Pick-and-place device and manipulator

Abstract

The utility model relates to a pick-and-place device and a manipulator. The pick-and-place device comprises a mounting frame, at least one pair of pick-and-place assemblies and a driving assembly. The at least one pair of pick-and-place assemblies are arranged on the mounting frame, each pair of pick-and-place assemblies are oppositely arranged in the first direction, at least one of the pick-and-place assemblies is movably connected with the mounting frame, containing grooves are formed in the sides, facing each other, of each pair of pick-and-place assemblies correspondingly, and the containing grooves are configured to be embedded with pieces to be picked and placed; the driving assembly is arranged on the mounting frame and is configured to drive at least one of each pair of taking and placing assemblies to move in the first direction so as to clamp or release the to-be-taken and placed part. The pick-and-place device is high in pick-and-place efficiency and precision.

Description

Technical Field

[0001] This application belongs to the field of automation equipment technology, and in particular relates to a pick-and-place device and a robotic arm. Background Technology

[0002] Domain controllers are common components in new energy vehicles, and their production process typically employs semi-automatic or fully automated production lines. Domain controller production requires a high cycle time, necessitating robotic arms to drive pick-and-place devices for rapid and precise handling.

[0003] However, the domain controllers of related technologies have independent pick-up and drop-down devices (i.e., placement device and pick-up device), resulting in low pick-up and drop-down efficiency and accuracy. Utility Model Content

[0004] This application provides a pick-and-place device and a robotic arm, which can improve the pick-and-place efficiency and accuracy.

[0005] On one hand, embodiments of this application provide a pick-and-place device, including: a mounting frame; at least one pair of pick-and-place components disposed on the mounting frame, each pair of pick-and-place components being disposed opposite to each other along a first direction and at least one of them being movably connected to the mounting frame, each pair of pick-and-place components having a receiving groove on one side facing each other, the receiving groove being configured to embed a component to be picked up or placed; and a driving component disposed on the mounting frame, the driving component being configured to drive at least one of each pair of pick-and-place components to move along the first direction to clamp or release the component to be picked up or placed.

[0006] In some embodiments, the pick-and-place assembly includes two or more pick-and-place portions, which are spaced apart along a second direction, and a receiving groove is disposed in each pick-and-place portion, wherein the second direction intersects with the first direction.

[0007] In some embodiments, along a first direction, the receiving slots of each pair of pick-and-place components are open to one side facing each other, and the slot walls include a top surface, a bottom surface, and a side surface connected between the top surface and the bottom surface, with the top surface inclined relative to the bottom surface.

[0008] In some embodiments, the drive assembly includes a drive motor and a drive rod. The output end of the drive motor is connected to the drive rod. One end of the drive rod has a left-hand thread and the other end has a right-hand thread. One of each pair of pick-and-place components is connected to the left-hand thread and the other is connected to the right-hand thread. The mounting bracket is provided with a guide rail extending in a first direction, and each pair of pick-and-place components is slidably connected to the guide rail.

[0009] In some embodiments, the drive assembly further includes a transmission mechanism, which includes a drive wheel, a driven wheel, and a traction unit. The traction unit is wound around the drive wheel and the driven wheel. The output end of the drive motor is connected to the drive wheel, and the driven wheel is connected to the drive rod. The traction unit includes either a transmission belt or a transmission chain.

[0010] In some embodiments, the mounting bracket includes a pair of fixed plates spaced apart, a drive motor and a drive rod are both placed between the pair of fixed plates, the output end of the drive motor passes through the fixed plate and is connected to the drive wheel, one end of the drive rod passes through the fixed plate and is connected to the driven wheel, and the other end of the drive rod is rotatably connected to the fixed plate.

[0011] In some embodiments, the pick-and-place component is detachably connected to a connecting block, which is slidably connected to a guide rail.

