Pick-up device

Abstract

The embodiment of the utility model provides a pickup device which comprises a rotating structure. The positioning main body is connected with the rotating structure; the pick-up structure is mounted on the first side of the positioning main body and is used for picking up an object to be picked up; the positioning detection device is mounted on the first side of the positioning main body and is used for detecting the orientation of an object to be picked up; wherein the rotating structure is used for adjusting the angle of the positioning main body based on the detection result of the positioning detection device.

Description

Technical Field

[0001] This application relates to the field of product manufacturing process technology, and more specifically, to a pickup device. Background Technology

[0002] Product manufacturing typically involves multiple processes, and components need to be transferred between various tooling locations within these processes. Currently, the transfer of product components is usually done manually, which is relatively inefficient. Utility Model Content

[0003] The purpose of this application is to provide a pickup device that can improve the transfer efficiency in the product manufacturing process, thereby improving the efficiency of product manufacturing.

[0004] In a first aspect, the present invention provides a picking device, comprising: a rotating structure; a positioning body connected to the rotating structure; a picking structure installed on a first side of the positioning body, the picking structure being used to pick up an object to be picked up; a positioning detection device installed on the first side of the positioning body, used to detect the orientation of the object to be picked up; wherein, the rotating structure is used to adjust the angle of the positioning body based on the detection result of the positioning detection device.

[0005] In the above implementation, the designed picking device can replace manual transfer of components involved in the product manufacturing process, thereby accelerating the transfer speed of products or product components during manufacturing, improving production efficiency, and reducing the efficiency of human resources. Specifically, by setting up a rotating structure and a positioning detection device, the picking structure can be adjusted based on the real-time position of the object to be picked up, enabling more accurate picking of the object.

[0006] In an optional embodiment, the positioning detection device includes: a first detection device and a second detection device; the first detection device is used to detect the position of the placement platform of the object to be picked up; the second detection device is used to detect the relative positional relationship between the object to be picked up and the placement platform; the rotation structure is used to adjust the angle of the positioning subject based on the detection result of the first detection device; the rotation structure is used to adjust the height of the positioning subject based on the detection result of the second detection device; and the picking structure is used to adjust the posture of the picking structure based on the detection result of the second detection device.

[0007] In the above implementation, by designing two sets of detection structures, detection can be performed from different angles. For example, the platform can be detected from one angle, and the object to be picked up can be detected from another angle. By detecting from two angles, the position of the object to be picked up can be determined more accurately. Based on the detection results, the positioning subject and the picking structure can be adjusted, thereby enabling the picking structure to pick up the object to be picked up more accurately.

[0008] In an optional embodiment, the number of the first detection devices is at least two, with the first detection devices installed at the edge position of the first side of the positioning body; and the second detection device installed at a position between the installation positions of the first detection devices on the first side of the positioning body.

[0009] In the above implementation, since the placement platform is typically relatively large, multiple detection structures can be set at the edges of the positioning subject. This makes the detection results of the placement platform, implemented from various positions based on multiple detection structures, more reliable. Furthermore, since the object to be picked up is usually placed in the middle of the placement platform, the second detection device can also be placed in a relatively central position, which can better detect the relative positional relationship between the object to be picked up and the placement platform.

[0010] In an optional embodiment, the picking structure includes: a movable link, a suction cup, and a shock-absorbing structure disposed between the movable link and the suction cup; the movable link is used to connect with the positioning body; and the suction cup is used to adsorb the object to be picked up.

[0011] In the above implementation, the picking structure is designed to include a movable link, a suction cup, and a shock-absorbing structure, which allows for more flexible adjustment of the picking structure's posture. In addition, by setting the shock-absorbing structure, the suction cup can be cushioned when it touches the object to be picked up, reducing the squeezing of the object and improving the safety of moving and picking up the object.

[0012] In an optional embodiment, it further includes: an air tube disposed within the positioning body; an electronic valve installed at a first end of the air tube; and a second end of the air tube connected to a suction cup of the pickup structure. The electronic valve is used to evacuate the air tube to apply pressure to the pickup structure in order to adjust the posture of the pickup structure.

[0013] In an optional embodiment, the trachea includes a main pipe and a manifold connected to the main pipe; the main pipe is connected to the electronic valve; and the manifold is connected to the pickup structure.

