Pick-and-place device and robot

Abstract

The utility model provides a pick-and-place device and a robot. The pick-and-place device comprises an air suction pump, a suction nozzle and a pressure release valve. The suction nozzle is connected with an air suction port of the air suction pump through a first pipeline, and the suction nozzle can adsorb an object to be taken and placed through negative pressure generated by the air suction pump; the pressure relief valve is arranged in the first pipeline or communicated with the first pipeline, and the pressure relief valve comprises a pressure relief opening communicated with the atmospheric environment and a valve plate for controlling opening and closing of the pressure relief opening. The chess pieces are taken and placed by the taking and placing device through an air suction scheme, special matched chess pieces are not needed, the chess pieces can be taken and placed by the taking and placing device when any chess piece is used, and the cost of the chess pieces is saved. When the taking and placing device is used for taking and placing the to-be-taken and placed object, the suction nozzle generates negative pressure for adsorbing the to-be-taken and placed object through the air suction pump, the pressure relief opening is in a closed state at the moment, and the air suction pump is closed after the suction nozzle sucks the to-be-taken and placed object; as the pressure relief opening is in the closed state, the first pipeline is still in the negative pressure state, and the suction nozzle can still continuously adsorb the object to be taken and placed.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a pick-and-place device and a robot. Background Technology

[0002] With the continuous innovation and development of science and technology, chess-playing robots have made significant progress in technological innovation. Their efficient and precise chess skills have changed people's entertainment concepts. Typically, chess-playing robots use magnetic attraction to pick up and place chess pieces. This requires special magnetic chess pieces, which are expensive, and the magnetic system usually requires a continuous power supply to maintain the attraction, wasting energy. Utility Model Content

[0003] In view of this, this application provides a pick-and-place device to solve the problems of high cost of magnetic chess piece pick-and-place devices for chess-playing robots and the waste of energy caused by the need for a continuous power supply to maintain the magnetic state.

[0004] To achieve the above objectives, this application provides the following technical solution:

[0005] A pick-and-place device, comprising:

[0006] Suction pump;

[0007] The suction nozzle is connected to the suction port of the suction pump through the first pipeline, and the suction nozzle can adsorb the object to be picked up or put down by the negative pressure generated by the suction pump.

[0008] A pressure relief valve is disposed in or connected to the first pipeline, and the pressure relief valve includes a pressure relief port connected to the atmospheric environment, and a valve plate for controlling the opening and closing of the pressure relief port.

[0009] Optionally, the pick-and-place device may also include a barometer connected to the first pipeline.

[0010] Optionally, the pressure relief valve is a solenoid valve.

[0011] Optionally, the solenoid valve includes:

[0012] The first interface is connected to the first pipeline via the second pipeline;

[0013] The second interface connects to the barometer.

[0014] The third interface is a pressure relief port that connects to the atmospheric environment;

[0015] Specifically, when the solenoid valve is energized, the first interface and the second interface are connected, and the third interface is blocked; when the solenoid valve is de-energized, the second interface and the third interface are connected, and the first interface is blocked.

[0016] Optionally, the barometer is a piezoresistive barometer.

[0017] Optionally, a lifting assembly may be included, which includes:

[0018] Drive components;

[0019] The lead screw is connected to the drive shaft of the drive component;

[0020] The slider is threadedly connected to the lead screw, and the slider can move along the length direction of the lead screw when the lead screw rotates. The suction nozzle is connected to the slider and can move under the drive of the slider.

[0021] Optionally, the pick-and-place device further includes a sleeve fitted onto the slide bar, with one end of the sleeve connected to the slider and the other end connected to the suction nozzle.

[0022] Optionally, the pick-and-place device also includes a controller, which is communicatively connected to the suction pump, the barometer, the drive unit, and the solenoid valve.

[0023] Optionally, the pick-and-place device may also include sound-absorbing cotton wrapped around the outside of the suction pump.

[0024] A robot comprising the picking and placing device described in any one of the above claims, wherein the robot is a chess-playing robot capable of picking and placing chess pieces.

[0025] The pick-and-place device provided in this application is equipped with an air pump and a suction nozzle connected to the air pump's air inlet. The suction nozzle can adsorb the object to be picked up or placed by the negative pressure generated by the air pump. In other words, the pick-and-place device can pick up and place chess pieces through an air suction scheme, without the need for special matching chess pieces. Any type of chess piece can be used to pick up and place chess pieces, saving the cost of making chess pieces.

