Pick-and-place mechanism and assembly device

Abstract

The application is suitable for the technical field of processing equipment, and provides a taking and placing mechanism and an assembling device. The taking and placing mechanism comprises a taking part, a transfer part and a placing part. The taking part is used for picking up a deformable article placed on a loading tray and placing the deformable article on the transfer part. The transfer part is used for adjusting the posture of the deformable article. The placing part is used for picking up the deformable article on the transfer part and placing the deformable article on a processing mechanism. The above structure design replaces manual taking and placing with a mechanical structure. On the one hand, the risk of deformation of the deformable article in the taking and placing process is reduced, and the qualified rate of the deformable article placed on the processing mechanism is improved. On the other hand, the taking and placing efficiency is improved, and the labor cost is reduced.

Description

Technical Field

[0001] This application belongs to the field of processing equipment technology, and more specifically, relates to a pick-and-place mechanism and assembly device. Background Technology

[0002] The heating element is the core functional component of the aerosol generating device, including a heating support, a cotton swab, a heating wire, and an inner cotton swab. When assembling the heating element, the inner cotton swab and heating wire are first assembled together, then the cotton swab is wrapped around it, and finally the inner cotton swab is covered by the heating support.

[0003] In related technologies, the transfer of easily deformable items such as heating wires from the placement tray to the cotton wrapping machine is usually done manually. However, this manual handling method can easily cause the heating wires to deform. Utility Model Content

[0004] The purpose of this application is to provide a picking and placing mechanism and an assembly device, which aims to solve the technical problem that easily deformable items are prone to deformation when they are picked and placed manually in related technologies.

[0005] To achieve the above objectives, according to one aspect of this application, a picking and placing mechanism is provided, including a picking section, a transfer section, and a placing section. The picking section is used to pick up easily deformable articles from a tray and place them on the transfer section. The transfer section is used to adjust the posture of the easily deformable articles. The placing section is used to pick up easily deformable articles from the transfer section and place them on a processing mechanism.

[0006] Optionally, the material handling unit includes an adsorption element and a first driving element. The adsorption element is used to adsorb easily deformable items on the placement tray and release the easily deformable items to the transfer unit. The first driving element is driven to connect with the adsorption element and is used to drive the adsorption element to reciprocate between the placement tray and the transfer unit.

[0007] Optionally, the adsorption element has an adsorption surface for contacting or separating from easily deformable items, and the adsorption surface is provided with an air intake hole for communicating with an external air source.

[0008] Optionally, the material handling unit further includes a first mounting component, an adsorption component disposed on the first mounting component, and a first driving component drivingly connected to the first mounting component; and / or, the number of adsorption components is multiple, and the multiple adsorption components are spaced apart; and / or, the first driving component is a four-axis robot, which is used to drive the adsorption components to move along three mutually perpendicular directions and rotate about a preset axis intersecting the horizontal plane.

[0009] Optionally, the posture of the easily deformable item picked up on the picking unit is the first posture, and the posture of the easily deformable item placed on the processing mechanism is the second posture, which is different from the first posture; the transfer unit includes a transfer shaft and a second mounting component, the transfer shaft is rotatably mounted on the second mounting component, and is used to rotate relative to the second mounting component to drive the easily deformable item to switch from the first posture to the second posture.

[0010] Optionally, the transfer shaft is rotatably mounted on the second mounting component around its own axis to adsorb easily deformable items.

[0011] Optionally, the deformable item has a connecting structure, and the surface of the transfer shaft is provided with a placement groove for placing the connecting structure, the placement groove extending in a direction perpendicular to the axis of the transfer shaft.

[0012] Optionally, the surface of the transfer shaft is also provided with a clearance groove that communicates with the placement groove, and the bottom of the clearance groove intersects with the extension direction of the placement groove; the first posture is a horizontal posture, and the second posture is a vertical posture; the axis of the transfer shaft is parallel to the horizontal direction, so that the transfer shaft can drive the easily deformable item to switch from the first posture to the second posture; when the easily deformable item is in the first posture, the connecting structure is placed horizontally in the placement groove; when the easily deformable item is in the second posture, the connecting structure is placed vertically in the placement groove and extends into the clearance groove.

[0013] Optionally, the relay unit also includes a detection component, which includes a transmitting probe and a receiving probe, located on opposite sides of the relay shaft axis; the detection component is used to detect whether any easily deformable items are placed in the placement groove.

[0014] Optionally, the transfer unit further includes a second drive member, which is driven to the transfer shaft to drive the transfer shaft to rotate, and is electrically connected to the detection member.

[0015] Optionally, the unloading section includes an unloading component and a third driving component. The unloading component is used to pick up easily deformable items on the transfer section and release the easily deformable items to the processing mechanism. The third driving component is driven to connect with the unloading component and is used to drive the unloading component to reciprocate between the transfer section and the processing mechanism.

[0016] Optionally, the feeding component is a cylinder gripper; and / or, the third driving component is a biaxial linear module; and / or, the feeding part further includes a third mounting component, the feeding component is disposed on the third mounting component, and the third driving component is drivenly connected to the third mounting component; and / or, the number of feeding components is multiple, and the multiple feeding components are spaced apart.

