Pick-and-place device

Abstract

The utility model relates to the technical field of battery processing automation equipment, and particularly discloses a pick-and-place device which has a first direction and a second direction which intersect with each other and comprises a mechanical arm, a support, a pick-and-place piece and an adjusting mechanism, and the pick-and-place piece and the adjusting mechanism are arranged on the support. The adjusting mechanism comprises a taking assembly and a driving part used for driving the taking assembly to move in the second direction, and the taking assembly is arranged at the end, located in the second direction, of the taking and placing part. According to the scheme, the taking assembly and the taking and placing piece are independently designed, so that the structural difference between the electric core and the circuit soft board can be well adapted, and the whole product can be accurately taken and placed; and the taking assembly can be driven by the driving part to move in the second direction, so that the position of the circuit soft board can be finely adjusted, the accuracy of secondary placement of the two soft package batteries is guaranteed, and the subsequent welding quality is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a pick-and-place device. Background Art

[0002] Single cells in the consumer electronics field generally refer to soft-pack batteries. During the processing, soft-pack batteries need to be electrically connected to the circuit board. The usual practice is to laser weld the circuit board and the tabs of the soft-pack battery to achieve electrical conductivity between the two.

[0003] After the soft-pack battery is welded to the circuit board, it needs to be stacked with other soft-pack batteries, and then the circuit board is welded together with the tabs of other battery cells. In this process, the soft-pack battery with the circuit board needs to be accurately placed on other soft-pack batteries, which is the secondary placement process.

[0004] However, there are gaps and wrinkles between the current battery cells and the soft circuit board. The current pick-and-place device may cause position errors between the soft circuit board and the tab during the placement process, resulting in poor welding quality. Utility Model Content

[0005] The present application provides a pick-and-place device to ensure that the position of the circuit flexible board can be fine-tuned during the secondary placement process to achieve precise placement and improve welding quality.

[0006] The present application provides a picking and placing device having a first direction and a second direction intersecting each other, comprising: a robotic arm having a movable end; a bracket arranged at the movable end; a picking and placing member, wherein in the first direction, the picking and placing member is arranged on a side of the bracket away from the movable end; and an adjustment mechanism arranged on the bracket, the adjustment mechanism comprising a picking component and a driving member for driving the picking component to move along the second direction, the picking component being arranged at one end of the picking and placing member located in the second direction.

[0007] To implement the above technical solution, the circuit soft board has wrinkles, height differences and soft characteristics, and it is difficult to accurately fix it using a pick-up and placement piece. Therefore, the embodiment of the present application uses a pick-up component independent of the pick-up and placement piece to pick up and fix the circuit soft board. The pick-up and placement piece is used to fix the battery cell. The independent design of the pick-up component and the pick-up and placement piece can better adapt to the structural differences between the battery cell and the circuit soft board, so as to accurately pick up and place the entire product; and the pick-up component can move along the second direction under the drive of the driving piece, so as to fine-tune the position of the circuit soft board, so as to more accurately adapt to the position of the preceding soft-pack battery during the secondary placement process, and ensure the accuracy of the secondary placement of the two soft-pack batteries, so as to improve the subsequent welding quality.

[0008] As one of the optional embodiments of the present application, the driving member has a moving portion that moves back and forth along the second direction, and the adjusting mechanism further includes a fixing frame, which is arranged on the moving portion, and the picking component is arranged on the fixing frame.

[0009] As one of the optional embodiments of the present application, there is also a third direction intersecting with the first direction and the second direction respectively. The picking component includes a vacuum adsorption component and a magnetic adsorption component, and the magnetic adsorption component and the vacuum adsorption component are sequentially arranged on the fixing frame along the third direction.

[0010] To implement the above technical solution, the picking component is configured as a magnetic suction component and a vacuum suction component, which enables the picking component to have at least two ways to pick up and fix the circuit board, thereby being able to more flexibly adapt to the fixing requirements of the circuit board. For example, some circuit boards are provided with a metal sheet structure, and the use of magnetic components for picking up is more stable and reliable and will not damage the circuit board structure.

