangement facilitates the connection between the two.

[0067] See attached Figure 7 In this embodiment of the present invention, the first clamping arm 340 includes a vertical arm 341, a horizontal arm 342, and a clamping plate 343. The upper end of the vertical arm 341 is connected to the power output end of the first clamping drive component 330. The horizontal arm 342 and the vertical arm 341 each have at least one clamping plate 343, which are connected to each other in a stepped manner. The clamping plate 343 is connected to the end of the horizontal arm 342 and is located on the inner wall of the horizontal arm 342. The clamping plate 343 is used to clamp the side wall surface of the first portion of the product. This arrangement, with the horizontal arm 342 and the vertical arm 341 connected in a stepped manner, can improve the structural rigidity of the first clamping arm 340.

[0068] In the embodiment of the present utility model, the first telescopic driving component 310 is an electric push rod, a sliding cylinder, or a linear cylinder.

[0069] In the embodiment of the present invention, the second telescopic driving component 210 is an electric push rod, a sliding cylinder, or a linear cylinder.

[0070] See attached Figure 7 In this embodiment of the present invention, the first clamping drive component 330 is a parallel air gripper or parallel electric gripper that automatically adjusts the clamping force. This arrangement ensures that the clamping force is within a preset range, preventing insufficient clamping force from causing product failure and excessive clamping force from causing product deformation or damage.

[0071] In this embodiment of the utility model, the lower end of the first vacuum head 230 is provided with a flexible layer. For example, if the first vacuum head 230 is coated with anti-static silicone, this configuration can reduce the possibility of the first vacuum head 230 crushing the product when placing it, and also reduce the possibility of scratches on the product caused by the first vacuum head 230 when in contact with the product.

[0072] See attached Figure 1 and Figure 4In this embodiment of the present invention, the mounting base 10 includes a horizontal mounting plate 110, a second vertical connecting plate 130, and a third angled connecting base 140. The second vertical connecting plate 130 is connected to the horizontal mounting plate 110. The third angled connecting base 140 includes a vertical connecting block 141 connected to each other and a horizontal connecting block 142 bent at the lower end of the vertical connecting block 141. The vertical connecting block 141 is connected to the first surface of the second vertical connecting plate 130, and the upper end of the suction rod 410 is connected to the horizontal connecting block 142. This arrangement allows the second vertical connecting plate 130 to be connected to the horizontal connecting plate 110. The provision of the third angled connecting base 140 facilitates the installation of the suction rod 410, ensuring a secure connection.

[0073] See attached Figure 1 A reinforcing rib 160 is provided between the horizontal mounting plate 110 and the second vertical connecting plate 130 to enhance the structural strength of the mounting base 10 .

[0074] See attached Figure 1 and Figure 8 In this embodiment of the present invention, the mounting base 10 further includes a fourth angled connector 150, which includes a fourth vertical connecting plate 151 and a horizontal connecting plate 152 bent at the lower end of the fourth vertical connecting plate 151. The fourth vertical connecting plate 151 is connected to the second surface of the second vertical connecting plate 130, which is disposed opposite the first surface of the second vertical connecting plate 130. The second clamping drive component 510 is mounted on the horizontal connecting plate 152. With this arrangement, both the fourth angled connector 150 and the third angled mounting base 140 are mounted on the second vertical plate, reducing the number of components and facilitating installation.

[0075] See attached Figure 4 In this embodiment of the present invention, the vertical connecting block 141 is provided with a strip-shaped hole 143. The length of the strip-shaped hole 143 extends along a first direction. The strip-shaped hole 143 is screwed to the second vertical connecting plate 130. The first direction is the clamping direction of the second clamping arm 520, and the first direction is perpendicular to the vertical direction. This arrangement facilitates adjustment of the position of the suction rod 410 between the two second clamping arms 520.

[0076] See attached Figure 1 In this embodiment of the present invention, a multi-dimensional force sensor 60 is mounted on the upper surface of the mounting base 10. This sensor can be mounted at the end of a robotic arm and is configured to detect the force applied during product assembly. This arrangement monitors the forces acting on the product in all directions during assembly, ensuring that the forces acting on the product remain within a preset range, thus preventing damage or crushing of the product.