[0014] In an optional embodiment, the movable link includes at least two sets of movable connectors, one end of which is connected to the air pipe and the other end of which is connected to the shock-absorbing structure; the movable connector includes a movable shaft and at least two hollow tubes, the two hollow tubes are connected by the movable shaft, and the hollow tubes are connected to the air pipe; wherein, the movable shaft is configured with a hollow structure inside, and the movable shaft is connected to the hollow tubes.

[0015] In an optional embodiment, the shock-absorbing structure includes a first connecting part and a shock-absorbing part; the first connecting part is connected to the movable connecting rod, one end of the shock-absorbing part is connected to the first connecting part, and the other end of the shock-absorbing part is connected to the suction cup; wherein, the shock-absorbing part is made of an elastic material, and the first connecting part is made of a rigid material.

[0016] In the above implementation method, the overall shock absorption structure is designed as an elastic structure that can achieve buffering in the middle, thereby achieving the shock absorption effect; the ends are designed as rigid materials with supporting function, which can also provide a certain supporting effect when picking up the object to be picked up, and avoid excessive compression of the moving link.

[0017] In an optional embodiment, the shock-absorbing structure further includes a second connecting portion and a limiting tube disposed outside the shock-absorbing portion. The first end of the limiting tube is connected to the first connecting portion, and the second end of the limiting tube is connected to the first end of the second connecting portion. The opening size of the second end of the second connecting portion is larger than the opening size of the first end of the second connecting portion.

[0018] In the above implementation, the opening size at the second end of the second connecting part can be larger than the opening size at the first end of the second connecting part, thereby forming a horn shape. This horn shape can reduce stress concentration caused by the suction cup contacting the elastic shock-absorbing part when it retracts. Furthermore, by designing the horn shape, the sharp angle of the picking device is reduced, thus reducing the probability of damaging the object to be picked up.

[0019] In an optional implementation, the number of the picking structures is greater than or equal to two; the picking structures are distributed on the first side of the positioning body.

[0020] The above implementation can involve multiple sets of picking structures, which can better meet the picking needs of objects of different sizes. In addition, multiple sets of picking structures can provide a more uniform picking force to the object, thereby improving the safety of picking up the object. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the pickup device provided in the embodiments of this application;

[0023] Figure 2 This is a schematic diagram of the pickup device provided in an embodiment of this application from another angle;

[0024] Figure 3 This is a schematic diagram of the pickup structure of the pickup device provided in the embodiments of this application;

[0025] Figure 4 A cross-sectional schematic diagram of the positioning body of the pickup device provided in the embodiments of this application;

[0026] Figure 5 This is a schematic diagram of the structure of the manifold of the pickup device provided in the embodiments of this application;

[0027] Figure 6 This is a schematic diagram of the shock absorption structure of the pickup device provided in the embodiments of this application.

[0028] Icons: 110-Rotating structure; 120-Positioning body; 130-Pickup structure; 131-Moving link; 1311-Hollow tube; 1312-Moving shaft; 132-Suction cup; 133-Shock-absorbing structure; 1331-First connecting part; 1332-Shock-absorbing part; 1333-Second connecting part; 1334-Limiting tube; 140-Positioning detection device; 141-First detection device; 142-Second detection device; 150-Air pipe; 151-Main pipe; 152-Manifold; 1521-Spiral groove; 160-Electronic valve. Detailed Implementation

[0029] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0030] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] In the description of this application, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of this application.

[0032] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] The manufacturing process typically involves multiple steps, requiring the transfer of product components between these steps. Taking chip manufacturing as an example, during chip packaging, the chip's casing structure is transferred between different processes. Each transfer requires manual handling to pick up the individual casing structure and place it onto the tooling needed for the next process. This manual transfer method is inefficient, resulting in low chip packaging efficiency. Furthermore, manual transfer significantly increases labor time costs.

[0034] To address the aforementioned problems, this application provides a pickup device that can more accurately transfer products or product components, thereby accelerating the transfer speed of products or product components during the product manufacturing process and improving product manufacturing efficiency. The pickup device provided in this application is described below with reference to some specific embodiments.