[0011] As one of the optional embodiments of the present application, the fixing frame includes a first fixing frame and a second fixing frame connected to each other, and the first fixing frame and the second fixing frame are arranged in sequence along the third direction;

[0012] The first fixing frame is arranged on the moving part, the second fixing frame is detachably connected to the first fixing frame, the vacuum adsorption component is arranged on the first fixing frame, and the magnetic adsorption component is arranged on the second fixing frame.

[0013] To implement the above technical solution, since the first fixing frame and the second fixing frame are detachably connected, the magnetic member can be detachably arranged on the first fixing frame along with the second fixing frame, which is convenient for inspection and maintenance; or when the types of the circuit board are different, the shape and size of the magnetic member can be changed according to actual needs to better adapt to the taking and fixing work of different types of circuit boards, thereby more accurately taking and placing the circuit board.

[0014] As one of the optional embodiments of the present application, the magnetic attraction component includes a telescopic cylinder, a mounting bracket and a magnet. The telescopic cylinder is arranged on a fixed bracket, and the mounting bracket is arranged at the end of the piston rod of the telescopic cylinder. The telescopic cylinder is used to drive the mounting bracket to move along a first direction, and the magnet is arranged at the end of the mounting bracket away from the telescopic cylinder.

[0015] To implement the above technical solution, for some circuit board structures with height differences in the first direction, the mounting frame is driven to move by the telescopic cylinder, which in turn can drive the magnet to move along the first direction, thereby adjusting the contact degree between the magnet and the circuit board, so as to better adapt to the circuit board and thus more accurately pick up the circuit board.

[0016] As one of the optional embodiments of the present application, the second fixing frame includes a connecting block and a fixing block provided on the connecting block, the connecting block is detachably connected to the first fixing frame, and the telescopic cylinder is provided on the fixing block;

[0017] The mounting frame comprises a mounting block fixed on the piston rod of the telescopic cylinder and a mounting rod fixed on a side of the mounting block away from the telescopic cylinder. The magnet is arranged on the mounting rod.

[0018] As one of the optional embodiments of the present application, the mounting rod passes through the connecting block along the first direction and extends outward. The bottom surface of the connecting block is provided with an insulating sleeve, which extends along the first direction and covers the outside of the magnet.

[0019] By implementing the above technical solution, the insulating sleeve can ensure that the adsorption direction of the secondary magnet is constrained to the first direction, thereby avoiding mutual influence with surrounding devices.

[0020] As one of the optional embodiments of the present application, the bracket includes: a transfer block, which is arranged at the moving end; a sliding block, which is slidably arranged on the transfer block along the first direction; a transition plate, which is fixedly arranged on the sliding block; and a buffer spring, which is arranged on the transfer block, and the two ends of the buffer spring are respectively abutted against the transition plate and the transfer block.

[0021] By implementing the above technical solution, the sliding block and the buffer spring can provide a buffering effect when the pick-up and placement member contacts the battery cell, thereby reducing possible squeezing damage to the battery cell when the pick-up and placement member moves along the first direction to pick up the battery cell.

[0022] As one of the optional embodiments of the present application, a support frame is also provided on the transfer block, and the picking and placing device also includes a main light source. In the first direction, the main light source is arranged on the side of the support frame away from the moving end, and the main light source is arranged around the transfer block.

[0023] To implement the above technical solution, the purpose of the main light source is to provide backlight when placing and picking up parts and when picking up components to pick up products, so that the camera device can capture and confirm the placement error, and the robotic arm can adjust its position according to the shooting error for accurate placement.

[0024] As one of the optional embodiments of the present application, the picking and placing device also includes a secondary light source. In the first direction, the secondary light source is arranged on the side of the support frame close to the movable end, and the secondary light source is slidably arranged along the second direction. A driving member is provided on the support frame for driving the secondary light source to slide.

[0025] To implement the above technical solution, when it is necessary to determine the position of the pick-up and placement parts, the auxiliary light source is driven to extend by the driving member to cooperate with the main light source to provide a larger lighting range to ensure the accuracy of position comparison. After the comparison is completed, the auxiliary light source is driven to retract by the driving member to reduce space occupancy.