[0077] In the embodiment of the present invention, the multi-dimensional force sensor 60 may be a six-dimensional force sensor.

[0078] An embodiment of the present invention also provides a robot, including a robotic arm, a multi-dimensional force sensor 60 and the above-mentioned picking assembly, the lower end of the multi-dimensional force sensor 60 is installed on the upper surface of the mounting base 10, and the upper end of the multi-dimensional force sensor 60 is installed at the end of the robotic arm.

[0079] In an embodiment of the present utility model, the multi-dimensional force sensor 60 and the robotic arm are both communicatively connected to the controller of the robot. For example, when the first part of the product is assembled, the first part of the product abuts against the assembly position, and the first part of the product is subjected to the abutment pressure of the assembly position. The abutment pressure is transmitted to the multi-dimensional force sensor 60 of the mounting seat through the first vacuum suction head 230, the first suction connection member 220 and the second telescopic drive component 210. The multi-dimensional force sensor 60 feeds back the detected abutment pressure to the controller. If the abutment force reaches a preset force threshold, the controller controls the picking component to stop moving toward the assembly position to prevent the first vacuum suction head 230 from crushing the product.

[0080] 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 it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pickup assembly, characterized in that: Applications in robots include: Mounting seat (10); A first clamping assembly (30) comprises a first telescopic drive component (310), a first clamping drive component (330), and a first clamping arm (340) which are sequentially connected in a transmission manner, wherein the first telescopic drive component (310) is mounted on the mounting seat (10) and is movable in a vertical direction, the first clamping arm (340) comprises a plurality of first clamping arms (340), and the first clamping drive component (330) is used to drive the first clamping arms (340) to move closer to each other to clamp the side wall surface of the first portion of the product or to move away from each other to release the side wall surface of the first portion of the product; and The first suction assembly (20) comprises a second telescopic driving component (210), a suction connecting member (220) and a first vacuum suction head (230) which are sequentially connected in a transmission manner, wherein the second telescopic driving component (210) is arranged on the mounting seat (10) and is capable of moving in a vertical direction, and the first vacuum suction head (230) is located within the clamping range of the plurality of first clamping arms (340) and is used to suck the upper surface of the first portion of the product.

2. The pickup assembly according to claim 1, wherein: The second telescopic driving component (210) is mounted on the mounting seat (10) and is arranged adjacent to the first telescopic driving component (310) along a first direction, wherein the first direction is perpendicular to the vertical direction.

3. The pickup assembly according to claim 1, wherein: The pickup assembly further comprises a second suction assembly (40), comprising a suction rod (410) and a second vacuum suction head (420), wherein the upper end of the suction rod (410) is connected to the mounting seat (10) and the suction rod (410) is located on a side of the second telescopic driving component (210) away from the first telescopic driving component (310); the lower end of the suction rod (410) is connected to the second vacuum suction head (420) for sucking the upper surface of the second portion of the product; Wherein, the second part of the product and the first part of the product are connected to each other.

4. The pickup assembly according to claim 3, wherein: A flexible layer is provided at the lower end of the second vacuum suction head (420); And / or, the picking assembly further comprises a second clamping assembly (50), which comprises a second clamping drive component (510) and a second clamping arm (520) in transmission connection, the second clamping drive component (510) is mounted on the mounting base (10) and is capable of moving in a vertical direction, the second clamping arm (520) has a plurality of second clamping arms (520), the second clamping drive component (510) is used to drive the second clamping arms (520) to move closer to each other to clamp the side wall surface of the second part of the product or to move away from each other to release the side wall surface of the second part of the product; the second vacuum suction head (420) is located in the clamping range of the plurality of second clamping arms (520).

5. The pickup assembly according to claim 4, characterized in that The inner side surfaces of the lower ends of the plurality of second clamping arms (520) are each provided with a groove (521), and the groove (521) is used to cooperate with the edge position of the second part of the product, or the lower ends of the plurality of second clamping arms (520) are each vertically connected to a supporting plate, and the supporting plate can cooperate with the lower surface of the second part of the product; And / or, the second clamping drive component (510) is a parallel air gripper or a parallel electric gripper, and the parallel air gripper or the parallel electric gripper can automatically adjust the magnitude of the clamping force; And / or, there are two second clamping arms (520), and a Y-shaped space is formed between the inner side surfaces of the two second clamping arms (520), and the Y-shaped space is used to accommodate the suction rod (410).