[0012] In some embodiments, the drive assembly includes two telescopic cylinders, each having a degree of freedom of extension and retraction in a first direction. The two telescopic cylinders are arranged opposite to each other, with the extension rod of one of the two telescopic cylinders connected to one of the pick-and-place components, and the extension rod of the other of the two telescopic cylinders connected to the other pick-and-place component.

[0013] On the other hand, embodiments of this application provide a robotic arm, including: a robotic arm body having a degree of freedom of movement in at least one direction; and a pick-and-place device as described in any of the foregoing embodiments, the pick-and-place device being connected to the robotic arm body.

[0014] In some embodiments, the pick-and-place device further includes a connecting frame, one end of which is connected to the robot body and the other end of which is connected to the mounting frame.

[0015] According to the pick-and-place device and robot provided in this application, the pick-and-place device includes a mounting frame, at least one pair of pick-and-place components, and a drive assembly. The mounting frame is used to mount the pick-and-place components and the drive assembly; at least one pair of pick-and-place components are disposed on the mounting frame, each pair of pick-and-place components is arranged opposite to each other along a first direction and at least one of them is movably connected to the mounting frame, and each pair of pick-and-place components is provided with a receiving groove on one side facing each other, so that the item to be picked and placed can be embedded in the receiving groove. The drive assembly is disposed on the mounting frame, and by driving at least one of the pick-and-place components in each pair to move along the first direction, it is possible to clamp or release the item to be picked and placed. Furthermore, by using the mounting frame, at least one pair of pick-and-place components, and drive assembly in combination to pick and place the item to be picked and placed, the pick-and-place device has high pick-and-place efficiency and accuracy. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments of this utility model will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the picking and placing device provided in some embodiments of this utility model. Figure 1 ;

[0018] Figure 2This is a schematic diagram of the structure of the picking and placing device provided in some embodiments of this utility model. Figure 2 ;

[0019] Figure 3 This is a front view of the pick-and-place device provided in some embodiments of this utility model;

[0020] Figure 4 This is a side view of the pick-and-place device provided in some embodiments of this utility model.

[0021] Marker explanation:

[0022] 1. Mounting bracket; 11. Fixing plate;

[0023] 2. Pick-and-place assembly; 21. Pick-and-place section; 211. Receiving slot;

[0024] 3. Drive assembly; 31. Drive motor; 32. Drive rod; 321. Nut; 33. Transmission mechanism; 331. Drive wheel; 332. Driven wheel; 333. Traction unit;

[0025] 4. Items to be picked up or placed;

[0026] 5. Connecting base;

[0027] 6. Connecting frame; 61. Base frame; 611. Weight reduction hole; 62. Support frame; 621. Support plate;

[0028] X - First direction; Y - Second direction.

[0029] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not drawn to scale. Detailed Implementation

[0030] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0032] Domain controllers are common components in new energy vehicles, and their production process typically employs semi-automatic or fully automated production lines. Domain controller production has a high cycle time, requiring robotic arms to drive pick-and-place devices for rapid and precise handling. The pick-and-place device for automotive domain controllers is primarily used in the PCBA and housing assembly process during automotive domain controller production, requiring the PCBA to be removed from the support fixture and placed into the domain controller housing.

[0033] However, the existing domain controller pick-up and drop-down devices are independent structures (i.e., placement device and pick-up device). It is necessary to first use the pick-up device to remove the PCBA from the carrier fixture, and then use the placement device to place the PCBA into the domain controller housing, resulting in low pick-up and drop-down efficiency and accuracy.

[0034] To address the aforementioned problems, this application provides a pick-and-place device and robotic arm with high pick-and-place efficiency and accuracy. For a better understanding of this application, the following describes... Figures 1 to 4 The pick-and-place device and the robotic arm are described in detail according to the embodiments of this application.