[0026] One of the above technical solutions has the following advantages or beneficial effects: the circuit soft board has wrinkles, height differences and soft characteristics, and it is difficult to accurately fix it using a pick-up and placement piece. Therefore, the embodiment of the present application uses a pick-up component independent of the pick-up and placement piece for picking and fixing. The pick-up and placement piece is used to fix the battery cell. The independent design of the pick-up component and the pick-up and placement piece can better adapt to the structural differences between the battery cell and the circuit soft board, so as to accurately pick up and place the entire product; and, the pick-up component can move along the second direction under the drive of the driving piece, so as to fine-tune the position of the circuit soft board, so as to more accurately adapt to the position of the previous soft-pack battery during the secondary placement process, and ensure the accuracy of the secondary placement of the two soft-pack batteries, so as to improve the subsequent welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings will make the technical solutions and other beneficial effects of the present application apparent.

[0028] Figure 1 It is a related background technology diagram provided by the embodiments of this application;

[0029] Figure 2 This is an overall structural diagram of the pick-and-place device provided in an embodiment of the present application;

[0030] Figure 3 This is an exploded structural diagram provided in an embodiment of the present application, mainly used to illustrate the adjustment mechanism;

[0031] Figure 4 This is an exploded structural diagram provided in an embodiment of the present application, mainly used to illustrate the structure of the magnetic attraction component;

[0032] Figure 5 This is a cross-sectional view provided in an embodiment of the present application mainly for illustrating a magnet installation structure;

[0033] Figure 6 This is a diagram of the overall structure of the pick-and-place device provided in an embodiment of the present application after deleting the main light source, the support frame, and the auxiliary light source;

[0034] Figure 7 This is an exploded structural diagram for illustrating a support structure provided in an embodiment of the present application;

[0035] Figure 8 It is an exploded structural diagram provided in an embodiment of the present application for showing the structure of the main light source, the support frame and the auxiliary light source.

[0036] Reference numerals: 1, robotic arm; 10, mobile terminal;

[0037] 2. Bracket; 21. Transfer block; 22. Sliding block; 23. Transition plate; 24. Buffer spring;

[0038] 3. Pick up and place items;

[0039] 4. Adjustment mechanism;

[0040] 41. Pickup assembly; 411. Vacuum suction component; 412. Magnetic suction component; 4121. Telescopic cylinder; 4122. Mounting bracket; 4123. Magnet;

[0041] 42. driving member; 420. moving part;

[0042] 43. Fixing frame; 431. First fixing frame; 4311. First section; 4312. Second section; 432. Second fixing frame; 4321. Connecting block; 4322. Fixing block; 4323. Insulating sleeve;

[0043] 51. Mounting block; 52. Mounting rod;

[0044] 6. Support frame; 61. Side panel; 62. Support plate;

[0045] 7. Main light source; 8. Secondary light source; 81. Driving component;

[0046] 101. soft pack battery; 102. soft circuit board; 103. metal sheet;

[0047] Z, first direction; Y, second direction; X, third direction. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0049] In the description of this application, it should be noted that, unless otherwise specified or limited, the term "and / or" herein is merely a description of an association relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Furthermore, the character " / " herein, unless otherwise specified, generally indicates that the associated objects are in an "or" relationship.

[0050] Figure 1In the prior art, the soft-pack battery 101 and the soft circuit board 102 that need to be transferred have already been laser welded together. Now, the soft-pack battery 101 with the soft circuit board 102 needs to be transferred to another soft-pack battery 101, and the soft circuit board 102 needs to be aligned with the tabs of the other soft-pack battery 101, i.e., placed again, for subsequent laser welding. A metal sheet 103 is provided on the surface of the soft circuit board 102.

[0051] The existing related technology generally uses a vacuum adsorption mechanism to absorb the soft-pack battery 101 for a secondary placement process. However, there is a gap between the current soft-pack battery 101 and the circuit soft board 102, or the circuit soft board 102 itself has wrinkles, which makes it difficult for the vacuum adsorption mechanism to accurately pick up and place the above products, resulting in poor welding quality.

[0052] Therefore, the pick-and-place device provided in the embodiment of the present application can more accurately pick up and place the soft-pack battery 101 product, so as to provide more accurate transportation during the processing of the soft-pack battery 101 and improve production quality.