[0017] Optionally, the picking and placing mechanism further includes a control unit, which is electrically connected to the picking unit, the transfer unit, and the discharging unit; and / or, the picking and placing mechanism further includes an installation unit, which is located in the installation unit.

[0018] According to another aspect of this application, an assembly apparatus is provided, including a placement tray, an assembly mechanism, and the aforementioned pick-and-place mechanism. The placement tray is used to place a heating wire, the assembly mechanism is used to assemble the heating wire and the inner cotton; and the pick-and-place mechanism is used to pick up the heating wire from the placement tray and place the heating wire on the assembly mechanism.

[0019] Optionally, the carrier plate is a bakelite carrier plate; and / or, the surface of the carrier plate is provided with a receiving groove for embedding the heating wire.

[0020] The beneficial effects of the picking and placing mechanism provided in this application are as follows: When picking and placing easily deformable items using the picking and placing mechanism of this application, the process is as follows: First, the picking unit picks up the easily deformable items from the placement tray using a mechanical picking method and places them on the transfer unit. The picking unit uses controllable mechanical force to replace manual handling, thereby reducing the risk of deformation of the easily deformable items during the picking process. Subsequently, the transfer unit corrects the posture of the easily deformable items using a mechanical correction method, reducing the risk of misalignment and collision during the transfer process. Finally, the placing unit picks up the easily deformable items from the transfer unit and places them on the processing mechanism; that is, the placing unit places the easily deformable items, whose posture has been adjusted, on the processing mechanism. Specifically, the placing unit precisely connects to the processing mechanism using a mechanical release method, placing the easily deformable items in a preset position, further reducing the risk of compression deformation of the easily deformable items due to manual alignment.

[0021] The aforementioned structural design replaces manual handling with mechanical methods, reducing the risk of deformation of easily deformable items during handling and improving the pass rate of easily deformable items placed on the processing mechanism. It also increases handling efficiency and reduces labor costs. Furthermore, it ensures consistency in handling operations, reducing human error. In addition, it avoids direct contact between operators and easily deformable items (especially those with sharp edges), reducing the risk of scratches and improving the safety of handling operations. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the assembly device provided in the embodiments of this application from a first perspective; Figure 2This is a schematic diagram of the assembly device provided in the embodiments of this application from a second perspective; Figure 3 for Figure 2 Enlarged view of point D in the middle; Figure 4 This is a schematic diagram of the structure of a deformable article provided in an embodiment of this application; Figure 5 This is a schematic diagram of the material handling section provided in an embodiment of this application; Figure 6 for Figure 1 Enlarged view of point A in the middle; Figure 7 for Figure 5 Enlarged view of point E in the middle; Figure 8 This is a schematic diagram of the structure of the transfer unit provided in an embodiment of this application; Figure 9 for Figure 8 Enlarged view of point F in the middle; Figure 10 A top view schematic diagram of the cooperation between the transfer shaft and the detection component provided in the embodiments of this application; Figure 11 A circuit diagram of the pick-and-place mechanism provided in an embodiment of this application; Figure 12 This is a schematic diagram of the structure of the feeding section provided in an embodiment of this application; Figure 13 for Figure 1 Enlarged view of point B in the middle; Figure 14 for Figure 1 Enlarged view of point C in the middle; The details of the reference numerals used in the above figures are as follows: 100. Material handling section; 110. Adsorption component; 111. Adsorption surface; 112. Suction hole; 120. First driving component; 130. First mounting component; 200, Transmitter unit; 210, Transmitter shaft; 211, Placement groove; 212, Clearance groove; 220, Second mounting component; 230, Detection component; 231, Transmitting probe; 232, Receiving probe; 240, Second driving component; 300. Feeding section; 310. Feeding component; 320. Third drive component; 330. Third mounting component; 400 Control unit; 500 Mounting unit; 600 Placement tray; 610 Receiving groove; 700 Processing mechanism; 800 Deformable items; 810 Connecting structure; 900 Inner padding. Detailed Implementation

[0024] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0025] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly or indirectly on that other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to that other element. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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 on this application.

[0027] In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can mean A or B. "And / or" in this application is merely a description of the relationship between the related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be singular or plural.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0029] As described in the background section, the heating element is the core functional component of the aerosol generating device, comprising a heating support, a cotton swab, a heating wire, and an inner cotton swab. When assembling the heating element, the inner cotton swab and heating wire are first assembled together, then the cotton swab is wrapped around it, and finally the heating support covers the inner cotton swab. In related technologies, the transfer of easily deformable items like the heating wire from the placement tray to the cotton swab machine is typically done manually. However, this manual handling method easily causes deformation of the heating wire.

[0030] Reference Figures 1 to 4 To address the aforementioned problems, according to one aspect of this application, an embodiment of this application provides a picking and placing mechanism, which includes a picking section 100, a transfer section 200, and a placing section 300. The picking section 100 is used to pick up easily deformable items 800 from a placement tray 600 and place the easily deformable items 800 on the transfer section 200; the transfer section 200 is used to adjust the posture of the easily deformable items 800; and the placing section 300 is used to pick up the easily deformable items 800 from the transfer section 200 and place the easily deformable items 800 on a processing mechanism 700.