[0035] On the one hand, please refer to Figures 1 to 4 This application provides a pick-and-place device, which includes a mounting frame 1, at least one pair of pick-and-place components 2, and a drive component 3. At least one pair of pick-and-place components 2 are disposed on the mounting frame 1, each pair of components 2 is arranged opposite to each other along a first direction X, and at least one of them is movably connected to the mounting frame 1. Each pair of components 2 has a receiving groove 211 on one side facing each other, the receiving groove 211 being configured to embed a component 4 to be picked up or placed. The drive component 3 is disposed on the mounting frame 1 and is configured to drive at least one of each pair of pick-and-place components 2 to move along the first direction X to clamp or release the component 4 to be picked up or placed.

[0036] The number of pick-and-place components 2 can be one pair, two pairs, or even three or five. Taking three as an example, one of the pick-and-place components 2 located in the middle position can clamp different objects to be clamped together with the pick-and-place components 2 on both sides, so that the pick-and-place component 2 in the middle position can be shared.

[0037] In each pair of pick-and-place components 2, one of the pick-and-place components 2 can be fixedly connected to the mounting bracket, and the other can be movably connected to the mounting bracket 1. Of course, each pair of pick-and-place components 2 can be arranged opposite each other along the first direction X and both can be movably connected to the mounting bracket 1.

[0038] The drive component 3 drives at least one of the pick-and-place components 2 to move along the first direction X. This arrangement allows the pick-and-place component 2 to take less time to pick up and place the item to be picked up 4, and also allows the pick-and-place component 2 to adapt to more items to be picked up 4.

[0039] Optionally, the pick-and-place components 2 are configured as a pair.

[0040] Optionally, the component to be picked up or placed 4 can be a PCBA.

[0041] In some embodiments, the pick-and-place component 2 is detachably connected to the mounting bracket 1. The detachable connection can be made by fastening with fasteners such as bolts, or by having one part of it extend into the other for a snap-fit ​​engagement.

[0042] The pick-and-place device provided in one embodiment of this application has a pick-and-place component 2 that is detachably connected to the mounting frame 1. The pick-and-place component 2 can be replaced for different items 4 to be picked and placed, so that the pick-and-place device can adapt to the pick-and-place of items 4 with different size ranges and different structural forms, thereby improving the versatility of the pick-and-place component 2.

[0043] In summary, according to an embodiment of this application, the pick-and-place device includes a mounting frame 1, at least one pair of pick-and-place components 2, and a drive component 3. The mounting frame 1 is used to mount the pick-and-place components 2 and the drive component 3; at least one pair of pick-and-place components 2 are disposed on the mounting frame 1, each pair of pick-and-place components 2 is arranged opposite to each other along a first direction X and at least one of them is movably connected to the mounting frame 1, and each pair of pick-and-place components 2 is provided with a receiving groove 211 on one side facing each other, and the item to be picked up 4 can be embedded in the receiving groove 211; the drive component 3 is disposed on the mounting frame 1, and by setting the drive component 3 to drive at least one of the pick-and-place components 2 to move along the first direction X, the item to be picked up 4 can be clamped or released. By driving the drive component 3 to drive each pair of pick-and-place components 2 to automatically pick up and place the item to be picked up, the pick-and-place efficiency is improved. By setting the receiving groove 211 that can match the item to be picked up, the accuracy is improved.

[0044] It should be noted that the pick-and-place device provided in this application embodiment can be applied not only in the field of new energy vehicles to remove PCBA from the support fixture and place it into the domain controller housing, but also in other technical fields. In other words, the pick-and-place device provided in this application embodiment can be used wherever it is necessary to perform pick-and-place operations on the component 4 to be picked up or placed.

[0045] In some embodiments, the pick-and-place assembly 2 includes two or more pick-and-place portions 21, which are spaced apart along the second direction Y, and receiving grooves 211 are disposed on each pick-and-place portion 21, with the second direction Y intersecting the first direction X.

[0046] The angle between the first direction X and the second direction Y can be selected from 80° to 100°, and can be 90°.

[0047] In some embodiments, the pick-and-place assembly 2 includes two pick-and-place portions 21, with the ends of the two pick-and-place portions 21 away from the part 4 to be picked and placed connected to each other.

