CN214988582U - Pick and place mechanism - Google Patents

Abstract

The utility model provides a pick-and-place mechanism, which comprises a bracket; the driving part is arranged on the bracket; the taking and placing part comprises a connecting piece and a taking piece, the connecting piece is connected with the driving part, the taking piece is arranged on the connecting piece and can rotate relative to the connecting piece, and the driving part drives the taking piece to move through the connecting piece. Through linking to each other drive division and connecting piece, and will get the setting of material piece and can rotate for the connecting piece on the connecting piece, thereby make and get the material piece both can be realized being close to or keeping away from the motion of material direction by the drive division drive through the connecting piece, can rotate for the connecting piece again, multiple motion mode of getting the material piece has been realized, make and get the material piece and can adjust the height and the angle of self according to the different locating position of material and putting angle in the in-process of getting the put material, need not to adjust the position and the angle of material through other equipment, the work efficiency of getting the mechanism of putting has been improved, the application scope of getting the mechanism of putting has been enlarged.

Description

Pick and place mechanism

Technical Field

The utility model relates to a robotechnology field particularly, relates to a get and put mechanism.

Background

At present, in order to facilitate transportation, the sheet metal products are stacked and transported, the inclination angles of the stacked products and the horizontal plane are different, and the heights of the products are different. To the different problem of inclination of each layer product and horizontal plane, adopt servo mechanism to right flat every layer product among the correlation technique, then the rethread is got the material piece and is snatched the product, and work efficiency is lower, the structure is complicated has reduced the reliability simultaneously.

SUMMERY OF THE UTILITY MODEL

The present invention aims at least solving one of the technical problems existing in the prior art or the related art.

To this end, the utility model discloses a first aspect provides a get and put mechanism.

In view of the above, a first aspect of the present invention provides a pick-and-place mechanism, which includes a support; the driving part is arranged on the bracket; the taking and placing part comprises a connecting piece and a taking piece, the connecting piece is connected with the driving part, the taking piece is arranged on the connecting piece and can rotate relative to the connecting piece, and the driving part drives the taking piece to move through the connecting piece.

The utility model provides a get and put mechanism, including support, drive division and get the portion of putting, the drive division sets up on the support, and the support can play the effect of fixed stay to the drive division, gets the portion of putting and links to each other with the drive division, and the drive division can drive and get at least some motion of portion of putting and then realize getting and put the function.

Specifically, get portion of putting including the connecting piece and get the material piece, the connecting piece links to each other with the drive division, and the motion of drive division drive connecting piece, connecting piece with get the material piece and be connected, the drive division gets the material piece motion through the connecting piece drive, and then makes and get the material piece and be close to or keep away from the material. Furthermore, get and be connected between material spare and the connecting piece, get the material spare and can rotate for the connecting piece to make and get the material spare after contacting the material, further adjust and the material between the relative position, and then make and get the material of material spare adaptation different angles, make and get material spare and material and more closely laminate. The material taking piece can be connected with the driving part through the connecting piece to move close to and far away from the material direction, and can be connected with the connecting piece through the rotating mechanism to realize rotation, so that multiple movement modes of the material taking piece are realized, and the material taking piece can grasp the material more firmly.

The utility model provides a pick and place mechanism, through setting up the drive division on the support, the support has played the support to the drive division, fixed effect, through linking to each other drive division and connecting piece, and will get the setting of material piece on the connecting piece and can rotate for the connecting piece, thereby it both can be through the connecting piece by the motion that the drive division drive realized being close to or keeping away from the material direction to make to get the material piece, can rotate for the connecting piece again, multiple motion mode of getting the material piece has been realized, make and get the height and the angle that the material piece can be according to the different locating position of material and put angle adjustment self at the in-process of getting and putting the material, need not to adjust the position and the angle of material through other equipment, the work efficiency of pick and place mechanism has been improved, the application scope of pick and place mechanism has been enlarged.

According to the utility model provides an foretell pick and place mechanism can also have following additional technical characterstic:

in above-mentioned technical scheme, furtherly, get material spare and pass through connecting piece and drive division flexible connection.

In this technical scheme, get the material piece and link to each other with the drive division through the connecting piece, the connecting piece is not rigid part, can be the flexible part that forms through the connection of a plurality of parts. The drive division is getting the in-process of material motion through the connecting piece drive, and the drive division with get the material and pass through the mutual effort of connecting piece transmission, because the connecting piece is flexible component, to the drive division and get and played the cushioning effect between the material, and then avoid getting when the material downstream is got in the drive division drive, get material and material contact back, the driving force of drive division is used in the material, has played the effect of protection material.