[0031] In this embodiment, the deformable item 800 is a heating wire, the processing mechanism 700 is a cotton wrapping machine, the deformable item 800 is placed horizontally on the placement tray 600, and vertically on the processing mechanism 700. It can be understood that the deformable item 800 can also be a miniature metal part or a flexible non-metallic part, and the processing mechanism 700 can also be a packaging mechanism or a processing mechanism. The material handling section 100 can be a flexible gripper, a vacuum suction cup, or a magnetic material handling head; the transfer section 200 can be a rotary positioning table, a multi-axis fine-tuning platform, or a flexible unfolding mechanism. The posture of the deformable item 800 refers to its angle, orientation, or placement in space. The material dispensing section 300 can be a flexible gripper or a pneumatic dispensing head.

[0032] When using the picking and placing mechanism of this application to pick up and place the easily deformable item 800, the process is as follows: First, the picking unit 100 picks up the easily deformable item 800 from the carrier tray 600 using a mechanical picking method and places it on the transfer unit 200. The picking unit 100 uses controllable mechanical force instead of manual handling, thereby reducing the risk of deformation of the easily deformable item 800 during the picking process. Then, the transfer unit 200 corrects the posture of the easily deformable item 800 using a mechanical correction method, reducing the risk of misalignment or collision during the transfer process. Finally, the placing unit 300 picks up the easily deformable item 800 from the transfer unit 200 and places it on the processing mechanism 700; that is, the placing unit 300 places the easily deformable item 800, whose posture has been adjusted, from the transfer unit 200 onto the processing mechanism 700. Specifically, the feeding section 300 precisely connects to the processing mechanism 700 through mechanical release, and places the easily deformable items 800 in the preset position, further reducing the risk of the easily deformable items 800 being squeezed and deformed due to manual alignment.

[0033] The aforementioned structural design replaces manual handling with mechanical means, which on the one hand reduces the risk of deformation of easily deformable items 800 during handling, thus improving the pass rate of easily deformable items 800 placed on the processing mechanism 700; on the other hand, it also improves handling efficiency and reduces labor costs. Furthermore, it ensures consistency in handling operations, reducing human error. In addition, it avoids direct contact between operators and easily deformable items 800 (especially those with sharp edges), reducing the risk of scratches and improving the safety of handling operations.

[0034] Reference Figure 1 , Figure 2 as well as Figures 4 to 6 In one embodiment, the material handling unit 100 includes an adsorption member 110 and a first driving member 120. The adsorption member 110 is used to adsorb the easily deformable items 800 on the placement tray 600 and release the easily deformable items 800 to the transfer unit 200. The first driving member 120 is driven to connect with the adsorption member 110 and is used to drive the adsorption member 110 to reciprocate between the placement tray 600 and the transfer unit 200.

[0035] In this embodiment, the adsorption member 110 can be a vacuum suction cup or a magnetic adsorption head, and the first driving member 120 can be a linear module or a robotic arm.

[0036] The adsorption component 110 picks up the easily deformable item 800 by adsorption, which can evenly distribute the force and reduce the risk of deformation of the easily deformable item 800. The first driving component 120 can achieve standardized path movement, avoid positional deviations during manual picking and placing, and ensure that the adsorption component 110 is accurately aligned with the easily deformable item 800 on the carrier tray 600, thus improving the accuracy of the picking operation. On the other hand, it can also drive the adsorption component 110 to move back and forth at a uniform speed, avoiding shaking and bumping during manual transfer and ensuring the stability of the transfer of the easily deformable item 800.

[0037] Reference Figure 4 and Figure 7 In one embodiment, the adsorption member 110 has an adsorption surface 111 for contacting or separating from the easily deformable article 800, and the adsorption surface 111 is provided with an air intake hole 112 for communicating with an external air source.

[0038] In this embodiment, the adsorption surface 111 is placed horizontally. It is understood that the adsorption surface 111 can also be arranged to intersect with the horizontal and vertical planes, depending on actual needs, and is not limited here.

[0039] On the one hand, the adsorption surface 111 is in direct contact with the easily deformable item 800, and can adaptively adsorb according to the surface morphology of the easily deformable item 800. In addition, with the air intake 112 connecting to the external air source to form negative pressure, it can stably adsorb easily deformable items 800 with different surface morphologies, thereby improving the adsorption stability and adaptability of the adsorption component 110.

[0040] On the other hand, the adsorption surface 111 forms surface adsorption through negative pressure adsorption, which further reduces the risk of deformation of the easily deformable item 800 during adsorption. In addition, for easily deformable items 800 that are small in size and light in weight, the adsorption surface 111, together with the air inlet 112, can form a gentle and stable adsorption force, which can stably adsorb the easily deformable item 800 without damaging the easily deformable item 800 due to excessive force.

[0041] Reference Figure 1 , Figure 2 , Figure 5 as well as Figure 6 In one embodiment, the material handling unit 100 further includes a first mounting member 130, an adsorption member 110 is disposed on the first mounting member 130, and a first driving member 120 is drivenly connected to the first mounting member 130.

[0042] In this embodiment, the first mounting member 130 is a mounting base or mounting carrier, the adsorption member 110 is detachably mounted on the first mounting member 130, and the first driving member 120 is directly connected to the first mounting member 130 to drive the first mounting member 130 to reciprocate between the placement tray 600 and the transfer part 200.