[0053] The following is combined with Figure 2-8 This application is further described.

[0054] Reference Figure 2 , the present application provides a pick-and-place device having an intersecting first direction Z, a second direction Y, and a third direction X. In an example, the first direction Z, the second direction Y, and the third direction X are perpendicular to each other, and the first direction Z is parallel to the direction of gravity.

[0055] The pick-and-place device includes a robotic arm 1, a bracket 2, a pick-and-place member 3 and an adjustment mechanism 4, all of which are arranged on the bracket 2. The robotic arm 1 has a mobile end 10, which can rotate and Figure 2 In the state shown, the rotation axis of the mobile end 10 is parallel to the first direction Z. The bracket 2 is fixed to the mobile end 10, and the pick-and-place member 3 and the adjustment mechanism 4 are also fixedly mounted on the bracket 2. Therefore, the robot arm 1 can drive the pick-and-place member 3 and the adjustment mechanism 4 to complete movement and rotation in space through the mobile end 10.

[0056] Reference Figure 2 and Figure 3 In the first direction Z, the pick-and-place member 3 is disposed on a side of the bracket 2 facing away from the movable end 10. The adjustment mechanism 4 is disposed on the bracket 2 and includes a pick-and-place component 41 and a driving component 42 for driving the pick-and-place component 41 to move along the second direction Y. The pick-and-place component 41 is disposed at one end of the pick-and-place member 3 in the second direction Y.

[0057] In the embodiment of the present application, the pick-up and placement member 3 is used to pick up and fix the soft-pack battery 101 (i.e., the battery cell), and the pick-up assembly 41 is used to pick up and place the circuit board 102. Since the battery cell structure is stable, the pick-up and placement member 3 can accurately pick up and fix the battery cell part. However, the circuit board 102 has wrinkles, height differences, etc., which makes it difficult to accurately fix it using the pick-up and placement member 3. Therefore, the embodiment of the present application uses a pick-up assembly 41 independent of the pick-up and placement member 3 for picking and fixing. The pick-up assembly 41 and the pick-up and placement member 3 are designed independently of each other to better adapt to the structural differences between the battery cell and the circuit board 102, thereby accurately picking up and placing the entire product; and the pick-up assembly 41 can be driven by the driving member 42 to move along the second direction Y, so that the position of the circuit board 102 can be fine-tuned, thereby more accurately adapting to the position of the previous soft-pack battery during the secondary placement process, ensuring the accuracy of the secondary placement of the two soft-pack batteries, so as to improve the subsequent welding quality.

[0058] In one example, the pick-and-place member 3 is configured as a vacuum suction cup, which makes it more stable to pick up and fix the soft-pack battery 101 part, reducing damage caused by external force. In other optional examples, the pick-and-place member 3 can also be a clamping structure, etc.

[0059] The following mainly introduces the adjustment mechanism 4 in detail.

[0060] Reference Figure 2 and Figure 3 The driving member 42 has a moving portion 420 that reciprocates along the second direction Y. Specifically, the driving member 42 is configured as a cylinder, the cylinder body of the driving member 42 is fixedly disposed on the bracket 2, and in the second direction Y, the piston rod of the driving member 42 points in a direction away from the bracket 2.

[0061] As one of the optional embodiments of the present application, the adjustment mechanism 4 further includes a fixing frame 43, which is fixedly mounted on the moving portion 420, and a pick-up assembly 41 is mounted on the fixing frame 43. The pick-up assembly 41 includes a vacuum suction member 411 and a magnetic suction member 412, which are sequentially mounted on the fixing frame 43 along the third direction X.

[0062] Specifically, in the third direction X, the magnetic member 412 is disposed on the side of the vacuum member 411 away from the driver 42. This allows the vacuum member 411 to absorb the middle portion of the flexible circuit board 102, while the magnetic member 412 can better absorb and fix the portion of the flexible circuit board 102 away from the driver 42 with the help of the metal sheet.

[0063] In the embodiment of the present application, the taking assembly 41 is provided with the magnetic member 412 and the vacuum suction member 411, so that the taking assembly 41 has at least two ways to take the circuit soft board 102, thereby being able to more flexibly adapt to the fixing requirements of the circuit soft board 102, for example, some circuit soft boards 102 are provided with the metal sheet 103 in the structural form, and the magnetic member is used to take the circuit soft board 102, which is more stable and reliable and does not damage the structure of the circuit soft board 102.