[0035] Figure 1 This is a schematic diagram of the pickup device provided in an embodiment of this application. Figure 1 As shown, the picking device may include: a rotating structure 110, a positioning body 120, a picking structure 130, and a positioning detection device 140.

[0036] The rotating structure 110 is connected to the positioning body 120, and the rotating structure 110 can rotate the positioning body 120.

[0037] For example, the rotating structure 110 may include a connecting structure and a driver. One end of the connecting structure is connected to the positioning body 120, and the other end of the connecting structure may be connected to the driver. When the driver is working, it can drive the connecting structure to rotate, and the connecting structure can drive the positioning body 120 to rotate.

[0038] The picking structure 130 can be installed on the first side of the positioning body 120. The picking structure 130 is used to pick up the object to be picked up.

[0039] For example, the picking structure 130 can be a structure such as a suction cup 132 for adsorbing the object to be picked up. The picking structure 130 can also be a structure such as a mechanical gripper for holding the object to be picked up. The picking structure 130 can also be a structure such as a forklift.

[0040] Depending on the object to be picked up, the picking structure 130 can be designed with different structures. For example, if the object to be picked up is a plate-like structure, the picking structure 130 can be a structure like a suction cup 132. For example, if the object to be picked up is a non-planar structure such as a spherical or cylindrical structure, the picking structure 130 can be a structure like a mechanical gripper. For example, if the bottom of the object to be picked up is flat and the structure is relatively heavy, the picking structure 130 can be a structure like a forklift.

[0041] The positioning detection device 140 can be installed on the first side of the positioning body 120 to detect the orientation of the object to be picked up.

[0042] The positioning detection device 140 can be used to detect the position of the placement platform on which the object to be picked up is placed. The rotating structure 110 is used to adjust the angle of the positioning body 120 based on the detection result of the positioning detection device 140. For example, the positioning detection device 140 can detect the relative angle between the positioning body 120 and the placement platform of the object to be picked up. After determining the relative angle, the driver of the rotating structure 110 drives the connecting structure to rotate, and the connecting structure further drives the positioning body 120 to rotate until the positioning body 120 is parallel to the placement platform of the object to be picked up.

[0043] The positioning detection device 140 can be a detection device capable of image detection or a detection device that uses laser detection.

[0044] Through the above implementation method, combined with the function of the rotating structure 110 and the positioning detection device 140, the angle of the positioning body 120 and the overall picking device can be better adjusted when picking up the object to be picked up, so as to better align with the object to be picked up.

[0045] In one alternative embodiment, the positioning detection device 140 includes a first detection device 141 and a second detection device 142.

[0046] The first detection device 141 is used to detect the position of the placement platform of the object to be picked up, and the rotating structure 110 is used to adjust the angle of the positioning body 120 based on the detection result of the first detection device 141. Optionally, the rotating structure 110 can adjust the positioning body 120 to be parallel to the placement platform.

[0047] Optionally, the first detection device 141 can be a laser rangefinder based on laser detection. The laser detector can emit light towards the platform where the object to be picked up is placed. After the emitted light encounters the platform where the object to be picked up is placed, it will be reflected back. By the angle between the reflected light and the emitted light, the angle between the platform where the object to be picked up is placed and the positioning body 120 can be determined.

[0048] The second detection device 142 is used to detect the relative positional relationship between the object to be picked up and the placement platform. The rotating structure 110 is used to adjust the height of the positioning body 120 based on the detection result of the second detection device 142. The picking structure 130 is used to adjust the posture of the picking structure 130 based on the detection result of the second detection device 142.

[0049] Optionally, the second detection device 142 can be an image acquisition device. This image acquisition device can be a high-speed camera, a depth camera, etc. Taking a high-speed camera as an example, the high-speed camera takes a picture of the object to be picked up, and performs edge recognition on the acquired image to determine the object to be picked up.

[0050] In this embodiment, the number of first detection devices 141 can be at least two, and the first detection devices 141 are installed at the edge position of the first side of the positioning body 120. Taking an even number of first detection devices 141 as an example, the first detection devices 141 can be distributed at two opposite edge positions of the first side of the positioning body 120, with half of the first detection devices 141 installed at the first edge position of the first side of the positioning body 120, and the other half of the first detection devices 141 installed at the second edge position of the first side of the positioning body 120. Taking a rectangular first side of the positioning body 120 as an example, the first edge and the second edge can be two parallel edges.