[0026] Furthermore, a pressure relief valve is installed in the first pipeline, or a pressure relief valve connected to the first pipeline is installed. The pressure relief valve includes a pressure relief port connected to the atmospheric environment and a valve plate that controls the opening and closing of the pressure relief port. With this configuration, when the pick-and-place device is used to pick up or place an object, the suction pump creates a negative pressure at the nozzle to absorb the object, and the pressure relief port is closed at this time. After the nozzle finishes sucking up the object, the suction pump is turned off. Since the pressure relief port is closed, the first pipeline remains under negative pressure, and the nozzle can continue to absorb the object. In this way, while the nozzle is continuously absorbing the object, the suction pump does not need to be continuously operating, thus eliminating the need for a continuous power supply to maintain the absorption state of the object, thereby saving energy. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the pick-and-place device provided in this embodiment;

[0029] Figure 2 This is a structural diagram of the upgrade component.

[0030] Figures 1 to 2 middle:

[0031] 1-Air suction pump, 2-Suction nozzle, 3-Solenoid valve, 4-Barometer, 5-Lifting assembly, 6-Sleeve, 7-First pipeline, 8-Second pipeline;

[0032] 11-Intake port, 12-Exhaust port, 31-First interface, 32-Second interface, 33-Third interface, 51-Driver, 52-Lead screw, 53-Slider, 54-Guide rod. Detailed Implementation

[0033] This application provides a pick-and-place device. This application also provides a robot including the above-described pick-and-place device.

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] like Figures 1 to 2As shown in the figure, this application embodiment provides a pick-and-place device for picking up and placing objects. This device can be installed on a robot, especially on a chess-playing robot, to pick up and place chess pieces. The pick-and-place device mainly includes an air pump 1, a suction nozzle 2, and a pressure relief valve. The suction nozzle 2 is connected to the air intake 11 of the air pump 1 through a first pipe 7, and the suction nozzle 2 can adsorb the objects to be picked up and placed by the negative pressure generated by the air pump 1. That is to say, this pick-and-place device achieves the picking up and placing of objects by air suction. The pressure relief valve is installed in or connected to the first pipeline 7. That is, the pressure relief valve can be installed in the first pipeline 7, or it can be connected to the first pipeline 7 through a pipeline, as long as the pressure relief valve is connected to the first pipeline 7 and the air pressure is the same as that of the first pipeline 7 when the pressure relief port is closed. Moreover, the pressure relief valve includes a pressure relief port that is connected to the atmospheric environment, and a valve plate that controls the opening and closing of the pressure relief port. That is, the pressure relief valve has a closed state and an open state. In the closed state, the valve plate closes the pressure relief port, and the first pipeline 7 is not connected to the atmospheric environment. In the open state, the first pipeline 7 is connected to the atmospheric environment to release the pressure in the first pipeline 7.

[0036] The suction pump 1, also known as a vacuum pump, is a device that converts mechanical energy into gas pressure energy and is driven by an electric motor. It can compress air to generate gas pressure. It has one intake port 11 and one exhaust port 12. The intake port 11 can continuously form a vacuum (relative vacuum), and the exhaust port 12 forms a slight positive pressure. Utilizing the circular motion of the electric motor, the diaphragm inside the pump reciprocates through a mechanical device, thereby compressing and stretching the air pressure inside the pump cavity to form a negative pressure. Under conditions of good airtightness, it can achieve the function of adsorbing and releasing objects.

[0037] It should be noted that when an object needs to be picked up or placed, the suction pump 1 operates, creating a negative pressure state at the nozzle 2 to absorb the object. The nozzle 2 then picks up the object. During this time, the first pipeline 7 and the nozzle 2 maintain a continuous negative pressure environment. The suction pump 1 can be turned off, but the first pipeline 7, nozzle 2, and the pressure relief valve (with its pressure relief port closed) remain under negative pressure, allowing the nozzle 2 to continuously absorb the object. When it's time to place the object, simply open the pressure relief valve. Alternatively, the suction pump 1 can be kept on continuously. When it's time to place the object, the suction pump 1 can be turned off and the pressure relief valve opened to achieve the same purpose.