Through will getting to set up to flexonics between material and the drive division, avoided the drive division direct will drive power to act on getting the material, the flexonics through the connecting piece has played the buffering effect to make drive power act on after the flexible buffering and get the material, and then act on the material of being got and put, played the guard action to the material.

In the above technical solution, further, the connecting member includes: the first connecting piece is connected with the driving part; the second connecting piece is movably connected with the first connecting piece, and the material taking piece is connected with the second connecting piece; the limiting piece is arranged on at least one of the first connecting piece and the second connecting piece and can limit the displacement of the second connecting piece relative to the first connecting piece.

In this technical scheme, the connecting piece includes first connecting piece, second connecting piece and locating part. The first connecting piece is connected with the driving part, and the driving part drives the first connecting piece to move. The second connecting piece is movably connected with the first connecting piece, and understandably, the second connecting piece and the first connecting piece can generate relative movement, so that the first connecting piece and the second connecting piece form flexible connection. Get the material piece and link to each other with the second connecting piece, promptly, get and can produce relative motion between material piece and the first connecting piece, get the material in-process, because get to have relative motion between material piece and the first connecting piece, get the activity realization buffering of material piece and material after, the drive power of drive division through first connecting piece and second connecting piece, played the effect of protection material.

The limiting part is arranged on at least one of the second connecting part and the first connecting part, and the limiting part is arranged on the basis that the first connecting part and the second connecting part can move relatively, so that the movement range of the first connecting part and the second connecting part is limited. When the relative displacement between the second connecting piece and the first connecting piece exceeds a preset threshold value, the limiting piece limits the movement of the second connecting piece, and limits the relative displacement between the second connecting piece and the first connecting piece to continue increasing or decreasing, so that the relative displacement between the second connecting piece and the first connecting piece is kept within a certain range. Meanwhile, the first connecting piece and the second connecting piece can be prevented from being separated by the limiting piece, and the reliability of the structure is guaranteed.

It can be understood that the limiting member can limit the displacement of the second connecting member relative to the first connecting member, that is, the limiting member can limit the movement of the second connecting member relative to the first connecting member within a certain displacement range, so that the second connecting member can move relative to the first connecting member within a certain displacement range. The displacement range can be set according to actual conditions, specifically, the displacement range is greater than or equal to 0 and less than or equal to 100cm, and further, the displacement range is greater than or equal to 0 and less than or equal to 10 cm.

Through set up first connecting piece, second connecting piece in the connecting piece, make and get and produce relative motion between material accessible second connecting piece and the first connecting piece to reach flexonics's effect, make the drive power of drive division act on after the flexible buffer and get the material, and then act on the material of being got and put, played the guard action to the material. The limiting piece is arranged in the connecting piece, so that the displacement of the second connecting piece relative to the first connecting piece is limited, the second connecting piece is always kept in a stable connecting state with the first connecting piece, and the second connecting piece is prevented from being separated from the first connecting piece.

In any of the above technical solutions, one of the first connecting member and the second connecting member is a shaft member, the other one is a bearing, the shaft member is sleeved with the bearing, and the shaft member is sleeved with the limiting member.

In the technical scheme, one of the first connecting piece and the second connecting piece is a shaft piece, the other one of the first connecting piece and the second connecting piece is a bearing, the bearing is sleeved on the shaft piece, and the shaft piece can move relative to the bearing along the axis direction. The receiver is further provided with a limiting piece, and when the relative displacement between the shaft element and the bearing element exceeds a preset threshold value, the limiting piece is abutted against the bearing to limit the continuous movement of the shaft element along the original movement direction.

In any of the above technical solutions, one of the first connecting member and the second connecting member is provided with a sliding groove, at least a portion of the other one is disposed in the sliding groove and can slide in the sliding groove, and the limiting member penetrates through the first connecting member and the second connecting member and can move relative to one of the first connecting member and the second connecting member.

In this technical scheme, one of first connecting piece and second connecting piece is equipped with the spout, and at least a part of another is located in the spout and can slide in the spout to make first connecting piece and second connecting piece can produce the relative motion along the spout direction, wherein, the locating part is connected with second connecting piece and first connecting piece, and can move for one of them, and then can enough avoid first connecting piece and second connecting piece to break away from, can play spacing effect again under the circumstances of guaranteeing both effective motions.