[0064] As one of the optional embodiments of the present application, the fixing frame 43 includes a first fixing frame 431 and a second fixing frame 432 connected with each other, and the first fixing frame 431 and the second fixing frame 432 are sequentially arranged along the third direction X. The first fixing frame 431 is arranged on the moving part 420, the second fixing frame 432 is detachably arranged on the side of the first fixing frame 431 away from the moving part 420, the vacuum suction member 411 is arranged on the first fixing frame 431, and the magnetic member 412 is arranged on the second fixing frame 432.

[0065] Specifically, the first fixing frame 431 is arranged in an L shape, the first fixing frame 431 includes a first segment 4311 and a second segment 4312 integrally connected with each other, the first segment 4311 extends along the first direction Z, the second segment 4312 extends along the third direction X, the vacuum suction member 411 is arranged in a vacuum suction rod, and the vacuum suction rod penetrates through the second segment 4312 along the first direction Z and is fixedly arranged on the second segment 4312.

[0066] In one example, the second fixing frame 432 is detachably connected to the second segment 4312. Specifically, the second fixing frame 432 includes a connecting block 4321 and a fixing block 4322 arranged on the connecting block 4321, the connecting block 4321 is bolted on the first segment 4311, so as to realize the detachable connection of the second fixing frame 432 and the first fixing frame 431, and the fixing block 4322 is fixed on the top of the connecting block 4321 in the first direction Z.

[0067] In the embodiment of the present application, since the first fixing frame 431 and the second fixing frame 432 are detachably connected, the magnetic member can be detachably arranged on the first fixing frame 431 with the second fixing frame 432, so as to facilitate maintenance and repair; or when the types of the circuit soft board 102 are different, the shape and size of the magnetic member can be replaced according to actual requirements, so as to better adapt to the taking and fixing work of different types of circuit soft boards 102, thereby more accurately taking and placing the circuit soft board 102.

[0068] Reference Figure 3 and Figure 4As one of the optional embodiments of the present application, the magnetic attraction component 412 includes a telescopic cylinder 4121, a mounting bracket 4122 and a magnet 4123. The telescopic cylinder 4121 is arranged on the fixed block 4322, and the piston rod of the telescopic cylinder 4121 points downward along the first direction Z; the mounting bracket 4122 includes a mounting block 51 fixed on the piston rod of the telescopic cylinder 4121 and a mounting rod 52 fixed to the side of the mounting block 51 away from the telescopic cylinder 4121, and the magnet 4123 is arranged on the mounting rod 52. Specifically, there are two mounting rods 52, each of which passes through the connecting block 4321 along the first direction Z and extends outward. The top of the mounting rod 52 is detachably connected to the mounting block 51 by bolts, and there are two magnets 4123 and are respectively arranged at the end of the two mounting rods 52 away from the telescopic cylinder 4121, that is, fixed to the bottom of the mounting rod 52.

[0069] In the embodiment of the present application, for some circuit boards 102 structures with height differences in the first direction Z, the telescopic cylinder 4121 drives the mounting frame 4122 to move, which in turn drives the magnet 4123 to move along the first direction Z, thereby adjusting the contact between the magnet 4123 and the circuit board 102 to better fit the circuit board 102 and more accurately pick up the circuit board 102. In addition, the mounting rod 52 can be removed from the mounting block 51, which further facilitates the replacement of the magnet 4123 to adapt to different models and types of circuit boards 102, improving applicability.

[0070] Reference Figure 5 As one of the optional embodiments of the present application, the mounting rod 52 passes through the connecting block 4321 along the first direction Z and extends outward. The bottom surface of the connecting block 4321 is provided with an insulating sleeve 4323, which extends along the first direction Z and covers the outside of the magnet 4123. The insulating sleeve 4323 can ensure that the adsorption direction of the secondary magnet 4123 is constrained in the first direction Z to avoid mutual interference with surrounding devices. The insulating sleeve 4323 is integrally provided on the side of the connecting block 4321 facing away from the mounting block 51, and in the first direction Z, the magnet 4123 protrudes outward from the bottom surface of the insulating sleeve 4323 so as to directly contact the circuit board 102.