[0038] The aforementioned pick-and-place device, by incorporating an air pump 1 and a suction nozzle 2 connected to the air intake 11 of the air pump 1, allows the suction nozzle 2 to adsorb the object to be picked up or placed using the negative pressure generated by the air pump 1. In other words, the device uses an air suction method to pick up and place the game pieces, eliminating the need for dedicated game pieces; any type of game piece can be used, saving on the cost of manufacturing game pieces. Furthermore, a pressure relief valve is installed in the first pipeline 7, or a pressure relief valve connected to the first pipeline 7. This pressure relief valve includes a pressure relief port connected to the atmospheric environment and a valve plate that controls the opening and closing of the pressure relief port. With this configuration, when the pick-and-place device is used to pick up or place the object, the air pump 1 generates a negative pressure on the suction nozzle 2 to adsorb the object, and the pressure relief port is closed at this time. After the suction nozzle 2 finishes adsorbing the object, the air pump 1 is turned off. Because the pressure relief port is closed, the first pipeline 7 remains under negative pressure, and the suction nozzle 2 can continue to adsorb the object. In this way, when the suction nozzle 2 is continuously adsorbing the object to be picked up or put down, since the suction pump 1 does not need to be in a continuous working state, there is no need for a continuous power supply to maintain the adsorption state of the object to be picked up or put down, thus saving power.

[0039] In some embodiments, when using the pick-and-place device to pick up or place an object, the suction nozzle 2 is moved above and in contact with the object. Then, the suction pump 1 operates to generate negative pressure, causing the suction nozzle 2 to adsorb the object. However, when the suction pump 1 generates negative pressure, the negative pressure gradually increases over time. During operation, the suction pump 1 cannot determine whether the suction nozzle 2 has been adsorbed. This could result in the suction nozzle 2 failing to hold the object, or the suction force being too strong and wasting energy. Therefore, the pick-and-place device also includes a pressure gauge 4 connected to the first pipeline 7. By setting the pressure gauge 4 to detect the pressure in the first pipeline 7, the suction nozzle 2 is moved only when the pressure in the first pipeline 7 reaches the target pressure. This ensures that the object is picked up, thus accurately picking up, placing, and moving the object.

[0040] In some embodiments, the pressure relief valve is a solenoid valve 3, and the solenoid valve 3 is communicatively connected to the controller. This configuration allows the controller to automatically adjust the valve position of the solenoid valve 3 according to the operating conditions, thereby improving the automation level of the pick-and-place device when picking up or placing items.

[0041] In addition, the pressure relief valve can be a manual valve, which can be manually opened by the operator to relieve pressure when pressure needs to be relieved.

[0042] In some embodiments, the solenoid valve 3 includes a first interface 31, a second interface 32, and a third interface 33. The first interface 31 is connected to the first pipe 7 via the second pipe 8; the second interface 32 is connected to the barometer 4; and the third interface 33 is a pressure relief port connected to the atmospheric environment. When the solenoid valve 3 is energized, the first interface 31 and the second interface 32 are connected, and the third interface 33 is blocked. When the solenoid valve 3 is de-energized, the second interface 32 and the third interface 33 are connected, and the first interface 31 is blocked. With this configuration, when it is necessary to adsorb an object, the suction pump 1 is turned on, and the suction pump 1, in working condition, generates negative pressure in the suction nozzle 2 through the first pipe 7, allowing the suction nozzle 2 to adsorb the object. The solenoid valve 3 is then adjusted to the energized state, with the first interface 31 and the second interface 32 connected, and the third interface 33 blocked, so that the barometer 4 connected to the second interface 32 is connected to the first pipe 7. The barometer 4 can then measure the negative pressure of the suction nozzle 2 connected to the first pipe 7. When it is necessary to place the object held by the suction nozzle 2, the suction pump 1 is turned off, and the solenoid valve 3 is switched to the closed state. The second port 32 and the third port 33 are connected, while the first port 31 is blocked. The third port 33 releases the air pressure in the first pipeline 7, releasing the suction nozzle 2 from the object to be placed, thus completing the placement of the object. This configuration facilitates the arrangement of the solenoid valve 3 and the connection and setting of the barometer 4, making the overall layout of the picking and placing device more compact and improving the automation level of picking and placing objects.