[0048] The pick-and-place device provided in one embodiment of this application, by setting the pick-and-place component 2 into two or more pick-and-place parts 21, makes the receiving groove 211 easy to process and facilitates production and manufacturing, while also improving the processing accuracy of the receiving groove 211.

[0049] In some embodiments, along the first direction X, the receiving grooves 211 of each pair of pick-and-place components 2 are open to one side facing each other. The groove wall of the receiving groove 211 includes a top surface, a bottom surface, and a side surface connected between the top surface and the bottom surface, and the top surface is inclined relative to the bottom surface. Optionally, the inclination angle of the top surface relative to the bottom surface is 5°-20°, and optionally 15°.

[0050] One embodiment of this application provides a pick-and-place device that, by setting the top surface inclined relative to the bottom surface, can guide the pick-and-place device when it clamps the pick-and-place device, making the clamping more convenient.

[0051] In some embodiments, the drive assembly 3 includes a drive motor 31 and a drive rod 32. The output end of the drive motor 31 is connected to the drive rod 32. One end of the drive rod 32 has a left-hand thread and the other end has a right-hand thread. One of each pair of pick-and-place components 2 is connected to the left-hand thread and the other is connected to the right-hand thread. The mounting bracket 1 is provided with a guide rail extending along the first direction X. Each pair of pick-and-place components 2 is slidably connected to the guide rail.

[0052] The drive rod 32 can be a left- or right-hand lead screw. The drive motor 31 can be a servo motor. Using a servo motor can make the pick-and-place device faster, and at the same time, it can detect the clamping force of the pick-and-place device in real time, thus improving reliability.

[0053] Furthermore, a nut 321 is connected to the drive rod 32, the nut 321 is connected to the connecting seat 5, and the connecting seat 5 is connected to the pick-and-place assembly 2. The rotation of the drive rod 32 drives the nut 321 to move, the movement of the nut 321 drives the connecting seat 5 to move, and the movement of the connecting seat 5 drives the pick-and-place assembly 2 to move, thereby enabling the pick-and-place assembly 2 to clamp or release the item 4 to be picked up or placed.

[0054] The pick-and-place device provided in one embodiment of this application is configured with a drive rod 32 having a left-hand thread at one end and a right-hand thread at the other end, and one of each pair of pick-and-place components 2 is connected to the left-hand thread and the other to the right-hand thread, so that when the drive rod 32 rotates, each pair of pick-and-place components 2 can move towards each other or away from each other, thereby enabling the pick-and-place components 2 to clamp or release the item to be picked up or placed 4.

[0055] In some embodiments, the drive assembly 3 further includes a transmission mechanism 33, which includes a drive wheel 331, a driven wheel 332, and a traction part 333. The traction part 333 is wound around the drive wheel 331 and the driven wheel 332. The output end of the drive motor 31 is connected to the drive wheel 331, and the driven wheel 332 is connected to the drive rod 32.

[0056] The traction unit 333 can be selected as a transmission belt or a transmission chain. It can be understood that when the traction unit 333 is selected as a transmission belt, both the driving pulley 331 and the driven pulley 332 are pulleys. When the traction unit 333 is selected as a transmission chain, both the driving pulley 331 and the driven pulley 332 are sprockets.

[0057] The pick-and-place device provided in one embodiment of this application, by setting a transmission mechanism 33 including a drive wheel 331, a driven wheel 332 and a traction part 333, and connecting the output end of the drive motor 31 to the drive wheel 331 and the driven wheel 332 to the drive rod 32, makes the structure of the pick-and-place device more compact and has a higher degree of integration.

[0058] In some embodiments, the mounting bracket 1 includes a pair of fixed plates 11, which are spaced apart. The drive motor 31 and the drive rod 32 are both placed between the pair of fixed plates 11. The output end of the drive motor 31 passes through the fixed plate 11 and is connected to the drive wheel 331. One end of the drive rod 32 passes through the fixed plate and is connected to the driven wheel 332. The other end of the drive rod 32 is rotatably connected to the fixed plate.