[0043] The first mounting component 130 provides a stable support base for the adsorption component 110, improving the picking accuracy of the adsorption component 110 for easily deformable items 800. At the same time, if it is necessary to replace the adsorption component 110 with a different specification, it is only necessary to disassemble the adsorption component 110 and the first mounting component 130, which reduces replacement costs and maintenance difficulty.

[0044] Reference Figure 6 In one embodiment, there are multiple adsorption elements 110, which are arranged at intervals.

[0045] In this embodiment, there are four adsorption elements 110. All four adsorption elements 110 are vertically arranged on the first mounting member 130 and connected to the same external air source. The adsorption surfaces 111 of the four adsorption elements 110 are on the same plane. It can be understood that the number of adsorption elements 110 can also be two, three, or other numbers.

[0046] The multiple adsorption elements 110 not only help improve material handling efficiency, but also reduce the impact of failure of a single adsorption element 110, ensuring the reliability of material handling operation.

[0047] Reference Figure 1 , Figure 2 as well as Figure 5 In one embodiment, the first driving member 120 is a four-axis manipulator, which is used to drive the adsorption member 110 to move in three mutually perpendicular directions and rotate about a preset axis that intersects the horizontal plane.

[0048] In this embodiment, the four-axis robot can drive the first mounting component 130 to translate along three mutually perpendicular directions: the X-axis, Y-axis, and Z-axis. Simultaneously, it can drive the first mounting component 130 to rotate around a preset axis perpendicular to the horizontal plane, thereby causing the easily deformable item 800 to rotate 180° around the preset axis, thus achieving position adjustment and attitude regulation of the first mounting component 130 in space. It is understood that the first driving component 120 can also be a linear module, a five-axis robot, or a six-axis robot.

[0049] The four-axis robotic arm enhances the flexibility of the first mounting component 130 and the adsorption component 110 in spatial movement, enabling the adsorption component 110 to adapt to various complex picking and placing paths, effectively expanding the applicable scenarios of the picking unit 100.

[0050] Reference Figure 1 , Figure 2 , Figure 4 as well as Figure 8 In one embodiment, the deformable article 800 is picked up on the material handling unit 100 in a first posture, and the deformable article 800 is placed on the processing mechanism 700 in a second posture different from the first posture. The transfer unit 200 includes a transfer shaft 210 and a second mounting member 220. The transfer shaft 210 is rotatably disposed on the second mounting member 220 and is used to rotate relative to the second mounting member 220 to drive the deformable article 800 to switch from the first posture to the second posture.

[0051] In this embodiment, the second mounting component 220 is a mounting base or mounting carrier, and the central shaft 210 is rotatably mounted on the second mounting component 220 via a bearing or bushing. The first posture is a horizontal posture, and the second posture is a vertical posture. It can be understood that the first posture can also be a vertical posture or an inclined posture, and the second posture can be a horizontal posture or an inclined posture.

[0052] The central axis 210 rotates to switch the easily deformable item 800 from its first posture to its second posture, ensuring that the item 800 accurately docks with the processing mechanism 700 in the second posture, thus guaranteeing the smooth completion of subsequent processes. This structural design achieves the switching between two different postures with just a single rotation of the central axis 210. It is not only simple in structure and offers a controllable adjustment path, but also simplifies the posture adjustment logic, effectively improving the efficiency and stability of posture adjustment. Furthermore, the central axis 210 drives the easily deformable item 800 from its first posture to its second posture. This structural design ensures that each easily deformable item 800 is picked up by the feeding unit 300 in its second posture as its final posture, preventing mistake-proofing and reducing the placement defect rate caused by inconsistent postures of the easily deformable items 800.

[0053] Reference Figure 4 and Figure 8 In one embodiment, the transfer shaft 210 is rotatably mounted on the second mounting member 220 about its own axis, and is used to adsorb easily deformable items 800.

[0054] In this embodiment, the transfer shaft 210 adsorbs the easily deformable item 800 by negative pressure adsorption or magnetic adsorption. It can be understood that the transfer shaft 210 can also be rotatably mounted on the second mounting member 220 around other axes, such as an axis perpendicular to the axis of the transfer shaft 210 itself, an axis perpendicular to the horizontal plane, or an axis at a certain angle to the horizontal plane.

[0055] On the one hand, the transfer shaft 210 can adjust its posture by rotating around its own axis and can also directly adsorb easily deformable items 800. This makes the transfer shaft 210 integrate dual functions such as rotation adjustment and adsorption fixation. There is no need to set up an additional independent adsorption component, which reduces the number of parts in the transfer section 200 and simplifies the structure of the transfer section 200.

[0056] On the other hand, after the central shaft 210 adsorbs the easily deformable item 800, it directly drives the item to rotate. The relative position between the easily deformable item 800 and the central shaft 210 is more stable, which reduces the risk of deformation caused by the easily deformable item 800 shifting or falling off due to loosening between parts when adjusting the posture.

[0057] Reference Figure 4 , Figure 8 as well as Figure 9 In one embodiment, the deformable article 800 has a connecting structure 810, and the surface of the transfer shaft 210 is provided with a placement groove 211 for placing the connecting structure 810, the placement groove 211 extending in a direction perpendicular to the axial direction of the transfer shaft 210.