[0043] In some embodiments, the barometer 4 is a piezoresistive barometer. The barometer 4 consists of a piezoresistive sensor and a sensor interface. When air pressure acts on the sensor's sensing surface, the piezoresistive material on the sensing surface will displace, thereby changing the resistance value. Internal data processing determines the magnitude of the air pressure, which is then communicated to the controller via the sensor interface. This configuration enables efficient detection of the air pressure value in the first pipeline 7, and the controller can determine whether the object to be picked up or placed has been adsorbed by the suction nozzle 2 based on the results measured by the barometer 4, thereby improving the efficiency of picking up and placing objects.

[0044] In some embodiments, a lifting assembly 5 is included. The lifting assembly 5 includes a drive member 51, a lead screw 52, ​​and a slider 53. The lead screw 52 is connected to the drive shaft of the drive member 51. The slider 53 is threadedly connected to the lead screw 52 and can move along the length direction of the lead screw 52 when the lead screw 52 rotates. The suction nozzle 2 is connected to the slider 53 and can move under the drive of the slider 53. The drive member 51 typically uses a stepper motor to convert electrical energy into rotational motion. The lead screw 52 is a threaded rod and is connected to the output shaft of a motor. The motor transmits the rotational motion of the drive shaft to the lead screw 52. The slider 53 is sleeved on the lead screw 52 and is threadedly engaged with the lead screw 52. Specifically, when the motor rotates, the lead screw 52 rotates along with the motor's drive shaft, and the slider 53 moves linearly along the lead screw 52. A photoelectric switch is placed at the end of the lead screw 52 to determine whether the nut has returned to zero and to perform some software logic protection. The slider 53 is connected to the suction nozzle 2, and the movement of the slider 53 will drive the suction nozzle 2 to move together, thereby realizing the linear movement of the suction nozzle 2. Here, by setting the above-mentioned drive component 51, lead screw 52 and slider 53, the rotational motion of the drive component 51 can be conveniently converted into linear motion. The lifting assembly 5 has a stable structure, and by setting the lifting assembly 5, the lifting and lowering of the suction nozzle 2 can be conveniently realized.

[0045] Furthermore, a guide rod 54 parallel to the lead screw 52 is provided, and a guide hole is provided on the slider 53 to slide in connection with the guide rod 54. With this configuration, when the drive member 51 drives the lead screw 52 to rotate, the slider 53 slides along the lead screw 52. The guide rod 54 can guide the sliding of the slider 53, thereby improving the stability of the slider 53's movement, and thus improving the stability of the suction nozzle 2 in moving the object to be picked up or placed.

[0046] Furthermore, in order to further improve the stability of the slider 53 movement, multiple guide rods 54 are provided, and are respectively provided on both sides of the lead screw 52, ​​and the slider 53 is slidably connected to multiple guide rods 54.

[0047] In some embodiments, the pick-and-place device further includes a sleeve 6 fitted onto the slide bar, with one end of the sleeve 6 connected to the slider 53 and the other end connected to the suction nozzle 2. That is, the connection between the slider 53 and the suction nozzle 2 is achieved by setting the sleeve 6. It should be noted that the slider 53 can be connected to the sleeve 6 via a lifting rope, allowing the slider 53 to move the sleeve 6. By setting the sleeve 6, when the pick-and-place device moves the item to be picked up, other components within the device are prevented from being exposed, thus simplifying the overall layout of the pick-and-place device.

[0048] In some embodiments, the pick-and-place device further includes a controller (not shown in the figure), which is communicatively connected to the suction pump 1, the barometer 4, the drive unit 51, and the solenoid valve 3. Specifically, when the pick-and-place device is used to pick up or place an object, the controller controls the suction pump 1 to turn on and the solenoid valve 3 to be energized. The suction pump 1 generates negative pressure so that the suction nozzle 2 adsorbs the object to be picked up or placed. The pressure value detected by the barometer 4 can detect whether the object to be picked up or placed is adsorbed by the suction nozzle 2. The barometer 4 transmits the detected pressure value to the controller, which controls the drive unit 51 to rotate so as to move the object to be picked up or placed by the suction nozzle 2. When it moves to the target position, the controller controls the solenoid valve 3 to be de-energized and controls the suction pump 1 to be de-energized, so that the suction nozzle 2 releases the adsorption of the object to be picked up or placed, so as to place the object to be picked up or placed in the target position.