[0051] For example, the positioning body 120 can be a cuboid structure, the first side of the positioning body 120 can be rectangular, the number of the first detection devices 141 is two, and the first detection devices 141 can be installed at the two width positions of the positioning body 120.

[0052] Taking two first detection devices 141 as an example, the first detection device 141 can emit light to the placement platform. By the time difference between the emitted light and the reflected light reflected back from the placement platform, the distance between the first detection device 141 and the placement platform can be determined. When it is determined that the distances between the two first detection devices 141 and the placement platform are the same, it can be indicated that the positioning body 120 is parallel to the placement platform.

[0053] Of course, depending on the actual usage scenario, the positioning body 120 can also be equipped with more first detection devices 141. For example, when the size of the object to be picked up is large, or the size of the platform on which the object to be picked up is large, more first detection devices 141 can be set up to determine the position of the platform on which the object to be picked up is placed by the detection data obtained by multiple sets of first detection devices 141.

[0054] The second detection device 142 is installed between the installation positions of the first detection device 141 on the first side of the positioning body 120.

[0055] Optionally, the second detection device 142 can be installed at the center of the first side of the positioning body 120. Taking the first side of the positioning body 120 as an example, the second detection device 142 can be installed at the intersection of the diagonals of the rectangle.

[0056] The second detection device 142 can also be installed at a position close to the center of the first side of the positioning body 120. For example, the distance between the installation position of the second detection device 142 and the center of the first side of the positioning body 120 can be less than a specified value. This specified value can be determined based on the dimensions of the first side of the positioning body 120. For example, the specified value can be one-fifth, one-quarter, or the width of the first side of the positioning body 120. By designing the installation position of the second detection device 142 to be close to the center, the second detection device 142 can obtain a more comprehensive image of the location of the positioning body 120 and its surroundings, thereby more accurately identifying the location of the object to be picked up.

[0057] By using the above design, different information is detected based on two sets of detection devices. The laser detection method, which is easier to measure the deflection angle, is used to test the position deflection of the positioning subject 120. The image detection method, which is easier to test the relative positional relationship between the object to be picked up and the placement platform, is used to test the relative positional relationship between the object to be picked up and the placement platform. This allows the two types of positional information to be obtained to be more accurate.

[0058] In this embodiment, the picking structure 130 can be a retractable structure. By making it a retractable structure, it is also convenient to pick up objects placed at different heights.

[0059] like Figure 3 As shown, the pickup structure 130 may include a movable link 131, a suction cup 132, and a shock-absorbing structure 133.

[0060] The shock-absorbing structure 133 is located between the movable link 131 and the suction cup 132. The movable link 131 is used to connect with the positioning body 120, and the suction cup 132 is used to adsorb the object to be picked up.

[0061] like Figure 3 As shown, the suction cup 132 can contain multiple layers of disc-shaped air cushions, with the size of the disc-shaped air cushions increasing in a progressively larger manner. Figure 3 In the example shown, suction cup 132 consists of three disc-shaped air cushions, with the size of the disc-shaped air cushions increasing from top to bottom.

[0062] In actual use, the extension length of the movable link 131 can be adjusted to pick up objects at different locations.

[0063] Optionally, the movable link 131 includes at least two sets of movable connectors, one end of which is connected to the positioning body 120 and the other end of which is connected to the shock absorption structure 133.

[0064] Optionally, the movable connector can be fixedly connected to the shock-absorbing structure 133. For example, the connection between the movable connector and the shock-absorbing structure 133 can be achieved by welding. The shock-absorbing structure 133 can also be a hollow structure, and it can also communicate with the suction cup 132, thereby enabling an air passage from the suction cup 132 to the air tube 150.

[0065] For example, the movable link 131 may include two sets of movable connectors.

[0066] Optionally, the movable connector includes a movable shaft 1312 and at least two hollow tubes 1311, which are connected by the movable shaft 1312.