[0058] In this embodiment, the connecting structure 810 is a connecting pin. After the connecting structure 810 is placed in the placement groove 211, part of the connecting structure 810 is located inside the placement groove 211 and the other part is located outside the placement groove 211, so that the feeding part 300 can pick up the connecting structure 810 to achieve the purpose of picking up the easily deformable item 800.

[0059] On the one hand, the placement groove 211 not only physically limits the deformable item 800, stably confining it within the groove 211 and reducing the risk of slippage or displacement due to centrifugal force or vibration when the central shaft 210 rotates to adjust its posture, thus ensuring the stability of the deformable item 800 on the central shaft 210, but also provides protective enclosure for the connecting structure 810, thereby reducing the risk of deformation of the connecting structure 810 during rotation with the central shaft 210 and ensuring the integrity of the connecting structure 810.

[0060] On the other hand, the placement groove 211 extends in a direction perpendicular to the axis of the central axis 210, so that when the deformable item 800 rotates with the central axis 210, the connecting structure 810 of the deformable item 800 can always fit against the inner wall of the placement groove 211, and will not jam or shake due to changes in the direction of rotation. The above structural design ensures that the deformable item 800 remains stable during posture switching, reducing the risk of deformation of the deformable item 800.

[0061] In addition, to improve transfer efficiency, the number of placement grooves 211 is the same as the number of adsorption elements 110, and multiple placement grooves 211 are spaced apart along the axis of transfer shaft 210; it is understood that the number of placement grooves 211 may also be different from the number of adsorption elements 110.

[0062] Reference Figure 4 , Figure 8 as well as Figure 9 In one embodiment, the surface of the transfer shaft 210 is further provided with an avoidance groove 212 that communicates with the placement groove 211, and the bottom of the avoidance groove 212 is intersected with the extension direction of the placement groove 211.

[0063] The first posture is horizontal, and the second posture is vertical. The axis of the central axis 210 is parallel to the horizontal direction so that the central axis 210 can drive the easily deformable item 800 to switch from the first posture to the second posture.

[0064] When the deformable item 800 is in the first position, the connecting structure 810 is placed horizontally in the placement groove 211; when the deformable item 800 is in the second position, the connecting structure 810 is placed vertically in the placement groove 211 and extends into the avoidance groove 212.

[0065] In this embodiment, the bottom of the clearance groove 212 is perpendicular to the extending direction of the placement groove 211. The clearance groove 212 extends from one side of the axis of the central shaft 210 to the other side of the axis of the central shaft 210, and the extending direction of the clearance groove 212 is parallel to the axial direction of the central shaft 210. When the deformable article 800 is in the first posture, the extending direction of the placement groove 211 is parallel to the horizontal direction, and the extending direction of the clearance groove 212 is parallel to the vertical direction. When the deformable article 800 is in the second posture, the extending direction of the placement groove 211 is parallel to the vertical direction, and the extending direction of the clearance groove 212 is parallel to the horizontal direction. Furthermore, when the deformable article 800 is in the second posture, the connecting structure 810 is positioned upwards.

[0066] The recessed groove 212 not only provides clearance for the extension of the connecting structure 810, thus preventing the connecting structure 810 from being squeezed or collided with the transfer shaft 210 through physical clearance, effectively ensuring the structural integrity of the connecting structure 810, but also provides operating space for the feeding section 300 to pick up the connecting structure 810 in the easily deformable item 800. This reduces the risk of picking up obstructed due to spatial interference between the feeding section 300 and the transfer shaft 210, ensuring the smooth progress of the picking and placing operation.

[0067] In addition, in order to enable the connecting structure 810 to be positioned downwards when the easily deformable item 800 is in the second posture, thereby expanding the applicability of the transfer part 200, the placement groove 211 is provided with two clearance grooves 212 on both radial sides of the transfer shaft 210. The two clearance grooves 212 are mirror-symmetrical about the axis of the transfer shaft 210 and are both connected to the placement groove 211, that is, the placement groove 211 is located between the two clearance grooves 212.

[0068] Reference Figure 4 as well as Figures 8 to 11 In one embodiment, the relay unit 200 further includes a detection element 230, which includes a transmitting probe 231 and a receiving probe 232, which are located on opposite sides of the axis of the relay shaft 210. The detection element 230 is used to detect whether a deformable item 800 is placed in the placement groove 211.

[0069] In this embodiment, the detection component 230 is an infrared detection component, an ultrasonic detection component, or a laser detection component; the line connecting the transmitting probe 231 and the receiving probe 232 is perpendicular to the axis of the relay shaft 210. The detection component 230 is used to detect whether the easily deformable item 800 in the first posture is in place. The specific detection process is as follows: when the connecting structure 810 is not placed in the placement groove 211, the receiving probe 232 can receive the signal emitted by the transmitting probe 231; when the connecting structure 810 is horizontally placed in the placement groove 211, the receiving probe 232 cannot receive the signal emitted by the transmitting probe 231, which indicates that the connecting structure 810 is placed in the placement groove 211. It can be understood that the detection component 230 can also be used to detect whether the easily deformable item 800 in the second posture is in place.

[0070] The detection component 230, through the interaction of the transmitting probe 231 and the receiving probe 232, can quickly determine whether there is a deformable item 800 placed in the placement groove 211; if no deformable item 800 is detected, an early warning can be triggered in time to avoid the central shaft 210 from idling to adjust its posture or the material feeding part 300 from idling, thereby reducing the impact of ineffective processes on production efficiency.