[0049] In some embodiments, the pick-and-place device further includes sound-absorbing cotton (not shown in the figure) wrapped around the outside of the suction pump 1. By wrapping the outside of the suction pump 1 with sound-absorbing cotton, the noise of the suction pump 1 during operation can be further reduced, and the experience of picking up and placing items can be further improved throughout the process. Here, the type of sound-absorbing cotton is not limited, and the sound-absorbing cotton can be mineral wool type sound-absorbing cotton, glass wool type sound-absorbing cotton, polyester fiber type sound-absorbing cotton, polyurethane type sound-absorbing cotton, etc.

[0050] A robot includes any of the above-mentioned pick-and-place devices. Since the robot includes the aforementioned pick-and-place devices, the beneficial effects brought by these devices are as described above and will not be repeated here. The robot is a chess-playing robot capable of picking up and placing chess pieces. Specifically, when using the chess-playing robot to move chess pieces, the specific steps are as follows: When the robot picks up a piece, the robotic arm moves to the designated position and begins the picking action. The suction pump 1 and solenoid valve 3 are opened, and simultaneously, the lifting assembly 5 drives the sleeve 6 to descend (the descent distance can be adaptively adjusted). At the same time, the barometer 4 obtains the air pressure value in the first pipeline 7. When the suction nozzle 2 obtains the air pressure value of the chess piece, reaching the first target pressure (e.g., -20 kPa, the pressure value varies depending on the weight of the chess piece), feedback is sent to the controller that the chess piece has been picked up. Then, the lifting assembly 5 drives the sleeve 6 to rise, and the picking action ends. When the chess-playing robot places a piece, once the piece-collecting and placing device has completed all its actions, the suction nozzle 2, which holds the piece, moves to the designated placement position. The lifting assembly 5 then lowers the sleeve 6 to lower the suction nozzle 2, with a fixed descent distance. The air pump and solenoid valve 3 are then shut off. Simultaneously, the pressure gauge 4 acquires the voltage value in the first pipeline 7. When the pressure reaches the second target pressure (e.g., 20 Pa) after the piece falls from the suction nozzle 2, the controller reports successful placement. The lifting assembly 5 then raises the sleeve 6, completing the placement process. These steps are repeated to achieve continuous gameplay, continuously collecting and moving pieces.

[0051] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0052] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0053] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0054] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0055] It should be understood that the qualifiers “first,” “second,” “third,” “fourth,” “fifth,” and “sixth” used in the description of the embodiments of this application are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of this application.

[0056] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A pick-and-place device, characterized in that, include: Suction pump; The suction nozzle is connected to the suction port of the suction pump through the first pipeline, and the suction nozzle can adsorb the object to be picked up or put down by the negative pressure generated by the suction pump. A pressure relief valve is disposed in or connected to the first pipeline, and the pressure relief valve includes a pressure relief port connected to the atmospheric environment, and a valve plate for controlling the opening and closing of the pressure relief port.

2. The pick-and-place device according to claim 1, characterized in that, It also includes a barometer that is connected to the first pipeline.

3. The pick-and-place device according to claim 1, characterized in that, The pressure relief valve is a solenoid valve.

4. The pick-and-place device according to claim 3, characterized in that, The solenoid valve includes: The first interface is connected to the first pipeline via the second pipeline; The second interface connects to the barometer. The third interface is a pressure relief port that connects to the atmospheric environment; Specifically, when the solenoid valve is energized, the first interface and the second interface are connected, and the third interface is blocked; when the solenoid valve is de-energized, the second interface and the third interface are connected, and the first interface is blocked.

5. The pick-and-place device according to claim 2, characterized in that, The barometer is a piezoresistive barometer.

6. The pick-and-place device according to claim 1, characterized in that, Includes a lifting assembly, which includes: Drive components; The lead screw is connected to the drive shaft of the drive component; A slider is threadedly connected to the lead screw, and the slider can move along the length direction of the lead screw when the lead screw rotates. The suction nozzle is connected to the slider and can move under the drive of the slider.

7. The pick-and-place device according to claim 6, characterized in that, It also includes a sleeve fitted onto the slide bar, with one end of the sleeve connected to the slider and the other end connected to the suction nozzle.

8. The pick-and-place device according to claim 2, characterized in that, It also includes a controller, which is communicatively connected to the air pump, the barometer, the drive unit, and the solenoid valve.

9. The pick-and-place device according to claim 1, characterized in that, It also includes sound-absorbing cotton wrapped around the outside of the air pump.

10. A robot, characterized in that, Includes the pick-and-place device as described in any one of claims 1-9, wherein the robot is a chess-playing robot capable of picking up and placing chess pieces.

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