[0071] It should be noted that in the embodiment of the present application, the magnet 4123 is embedded in the bottom of the mounting rod 52. In other optional embodiments, the magnet 4123 may also have other connection and fixing methods, such as adhesive fixation. For example, the material of the mounting rod 52 is set to be magnetic, and the magnet 4123 is directly adsorbed on the mounting rod 52.

[0072] Reference Figure 2 、 Figure 6 and Figure 7As one of the optional embodiments of the present application, the bracket 2 includes a transfer block 21, a sliding block 22, a transition plate 23 and a buffer spring 24. Among them, the transfer block 21 is fixedly connected to the moving end 10. A slide rail is provided on one side of the transfer block 21, and the sliding block 22 is slidably provided on the transfer block 21 along the first direction Z through the slide rail. The transition plate 23 is fixedly provided on the sliding block 22. One end of the buffer spring 24 is fixedly provided on the transfer block 21, and the two ends of the buffer spring 24 are respectively in contact with the transition plate 23 and the transfer block 21. It should be noted that one end of the buffer spring 24 can also be fixedly provided on the bracket 2.

[0073] In this embodiment, the pick-and-place member 3 is a vacuum suction cup. The material removal process is as follows: the robotic arm 1 drives the transfer block 21 downward along the first direction Z until the pick-and-place member 3 contacts the product. The pick-and-place member 3 is subjected to the product's abutment force, causing the bracket 2 to slide upward along the first direction Z, thereby compressing the buffer spring 24. The sliding block 22 and buffer spring 24 provide a buffering effect when the bracket 2 drives the pick-and-place member 3 to contact the battery cell, thereby reducing possible compression damage to the battery cell when the pick-and-place member 3 moves along the first direction Z to absorb the battery cell.

[0074] Reference Figure 3 and Figure 8 As one of the optional embodiments of the present application, a support frame 6 is also provided on the transfer block 21, and the picking and placing device also includes a main light source 7. In the first direction Z, the main light source 7 is arranged on the side of the support frame 6 away from the mobile end 10, and the main light source 7 is arranged around the transfer block 21.

[0075] Specifically, the support frame 6 includes side panels 61 fixedly mounted on both sides of the transfer block 21 in the first direction Z and supporting plates 62 respectively fixedly mounted on the side panels 61. The main light source 7 is fixedly mounted on the side of the supporting plate 62 away from the mobile end 10.

[0076] The purpose of the main light source 7 is to provide backlight when the pick-and-place part 3 and the picking component 41 pick up the soft-pack battery, so that the camera device can shoot and confirm the placement error, and the robot arm 1 can adjust its position according to the shooting error for accurate placement.

[0077] As one of the optional embodiments of the present application, the pick-and-place device further includes an auxiliary light source 8. In the first direction Z, the auxiliary light source 8 is disposed on a side of the support frame 6 close to the movable end 10. The auxiliary light source 8 is slidably disposed along the second direction Y. A driving member 81 is disposed on the support frame 6 for driving the auxiliary light source 8 to slide. Specifically, the driving member 81 is configured as a cylinder.

[0078] In this embodiment, when the position of the pick-up and placement component 3 needs to be determined, the auxiliary light source 8 is driven to extend by the driving component 81 to cooperate with the main light source 7 to provide a larger lighting range to ensure the accuracy of the position comparison. After the comparison is completed, the auxiliary light source 8 is driven to be retracted by the driving component 81 to reduce space occupancy.

[0079] The above description is only a partial implementation of the embodiments of the present application and does not constitute any form of limitation to the application. The protection scope of the embodiments of the present application is not limited thereto. Any simple modifications, equivalent changes and modifications that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in the embodiments of the present application should be covered within the protection scope of the embodiments of the present application.