[0071] In addition, the number of detection elements 230 is the same as the number of placement grooves 211, and multiple detection elements 230 are respectively set in a one-to-one correspondence with multiple placement grooves 211.

[0072] Reference Figure 8 and Figure 11 In one embodiment, the transfer unit 200 further includes a second drive member 240, which is drivenly connected to the transfer shaft 210 to drive the transfer shaft 210 to rotate, and is electrically connected to the detection member 230.

[0073] In this embodiment, the second driving component 240 is a drive motor or drive motor. The second driving component 240 provides stable power to the central shaft 210, replacing manual rotation and adjustment, and ensuring consistency in every posture change. At the same time, the second driving component 240 can also achieve uniform speed rotation and smooth start and stop, avoiding the instantaneous impact or shaking caused by manual rotation, effectively reducing the risk of easily deformable items 800 falling off or deforming due to bumps and collisions during the rotation of the central shaft 210.

[0074] In addition, the second drive unit 240 is electrically connected to the control unit 400, and the transmitting probe 231 and receiving probe 232 in the detection unit 230 are electrically connected to the control unit 400. The control unit 400 is a controller to achieve effective linkage of various components of the relay unit 200.

[0075] Reference Figure 1 , Figure 2 , Figure 4 , Figure 12 as well as Figure 13 In one embodiment, the feeding unit 300 includes a feeding component 310 and a third driving component 320. The feeding component 310 is used to pick up the easily deformable items 800 on the transfer unit 200 and release the easily deformable items 800 to the processing mechanism 700. The third driving component 320 is driven to the feeding component 310 and is used to drive the feeding component 310 to reciprocate between the transfer unit 200 and the processing mechanism 700.

[0076] In this embodiment, the feeding component 310 can be a vacuum chuck, a magnetic pickup head, or a gripper, and the third driving component 320 can be a linear module or a robotic arm.

[0077] The unloading component 310 replaces manual labor in picking up the easily deformable item 800 from the transfer unit 200 and releasing it to the processing mechanism 700. Simultaneously, the third drive component 320 enables standardized driving, precisely controlling the movement path and stopping position of the unloading component 310. This structural design effectively avoids alignment deviations that easily occur during manual unloading, ensuring that the easily deformable item 800 is stably placed in the processing mechanism 700 in the required preset posture, thus guaranteeing the smooth progress of subsequent processing and assembly procedures. Furthermore, the third drive component 320 also helps improve unloading efficiency.

[0078] Reference Figure 4 , Figure 12 as well as Figure 13 In one embodiment, the unloading component 310 is a pneumatic gripper. The pneumatic gripper can output a gentle and stable clamping force through air pressure regulation, achieving reliable clamping of easily deformable items 800 while avoiding deformation due to excessive clamping force, effectively reducing the risk of damage to the easily deformable items 800. Simultaneously, the pneumatic gripper can also achieve rapid clamping and release, effectively improving unloading efficiency.

[0079] Reference Figure 12 and Figure 13 In one embodiment, the third drive member 320 is a biaxial linear module. In this embodiment, the third drive member 320 can drive the unloading member 310 to move bidirectionally in the horizontal direction (e.g., the X-axis) and also drive the unloading member 310 to move bidirectionally in the vertical direction (e.g., the Z-axis), thereby enabling the unloading member 310 to have the ability to perform combined motion in the horizontal and vertical directions. It is understood that the third drive member 320 can also be a single-axis linear module or a triaxial linear module.

[0080] The dual-axis linear module enables two-dimensional composite motion while ensuring accurate material placement. Furthermore, compared to a single-axis linear module, the dual-axis linear module offers greater path flexibility, allowing it to adapt to more complex workstation layouts.

[0081] Reference Figure 12 and Figure 13 In one embodiment, the feeding part 300 further includes a third mounting member 330, the feeding member 310 is disposed on the third mounting member 330, and the third driving member 320 is drivenly connected to the third mounting member 330.

[0082] In this embodiment, the third mounting member 330 is a mounting base or mounting carrier, the unloading member 310 is detachably mounted on the third mounting member 330, and the third driving member 320 is directly connected to the third mounting member 330 to drive the third mounting member 330 to reciprocate between the transfer unit 200 and the processing mechanism 700.

[0083] The third mounting component 330 provides a stable support base for the feeding component 310, improving the picking accuracy of the feeding component 310 for easily deformable items 800. Furthermore, if a feeding section 300 of a different specification needs to be replaced, only the feeding component 310 and the third mounting component 330 need to be disassembled, reducing replacement costs and maintenance difficulty.

[0084] Reference Figure 12 and Figure 13 In one embodiment, there are multiple feeding components 310, which are spaced apart.

[0085] In this embodiment, the number of feeding members 310 is the same as the number of adsorption members 110; it can be understood that the number of feeding members 310 may also be different from the number of adsorption members 110.

[0086] The multiple feeding components 310 not only help improve feeding efficiency, but also reduce the impact of failure of a single feeding component 310, ensuring the reliability of feeding operation.

[0087] Reference Figure 1 , Figure 2 as well as Figure 11 In one embodiment, the picking and placing mechanism further includes a control unit 400, which is electrically connected to the picking unit 100, the transfer unit 200, and the discharging unit 300.