[0059] Furthermore, one of the fixed plates is provided with two mounting holes. The output end of the drive motor 31 passes through one of the mounting holes and is connected to the drive wheel 331, and one end of the drive rod 32 passes through the other mounting hole and is connected to the driven wheel 332.

[0060] One embodiment of this application provides a pick-and-place device that, by utilizing a pair of spaced-apart fixing plates 11, can fix the drive motor 31 and the drive rod 32 at the lowest cost.

[0061] In some embodiments, the pick-and-place component 2 is detachably connected to a connecting block, which is slidably connected to the guide rail.

[0062] One embodiment of this application provides a pick-and-place device in which the pick-and-place component 2 is slidably connected to the guide rail by setting a connecting block that is detachably connected to the pick-and-place component 2, so as to facilitate the replacement of the pick-and-place component 2.

[0063] In some embodiments, the drive assembly 3 includes two telescopic cylinders, each having a degree of freedom of extension and retraction in a first direction X. The two telescopic cylinders are arranged opposite to each other, and the extension rod of one of the two telescopic cylinders is connected to one of the pick-and-place assemblies 2, while the extension rod of the other of the two telescopic cylinders is connected to the other pick-and-place assemblies 2.

[0064] Furthermore, the telescopic cylinder is electrically connected to an external control device, which controls the extension and retraction of the telescopic cylinder's telescopic rod.

[0065] One embodiment of this application provides a pick-and-place device that uses two telescopic cylinders with degrees of freedom of extension and retraction in a first direction X. The two telescopic cylinders are arranged opposite each other, such that the telescopic rod of one of the two telescopic cylinders is connected to one of the pick-and-place components 2, and the telescopic rod of the other of the two telescopic cylinders is connected to the other pick-and-place component 2. When the telescopic rod of the telescopic cylinder extends or retracts along the first direction X, each pair of pick-and-place components 2 can move towards each other or away from each other, thereby enabling the pick-and-place components 2 to clamp or release the item to be picked up or placed 4.

[0066] On the other hand, embodiments of this application also provide a robotic arm, including a robotic arm body and a pick-and-place device as described in any of the above embodiments. The robotic arm body has a degree of freedom of movement in at least one direction, and the pick-and-place device is connected to the robotic arm body. Optionally, the robotic arm body has three degrees of freedom of movement.

[0067] One embodiment of this application provides a robotic arm, the robotic arm body can drive the picking and placing device to move, thereby moving the picking and placing device to the gripping position or the placing position, so as to facilitate the picking and placing device to grip or release the item to be picked or placed 4.

[0068] In some embodiments, the picking and placing device further includes a connecting frame 6, one end of which is connected to the robot body and the other end of which is connected to the mounting frame 1. Further, one end of the connecting frame 6 is detachably connected to the robot body and the other end is detachably connected to the mounting frame 1. The detachable connection can be achieved by using fasteners such as bolts for securing the connection, or by using a snap-fit ​​mechanism where one end partially extends into the other.

[0069] Specifically, the connecting frame 6 includes a base frame 61 and a support frame 62. The base frame 61 is detachably connected to the robot body and the first end of the support frame 62, and the second end of the support frame 62 is detachably connected to the mounting frame. Furthermore, the base frame 61 has a plate-like structure and is provided with weight-reduction holes 611 to meet the lightweight requirements of the robot. The support frame 62 includes two support plates 621 spaced apart along the second direction Y.

[0070] One embodiment of this application provides a robotic arm that, by setting a base frame 61 and a support frame 62, enables the connection between the pick-and-place component 2 and the robotic arm body at the lowest cost.