Claims

1. A pick-and-place device having a first direction (Z) and a second direction (Y) intersecting each other, characterized in that: include: A robotic arm (1) having a moving end (10); A bracket (2) is provided at the mobile end (10); a pick-and-place member (3), wherein in the first direction (Z), the pick-and-place member (3) is arranged on a side of the bracket (2) facing away from the movable end (10); and An adjusting mechanism (4) is arranged on the bracket (2), and the adjusting mechanism (4) includes a picking component (41) and a driving member (42) for driving the picking component (41) to move along the second direction (Y). The picking component (41) is arranged at one end of the picking and placing member (3) located in the second direction (Y).

2. The pick-and-place device according to claim 1, wherein: The driving member (42) has a moving portion (420) that reciprocates along the second direction (Y), and the adjusting mechanism (4) further includes a fixing frame (43), the fixing frame (43) is arranged on the moving portion (420), and the picking component (41) is arranged on the fixing frame (43).

3. The pick-and-place device according to claim 2, wherein: It also has a third direction (X) intersecting with the first direction (Z) and the second direction (Y), and the picking component (41) includes a vacuum adsorption component (411) and a magnetic adsorption component (412). The magnetic adsorption component (412) and the vacuum adsorption component (411) are sequentially arranged on the fixing frame (43) along the third direction (X).

4. The pick-and-place device according to claim 3, wherein: The fixing frame (43) comprises a first fixing frame (431) and a second fixing frame (432) connected to each other, wherein the first fixing frame (431) and the second fixing frame (432) are sequentially arranged along the third direction (X); The first fixing frame (431) is arranged on the moving part (420), the second fixing frame (432) is detachably connected to the first fixing frame (431), the vacuum adsorption component (411) is arranged on the first fixing frame (431), and the magnetic adsorption component (412) is arranged on the second fixing frame (432).

5. The pick-and-place device according to claim 4, wherein: The magnetic attraction component (412) includes a telescopic cylinder (4121), a mounting frame (4122) and a magnet (4123), wherein the telescopic cylinder (4121) is arranged on the fixing frame (43), and the mounting frame (4122) is arranged at the end of the piston rod of the telescopic cylinder (4121), and the telescopic cylinder (4121) is used to drive the mounting frame (4122) to move along the first direction (Z), and the magnet (4123) is arranged at one end of the mounting frame (4122) away from the telescopic cylinder (4121).

6. The pick-and-place device according to claim 5, wherein: The second fixing frame (432) includes a connecting block (4321) and a fixing block (4322) arranged on the connecting block (4321), the connecting block (4321) is detachably connected to the first fixing frame (431), and the telescopic cylinder (4121) is arranged on the fixing block (4322); The mounting frame (4122) comprises a mounting block (51) fixed on the piston rod of the telescopic cylinder (4121) and a mounting rod (52) fixed on a side of the mounting block (51) facing away from the telescopic cylinder (4121), and the magnet (4123) is arranged on the mounting rod (52).

7. The pick-and-place device according to claim 6, wherein: The mounting rod (52) passes through the connecting block (4321) along the first direction (Z) and extends outward. The bottom surface of the connecting block (4321) is provided with an insulating sleeve (4323). The insulating sleeve (4323) extends along the first direction (Z) and covers the outside of the magnet (4123).

8. The pick-and-place device according to claim 1, wherein: The support (2) comprises: A transfer block (21), provided at the mobile terminal (10); a sliding block (22) slidably disposed on the transfer block (21) along the first direction (Z); a transition plate (23) fixedly disposed on the sliding block (22); and A buffer spring (24) is provided on the transfer block (21), and two ends of the buffer spring (24) are respectively in contact with the transition plate (23) and the transfer block (21).

9. The pick-and-place device according to claim 8, wherein: A support frame (6) is also provided on the transfer block (21), and the pick-and-place device further comprises a main light source (7). In the first direction (Z), the main light source (7) is provided on a side of the support frame (6) facing away from the movable end (10), and the main light source (7) is arranged around the circumference of the transfer block (21).

10. The pick-and-place device according to claim 9, wherein: The pick-and-place device further comprises an auxiliary light source (8). In the first direction (Z), the auxiliary light source (8) is arranged on a side of the support frame (6) close to the movable end (10), the auxiliary light source (8) is arranged to slide along the second direction (Y), and a driving member (81) for driving the auxiliary light source (8) to slide is provided on the support frame (6).

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