[0088] In this embodiment, the control unit 400 is a control device, and the control unit 400 is electrically connected to the first drive member 120, the second drive member 240 and the third drive member 320.

[0089] The control unit 400 enables the material handling unit 100, the transfer unit 200 and the unloading unit 300 to achieve fully automated linkage, thereby improving the handling efficiency and reducing the risk of deformation of easily deformable items 800.

[0090] Reference Figure 1 and Figure 2 In one embodiment, the picking and placing mechanism further includes an installation part 500, and a picking part 100, a transfer part 200 and a placing part 300 are disposed in the installation part 500.

[0091] In this embodiment, the mounting part 500 is a mounting frame, and the material picking part 100, the transfer part 200, and the material discharging part 300 are all fixedly mounted on the mounting part 500. The mounting part 500 serves to support and mount the material picking part 100, the transfer part 200, and the material discharging part 300.

[0092] Reference Figures 1 to 14 According to another aspect of this application, embodiments of this application also provide an assembly apparatus, which includes a placement tray 600, an assembly mechanism, and the aforementioned pick-and-place mechanism. The placement tray 600 is used to place the heating wire, the assembly mechanism is used to assemble the heating wire and the inner cotton 900, and the pick-and-place mechanism is used to pick up the heating wire on the placement tray 600 and place the heating wire on the assembly mechanism.

[0093] In this embodiment, the heating wire is a deformable article 800 used in conjunction with the pick-and-place mechanism; the assembly mechanism is a cotton wrapping machine, and the assembly mechanism is a processing mechanism 700 used in conjunction with the pick-and-place mechanism; the heating wire is placed horizontally on the placement tray 600 and vertically on the assembly mechanism. Specifically, the assembly mechanism magnetically attracts the heating wire; it is understood that the assembly device can also assemble miniature metal parts or flexible non-metal parts, and the assembly mechanism can also be replaced by a packaging mechanism or a processing mechanism.

[0094] When assembling the heating wire and inner cotton 900 using the assembly device of this application, the process is as follows: First, the picking unit 100 picks up the heating wire placed on the carrier tray 600 by mechanical picking, replacing manual handling with controllable mechanical force, thereby reducing the risk of deformation of the heating wire during picking. Then, the transfer unit 200 corrects the posture of the heating wire by mechanical correction, reducing the risk of misalignment and collision during transfer. Next, the unloading unit 300 precisely connects to the assembly mechanism by mechanical release, placing the heating wire in the preset position, further reducing the risk of compression deformation of the heating wire due to manual alignment. Finally, the assembly mechanism assembles the heating wire and inner cotton 900. The above structural design effectively improves the assembly efficiency of the heating wire and inner cotton 900.

[0095] Reference Figure 1 and Figure 14 In one embodiment, the placement tray 600 is a bakelite tray. In this embodiment, the placement tray 600 is arranged horizontally; it is understood that the placement tray 600 may also be an antistatic plastic tray, a ceramic tray, or a blister tray.

[0096] The designed bakelite carrier not only has excellent insulation properties, reducing the risk of short circuits in the heating wire, but also has advantages such as high temperature resistance, strong deformation stability, high surface hardness, good wear resistance, strong machinability, and moderate cost.

[0097] Reference Figure 1 and Figure 14 In one embodiment, the surface of the carrier plate 600 is provided with a receiving groove 610 for embedding the heating wire. In this embodiment, there are multiple embedding grooves, which are spaced apart. The heating wire can be completely embedded in the receiving groove 610, or a portion of the structure can be embedded in the receiving groove 610 while the other portion is located outside the receiving groove 610.

[0098] The recessed groove 610 provides physical restraint for the heating wire, stably confining it within the groove and ensuring its stability on the carrier plate 600. Furthermore, to further enhance the stability of the heating wire on the carrier plate 600, it is magnetically attached to the recessed groove 610.

[0099] In summary, implementing the picking and placing mechanism and assembly device provided in this embodiment has at least the following beneficial technical effects: When using the picking and placing mechanism of this application to pick and place the heating wire, the process is as follows: First, the picking unit 100 picks up the heating wire on the placement tray 600 by mechanical picking and places the heating wire on the placement tray 600 on the transfer unit 200. The picking unit 100 uses controllable mechanical force instead of manual handling, thereby reducing the risk of deformation of the heating wire during picking. Subsequently, the transfer unit 200 corrects the posture of the heating wire by mechanical correction, reducing the risk of misalignment and collision of the heating wire during transfer. Finally, the placing unit 300 picks up the heating wire on the transfer unit 200 and places the heating wire on the processing mechanism 700; that is, the placing unit 300 places the heating wire, whose posture has been adjusted on the transfer unit 200, onto the processing mechanism 700. Specifically, the feeding section 300 precisely connects to the processing mechanism 700 through mechanical release, and places the heating wire in the preset position, further reducing the risk of easily deformable items 800 being squeezed and deformed due to manual alignment.

[0100] The aforementioned structural design replaces manual handling with a mechanical structure, which on the one hand reduces the risk of heating wire deformation during handling, improving the pass rate of heating wires placed on the processing mechanism 700; on the other hand, it also improves handling efficiency and reduces labor costs. Furthermore, it ensures consistency in handling operations, reducing human error. In addition, it avoids direct contact between operators and heating wires (especially for heating wires with sharp edges), reducing the risk of scratches and improving the safety of handling operations.