[0071] Working principle:

[0072] First, the robotic arm moves the pick-and-place device to the gripping position of the item 4 to be picked up or placed. The drive motor 31 drives the drive wheel 331 to rotate clockwise. The drive wheel 331 drives the driven wheel 332 to rotate through the traction part 333. The driven wheel 332 drives the drive rod 32 to rotate. The drive rod 32 drives the pick-and-place components 2 to move towards each other, thereby gripping the item 4 to be picked up or placed. Then, the robotic arm moves the pick-and-place device and the item 4 to the placement position. The drive motor 31 drives the drive wheel 331 to rotate counterclockwise. The drive wheel 331 drives the driven wheel 332 to rotate through the traction part 333. The driven wheel 332 drives the drive rod 32 to rotate. The drive rod 32 drives the pick-and-place components 2 to move in opposite directions, thereby placing the item 4 to be picked up or placed.

[0073] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A pick-and-place device, characterized in that, include: Mounting rack; At least one pair of pick-and-place components are disposed on the mounting frame. Each pair of pick-and-place components is disposed opposite to each other along a first direction and at least one of them is movably connected to the mounting frame. Each pair of pick-and-place components is provided with a receiving groove on the side facing each other, and the receiving groove is configured to embed the item to be picked up or placed. A drive assembly, disposed on the mounting bracket, is configured to drive at least one of each pair of pick-and-place assemblies to move along a first direction to clamp or release the item to be picked up or placed.

2. The pick-and-place device according to claim 1, characterized in that, The pick-and-place assembly includes two or more pick-and-place parts, which are spaced apart along a second direction. The receiving groove is disposed in each of the pick-and-place parts, and the second direction intersects with the first direction.

3. The pick-and-place device according to claim 1, characterized in that, Along the first direction, the receiving slots of each pair of the pick-and-place components are open to one side facing each other. The slot wall includes a top surface, a bottom surface, and a side surface connected between the top surface and the bottom surface, and the top surface is inclined relative to the bottom surface.

4. The pick-and-place device according to any one of claims 1 to 3, characterized in that, The drive assembly includes a drive motor and a drive rod. The output end of the drive motor is connected to the drive rod. One end of the drive rod has a left-hand thread and the other end has a right-hand thread. One of each pair of pick-and-place components is connected to the left-hand thread and the other is connected to the right-hand thread. The mounting bracket is provided with a guide rail extending in a first direction, and each pair of pick-and-place components is slidably connected to the guide rail.

5. The pick-and-place device according to claim 4, characterized in that, The drive assembly also includes a transmission mechanism, which includes a drive wheel, a driven wheel, and a traction unit. The traction unit is wound around the drive wheel and the driven wheel. The output end of the drive motor is connected to the drive wheel, and the driven wheel is connected to the drive rod. The traction unit includes either a transmission belt or a transmission chain.

6. The pick-and-place device according to claim 5, characterized in that, The mounting bracket includes a pair of fixed plates, which are spaced apart. The drive motor and the drive rod are both placed between the pair of fixed plates. The output end of the drive motor passes through the fixed plate and is connected to the drive wheel. One end of the drive rod passes through the fixed plate and is connected to the driven wheel. The other end of the drive rod is rotatably connected to the fixed plate.

7. The pick-and-place device according to claim 4, characterized in that, The pick-and-place assembly is detachably connected to a connecting block, which is slidably connected to the guide rail.

8. The pick-and-place device according to claim 1, characterized in that, The drive assembly includes two telescopic cylinders, each having a degree of freedom to extend or retract in the first direction. The two telescopic cylinders are arranged opposite to each other. The telescopic rod of one of the two telescopic cylinders is connected to one of the pick-and-place components, and the telescopic rod of the other of the two telescopic cylinders is connected to the other pick-and-place component.

9. A robotic arm, characterized in that, include: The robotic arm itself has a degree of freedom of movement in at least one direction; The pick-and-place device as described in any one of claims 1 to 8, wherein the pick-and-place device is connected to the robot arm body.

10. The robotic arm according to claim 9, characterized in that, The picking and placing device also includes a connecting frame, one end of which is connected to the robot arm body and the other end of which is connected to the mounting frame.

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