6. The pickup assembly according to any one of claims 2 to 5, characterized in that: The mounting seat (10) comprises a horizontal mounting plate (110) and a first folded angle connecting seat (120); the first folded angle connecting seat (120) comprises a first vertical connecting plate (121) and a third vertical connecting plate (122) that are bent and connected to each other; the first vertical connecting plate (121) is connected to the horizontal mounting plate (110); and the first telescopic driving component (310) and the second telescopic driving component (210) are both mounted on the third vertical connecting plate (122); And / or, the suction connection member (220) includes a vertical connection member (221) and a horizontal connection member (222) connected to each other, the vertical connection member (221) is connected to the power output end of the second telescopic driving component (210), and the first vacuum suction head (230) is connected to the end of the horizontal connection member (222); And / or, a horizontal adapter plate (320) is connected between the first clamping drive component (330) and the first telescopic drive component (310); And / or, the first clamping arm (340) includes a vertical arm (341), a horizontal arm (342) and a clamping plate (343), the upper end of the vertical arm (341) is connected to the power output end of the first clamping drive component (330), the horizontal arm (342) and the vertical arm (341) each have at least one, and are connected to each other in a stepped manner, the clamping plate (343) is connected to the end of the horizontal arm (342) and is located on the inner wall surface of the horizontal arm (342), and the clamping plate (343) is used to clamp the side wall surface of the first part of the product; And / or, the first telescopic driving component (310) is an electric push rod, a slide cylinder, or a linear cylinder; And / or, the second telescopic driving component (210) is an electric push rod, a slide cylinder or a linear cylinder; And / or, the first clamping drive component (330) is a parallel air gripper or a parallel electric gripper, and the parallel air gripper or the parallel electric gripper can automatically adjust the magnitude of the clamping force; And / or, a flexible layer is provided at the lower end of the first vacuum suction head (230).

7. The pickup assembly according to any one of claims 4 or 5, characterized in that The mounting seat (10) includes a horizontal mounting plate (110), a second vertical connecting plate (130) and a third folded angle connecting seat (140), wherein the second vertical connecting plate (130) is connected to the horizontal mounting plate (110); the third folded angle connecting seat (140) includes vertical connecting blocks (141) connected to each other and a horizontal connecting block (142) bent at the lower end of the vertical connecting block (141), wherein the vertical connecting block (141) is connected to the first surface of the second vertical connecting plate (130), and the upper end of the suction rod (410) is connected to the horizontal connecting block (142).

8. The pickup assembly according to claim 7, wherein: The mounting seat (10) further includes a fourth folded angle connecting seat (150), the fourth folded angle connecting seat (150) including a fourth vertical connecting plate (151) and a horizontal connecting plate (152) bent at the lower end of the fourth vertical connecting plate (151), the fourth vertical connecting plate (151) being connected to the second surface of the second vertical connecting plate (130), the second surface of the second vertical connecting plate (130) being arranged opposite to the first surface of the second vertical connecting plate (130); the second clamping drive component (510) being mounted on the horizontal connecting plate (152); And / or, the vertical connecting block (141) is provided with a strip hole (143), the length direction of the strip hole (143) extends along a first direction, and the strip hole (143) and the second vertical connecting plate (130) are connected by screws, wherein the first direction is the clamping direction of the second clamping arm (520), and the first direction is perpendicular to the vertical direction.

9. The pickup assembly according to any one of claims 1 to 5, characterized in that A multi-dimensional force sensor (60) is mounted on the upper surface of the mounting seat (10), and the multi-dimensional force sensor (60) can be mounted on the end of a robotic arm. The multi-dimensional force sensor (60) is configured to detect the magnitude of the force applied during assembly of the product.

10. A robot, characterized in that: It comprises a robotic arm, a multi-dimensional force sensor (60) and a picking assembly according to any one of claims 1 to 9, wherein the lower end of the multi-dimensional force sensor (60) is mounted on the upper surface of the mounting base (10), and the upper end of the multi-dimensional force sensor (60) is mounted on the end of the robotic arm.

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