[0067] The movable shaft 1312 has a hollow structure and is connected to the hollow tube 1311. Exemplarily, the interconnected hollow tubes 1311 of the movable link 131 can rotate relative to each other, and the length of the movable connector can be adjusted by adjusting the included angle formed by the hollow tubes 1311. For example, if a longer overall length of the movable connector is required, the included angle formed by the interconnected hollow tubes 1311 can be adjusted to a larger angle; conversely, if a shorter overall length of the movable connector is required, the included angle formed by the interconnected hollow tubes 1311 can be adjusted to a larger angle. In one example, the included angle formed by the interconnected hollow tubes 1311 can be in the range of 30°-120°. The longest length can be achieved by adjusting to 120°, and the shortest length can be achieved by adjusting to 30°. Of course, the adjustable range of the included angle formed by the interconnected hollow tubes 1311 can also be adjusted appropriately based on the actual adjustable length range. For example, the minimum angle can be set to a value smaller than 30°, and the maximum angle can be set to a value greater than 120°. To improve the stability of the movable connector, the maximum included angle formed by the interconnected hollow tubes 1311 can be less than 180°.

[0068] In this embodiment, the number of hollow tubes 1311 and movable shafts 1312 included in each set of movable connectors can be the same.

[0069] Optionally, the pickup structure 130 can be controlled by air pressure. The pickup device may also include an air tube 150 disposed within the positioning body 120, with an electronic valve 160 installed at the first end of the air tube 150.

[0070] The second end of the air tube 150 is connected to the pickup structure 130. The electronic valve 160 is used to evacuate the air tube 150 to extract the gas between the suction cup 132 at the tail end of the pickup structure 130 and the object to be picked up, so that the pickup structure 130 can adsorb the object to be picked up.

[0071] For example, the second end of the trachea 150 may extend from the first side of the positioning body 120 to communicate with the movable connector of the pickup structure 130. Wherein, if the movable connector includes a hollow tube 1311, the hollow tube 1311 may communicate with the trachea 150.

[0072] Optionally, such as Figure 4 As shown, the trachea 150 includes a main pipe 151 and a manifold 152 connected to the main pipe 151. The main pipe 151 is connected to an electronic valve 160, and the manifold 152 is connected to a pickup structure 130. Taking the pickup structure 130 as an example, which includes a movable connector and a hollow tube 1311, the manifold 152 can communicate with the pickup structure 130.

[0073] For example, the positioning body 120 has a structure forming a cylindrical groove, thereby enabling the formation of the airway 150. Figure 4 As shown, the gas pipe 150 branches into a main pipe 151 and a manifold 152 within the positioning body 120. The gas flow channel of the main pipe 151 is controlled to close by an electronic valve 160. The pipe body of the main pipe 151 is a cylindrical groove, and a groove can be provided in the cylindrical groove. A ball bearing can be placed in the groove, and the ball bearing can cooperate with the manifold 152. The end of the manifold 152 that contacts the main pipe 151 can also have a slot, which together with the groove of the cylindrical groove of the main pipe 151 forms a rotary bearing.

[0074] like Figure 5 As shown, Figure 5 A schematic diagram of the overall structure of manifold 152 and a schematic diagram of its cross-sectional structure are shown. A spiral groove 1521 can be opened in the middle of manifold 152, and its rotation is controlled by a horizontal worm gear structure. The lower end of manifold 152 and movable connecting rod 131 can also be connected by a spherical rotating shaft, so as to realize the interconnection of the gas flow field channels between manifold 152 and movable connecting rod 131.

[0075] Optionally, the hollow tube 1311 can communicate with and be fixedly connected to the gas flow field channel of the manifold 152 inside the cavity of the positioning body 120. For example, the manifold 152 and the hollow tube 1311 can be fixedly connected by welding. Welding provides better sealing, reduces air leakage, and thus allows for more accurate control of the orientation of the pickup structure 130.

[0076] For example, taking the positioning body 120 as a cuboid, the main pipe 151 can be arranged inside the positioning body 120 and parallel to the long side, and the manifold 152 can be arranged perpendicular to the main pipe 151.

[0077] like Figure 6 As shown, Figure 6 A schematic diagram of the overall structure of the damping structure 133 and a schematic diagram of its cross-sectional structure are shown. The damping structure 133 includes a first connecting part 1331 and a damping part 1332.