[0101] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A picking and placing mechanism, characterized in that, It includes a material picking section, a transfer section, and a material dispensing section. The material picking section is used to pick up easily deformable items on the carrier tray and place the easily deformable items on the transfer section. The transfer unit is used to adjust the posture of the easily deformable item; The feeding section is used to pick up the easily deformable items from the transfer section and place the easily deformable items on the processing mechanism.

2. The picking and placing mechanism according to claim 1, characterized in that, The material handling unit includes an adsorption component and a first driving component. The adsorption component is used to adsorb the easily deformable items on the placement tray and release the easily deformable items to the transfer unit. The first driving member is driven to connect with the adsorption member, and the first driving member is used to drive the adsorption member to reciprocate between the placement tray and the transfer section.

3. The picking and placing mechanism according to claim 2, characterized in that, The adsorption element has an adsorption surface for contacting or separating from the easily deformable article, and the adsorption surface is provided with an air intake hole for communicating with an external air source.

4. The picking and placing mechanism according to claim 3, characterized in that, The material handling unit further includes a first mounting member, the adsorption member is disposed on the first mounting member, and the first driving member is drivingly connected to the first mounting member; and / or The number of adsorption elements is multiple, and the multiple adsorption elements are arranged at intervals; and / or, The first driving component is a four-axis manipulator, which is used to drive the adsorption component to move in three mutually perpendicular directions and to rotate around a preset axis that intersects the horizontal plane.

5. The picking and placing mechanism according to claim 1, characterized in that, The posture in which the easily deformable item is picked up on the material handling section is a first posture, and the posture in which the easily deformable item is placed on the processing mechanism is a second posture that is different from the first posture. The transfer unit includes a transfer shaft and a second mounting component. The transfer shaft is rotatably mounted on the second mounting component and is used to rotate relative to the second mounting component to drive the easily deformable item to switch from the first posture to the second posture.

6. The picking and placing mechanism according to claim 5, characterized in that, The transfer shaft is rotatably mounted on the second mounting component around its own axis and is used to adsorb the easily deformable items.

7. The picking and placing mechanism according to claim 6, characterized in that, The deformable item has a connecting structure, and the surface of the transfer shaft is provided with a placement groove for placing the connecting structure, the placement groove extending in a direction perpendicular to the axial direction of the transfer shaft.

8. The picking and placing mechanism according to claim 7, characterized in that, The surface of the transfer shaft is also provided with a clearance groove that communicates with the placement groove, and the bottom of the clearance groove intersects with the extension direction of the placement groove. The first posture is a horizontal posture, and the second posture is a vertical posture; the axis of the transfer shaft is parallel to the horizontal direction, so that the transfer shaft can drive the easily deformable item to switch from the first posture to the second posture; When the easily deformable item is in the first posture, the connecting structure is placed horizontally in the placement groove; when the easily deformable item is in the second posture, the connecting structure is placed vertically in the placement groove and extends into the avoidance groove.

9. The picking and placing mechanism according to claim 7, characterized in that, The transfer unit also includes a detection component, which includes a transmitting probe and a receiving probe, located on opposite sides of the transfer shaft axis. The detection component is used to detect whether the easily deformable item is placed in the placement groove.

10. The picking and placing mechanism according to claim 9, characterized in that, The transfer unit further includes a second driving member, which is drivenly connected to the transfer shaft to drive the transfer shaft to rotate. The second driving member is electrically connected to the detection member.

11. The picking and placing mechanism according to any one of claims 1 to 10, characterized in that, The feeding section includes a feeding component and a third driving component. The feeding component is used to pick up the easily deformable item on the transfer section and release the easily deformable item to the processing mechanism. The third driving component is driven to connect with the feeding component, and is used to drive the feeding component to reciprocate between the transfer unit and the processing mechanism.

12. The picking and placing mechanism according to claim 11, characterized in that, The unloading component is a cylinder gripper; and / or... The third driving component is a two-axis linear module; and / or, The feeding section further includes a third mounting component, the feeding component being disposed on the third mounting component, and the third driving component being drivenly connected to the third mounting component; and / or The number of feeding components is multiple, and the multiple feeding components are arranged at intervals.

13. The picking and placing mechanism according to any one of claims 1 to 10, characterized in that, The picking and placing mechanism further includes a control unit, which is electrically connected to the picking unit, the transfer unit, and the placing unit; and / or, The picking and placing mechanism also includes an installation part, and the picking part, the transfer part and the placing part are disposed in the installation part.

14. An assembly apparatus, characterized in that, The device includes a placement tray, an assembly mechanism, and a pick-and-place mechanism as described in any one of claims 1 to 13, wherein the placement tray is used to place the heating wire, and the assembly mechanism is used to assemble the heating wire and the inner cotton. The picking and placing mechanism is used to pick up the heating wire on the placement tray and place the heating wire on the assembly mechanism.

15. The assembly apparatus according to claim 14, characterized in that, The carrier disk is a bakelite carrier disk; and / or, The surface of the carrier plate is provided with a receiving groove for embedding the heating wire.

Images