[0078] The first connecting part 1331 is connected to the movable connecting rod 131, one end of the shock-absorbing part 1332 is connected to the first connecting part 1331, and the other end of the shock-absorbing part 1332 is connected to the suction cup 132.

[0079] The shock-absorbing part 1332 is made of an elastic material, while the first connecting part 1331 is made of a rigid material.

[0080] For example, the rigid material used in the first connecting part 1331 can be a non-metallic rigid material such as ABS (Acrylonitrile Butadiene Styrene plastic), nylon, or polypropylene (PP).

[0081] For example, the elastic material used in the shock-absorbing part 1332 can be elastic materials such as silicone or rubber.

[0082] Optionally, you may refer to it again. Figure 6 As shown, the damping structure 133 also includes a second connecting part 1333 and a limiting tube 1334 disposed outside the damping part 1332. The first end of the limiting tube 1334 is connected to the first connecting part 1331, and the second end of the limiting tube 1334 is connected to the first end of the second connecting part 1333.

[0083] Optionally, the opening size of the second end of the second connecting portion 1333 is larger than the opening size of the first end of the second connecting portion 1333. The second end of the second connecting portion 1333 can be formed into a horn shape. This horn shape design can reduce the stress concentration generated by the contact between the suction cup 132 and the second connecting portion 1333 when the suction cup 132 retracts, thereby reducing the squeezing of the object to be picked up and improving the safety of the object to be picked up.

[0084] To improve the stability of picking up the object, the number of picking structures 130 is greater than or equal to two. For example... Figure 2 As shown, the number of picking structures 130 is eight.

[0085] The pickup structure 130 is distributed on the first side of the positioning body 120. For example, the pickup structure 130 can be evenly distributed on the first side of the positioning body 120.

[0086] Optionally, the number of the pickup structures 130 can be even, and the even number of pickup structures 130 can be evenly distributed on the first side of the positioning body 120. For example, the pickup structures 130 can be divided into two rows and evenly distributed on the first side of the positioning body 120.

[0087] By setting multiple pickup structures 130, a more uniform force can be provided to the object to be picked up, thereby moving the object more stably.

[0088] The following describes the entire process of the pickup device picking up the object, taking the pickup device provided in the above embodiments as an example, and the object to be picked up as a chip casing:

[0089] Before transferring the chip casing, the pickup device first detects the relative angle between the chip casing placement platform and the positioning body 120 using a first detection device 141. The rotating structure 110 can then adjust the positioning body 120 based on this relative angle to ensure that the positioning body 120 is parallel to the chip casing placement platform. For example, if there are two first detection devices 141, and each device is a laser detector, the laser detector can emit light towards the placement platform. By measuring the time difference between the emitted light and the reflected light from the platform, the distance between the laser detector and the placement platform is determined. When the distances between the two laser detectors and the placement platform are equal, it indicates that the positioning body 120 is parallel to the placement platform. Then, the second detection device 142 checks the relative positional relationship between the chip casing and the placement platform, and adjusts the posture of the pickup structure 130 based on this relationship.

[0090] After adjusting the positioning body 120 and the pickup structure 130, the positioning body 120 can be lowered so that the pickup structure 130 on the positioning body 120 is close to the chip casing. During the descent, the second detection device 142 can acquire images of the chip casing and the placement platform, and determine the distance between the pickup structure 130 and the chip casing based on these images. For example, the second detection device 142 can detect the distance between the pickup structure 130 and the chip casing according to a set time pattern. The set time pattern can be that the distance between the pickup structure 130 and the chip casing is detected at equal time intervals.

[0091] During the descent, the first detection device 141 can also detect the distance between the positioning body 120 and the chip housing placement platform according to a set time pattern. The descent height of the positioning body 120 is adjusted jointly based on the first detection device 141 and the second detection device 142.

[0092] When the suction cup 132 of the pickup structure 130 contacts the chip housing, the positioning body 120 can stop moving downward; the movable link 131 of the pickup structure 130 can start adjusting the angle to slowly apply downward pressure to the chip housing. At this time, the silicone shock-absorbing airbag can also provide a buffer force, thereby reducing the damage to the chip caused by excessive pressure applied to the chip housing by the suction cup 132.

[0093] For example, the electronic valve 160 can be activated to open, and the air pipe 150 can begin to evacuate. Gas is discharged from the main pipe 151 and manifold 152 that form the gas fluid channel, thereby extracting the gas between the suction cup 132 and the chip shell, allowing the suction cup 132 to hold the chip shell. Furthermore, due to the action of the shock-absorbing structure 133, the force of suction on the chip shell can be reduced, protecting the chip shell from deformation caused by excessive instantaneous suction force from the suction cup 132.

[0094] In this embodiment, after the picking structure 130 picks up the chip casing, the orientation of the positioning body 120 can be controlled to rotate the chip casing to a specified direction, thereby unifying the orientation of the chip casing.

[0095] The pickup device provided in this application embodiment can achieve higher pickup accuracy, a larger pickup quantity, and more accurate pickup direction, thereby improving production efficiency. Furthermore, the shock-absorbing structure 133 and the suction cup 132 work together to reduce the contact pressure on the chip casing structure, ensuring a high yield rate.

[0096] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0097] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A pick-up device, characterized in that The application relates to a rotating structure, a positioning body connected with the rotating structure, a pickup structure installed on a first side of the positioning body and used for picking up an object to be picked up, a positioning detection device installed on the first side of the positioning body and used for detecting the position of the object to be picked up, and the rotating structure is used for adjusting the angle of the positioning body based on the detection result of the positioning detection device. The positioning detection device comprises a first detection device and a second detection device. The first detection device is used for detecting the position of a placement platform of the object to be picked up. The second detection device is used for detecting the relative position relationship between the object to be picked up and the placement platform. The rotating structure is used for adjusting the angle of the positioning body based on the detection result of the first detection device. The rotating structure is used for adjusting the height of the positioning body based on the detection result of the second detection device, and the pickup structure is used for adjusting the posture of the pickup structure based on the detection result of the second detection device.

2. The pickup device according to claim 1, characterized in that The number of the first detection devices is at least two, and the first detection devices are installed at edge positions of the first side of the positioning body. The second detection device is installed at a position between the installation positions of the first detection devices on the first side of the positioning body. The pickup structure comprises a movable connecting rod, a suction disc and a damping structure arranged between the movable connecting rod and the suction disc. The movable connecting rod is used for being connected with the positioning body. The suction disc is used for adsorbing the object to be picked up.

3. The pickup device according to claim 2, characterized in that The application further comprises an air pipe arranged in the positioning body, an electronic valve installed at a first end of the air pipe, a second end of the air pipe being communicated with the suction disc of the pickup structure, and the electronic valve is used for vacuumizing the air pipe to pressurize the pickup structure and adjust the posture of the pickup structure. The air pipe comprises a main pipe and a manifold connected with the main pipe.

4. The pickup device according to claim 2, characterized in that The main pipe is connected with the electronic valve. The manifold is connected with the pickup structure. The movable connecting rod comprises at least two groups of movable connecting pieces, one end of the movable connecting piece being communicated with the air pipe and the other end being connected with the damping structure.

5. The pickup device according to claim 4, characterized in that The movable connecting piece comprises a movable rotating shaft and at least two hollow pipes, the two hollow pipes being connected through the movable rotating shaft, and the hollow pipes being communicated with the air pipe. The damping structure comprises a first connecting part and a damping part. The first connecting part is connected with the movable connecting rod, one end of the damping part is connected with the first connecting part, and the other end of the damping part is connected with the suction disc. The damping part is made of elastic material, and the first connecting part is made of hard material.

6. The pickup device according to claim 5, characterized in that The damping structure further comprises a second connecting part and a limiting pipe arranged outside the damping part, a first end of the limiting pipe being connected with the first connecting part, and a second end of the limiting pipe being connected with a first end of the second connecting part. The opening size of the second end of the second connecting part is larger than that of the first end of the second connecting part. The number of the pickup structures is greater than or equal to two.

7. The pickup device according to claim 5, characterized in that ​ ​ 8. The pickup device of claim 4, wherein ​ ​ ​ 9. The pickup device according to claim 8, characterized in that ​ ​ 10. The pick-up device according to any one of claims 1-9, characterized in that ​ The pick-up structure is distributed on a first side of the positioning body. The pick-up structure is distributed on a first side of the positioning body.

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