Specifically, the locating part is a connecting shaft which is used for connecting a first connecting piece and a second connecting piece, wherein a limiting groove is formed in the second connecting piece, the limiting groove extends along the axis direction of the driving shaft, the connecting shaft is arranged in the limiting groove, the connecting shaft slides in the limiting groove along with the movement of the second connecting piece relative to the first connecting piece, and when the connecting shaft slides to two end parts of the limiting groove, the second connecting piece cannot continue to move, so that the limiting effect is achieved on the second connecting piece.

One of the first connecting piece and the second connecting piece is a bearing, the other one of the first connecting piece and the second connecting piece is a shaft piece, or one of the first connecting piece and the second connecting piece is provided with a sliding groove, at least one part of the other one of the first connecting piece and the second connecting piece is arranged in the sliding groove and can slide in the sliding groove, so that the first connecting piece can generate relative movement along a fixed direction relative to the second connecting piece, and the first connecting piece and the second connecting piece are connected and cannot be separated from each other.

In any one of the above technical solutions, further, the pick-and-place mechanism further includes a detection portion, the detection portion is disposed on the connecting member, and the detection portion is used for detecting whether the material taking member grabs the material.

In this technical scheme, get and put mechanism still includes the detection part, and the detection part setting is on the connecting piece, and the detection part can detect and get material piece and whether snatch the material.

The detection part is arranged in the pick-and-place mechanism to detect whether the material taking part grabs the material, whether the material taking part grabs the material can be timely confirmed, the next step of action of the material taking part when the material is not grabbed is avoided, the error operation of the pick-and-place mechanism is prevented, the next step of action can be timely carried out after the material is grabbed, the reliability of the pick-and-place mechanism is improved, and the working efficiency of the pick-and-place mechanism is also improved.

In any of the above technical solutions, further, the detection part includes a detection shaft, and the detection shaft is movably connected with the connecting piece; the contact block is protruded out of the material taking part along the axial direction of the detection shaft, and the contact block and the material taking part are distributed along the length direction of the connecting part; the detection piece is arranged on the connecting piece and used for detecting the position information of the detection shaft relative to the connecting piece and determining whether the material taking piece grabs the material according to the position information.

In this technical solution, the detection portion includes a detection shaft, a detection block, and a detection member. Detect the piece and get the material setting in the same one side of connecting piece, when getting the material and beginning to snatch the material, detect the piece and contact with the material, the material exerts the effort to detecting the piece, makes and detects the piece and produce the displacement, detects the piece and links to each other with detecting the axle, detects axle and connecting piece swing joint, when detecting the piece because the material produced the displacement of the power of exerting, detects the piece and drives and detect the axle joint motion, detects and produces relative displacement between axle and the connecting piece. The detection piece is arranged on the connecting piece and used for detecting the position information of the detection shaft relative to the connecting piece, and then whether the material is grabbed by the material taking piece can be judged according to the position information.

Specifically, when the relative displacement between the connecting piece and the detection shaft exceeds a preset threshold value, the material taking piece can be confirmed to have grabbed the material.

Wherein, along the axis direction that detects the axle, contact block protrusion is in getting the one side that the connecting piece was kept away from to the material to ensure when snatching the material, contact block is earlier than getting material contact material, and then ensures the accuracy to snatching the material and detecting. Contact block with get the material piece and distribute along the length direction of connecting piece, also along the length direction of connecting piece, contact block with get the collinear setting of material piece to guarantee the reliability that the material snatched.

Through set up in the detection portion and detect the axle, detect piece and detection piece, make the detection piece through detecting the position information judgement of axle for the connecting piece and get the material and whether snatch the material, make the detection portion can be independent of and get material independent work, can reflect the condition that gets the material and snatch the material in step again, make the detection portion in time confirm get the material whether snatch the material, can in time carry out action on next step after confirming and snatching the material, both promoted the reliability of getting and putting the mechanism, promoted the work efficiency who gets and puts the mechanism again.

In any one of the above technical solutions, the pick-and-place unit further includes: the second driving piece is connected with the connecting piece; the push rod is connected with the second driving piece, and the second driving piece pushes the material grabbed by the material fetching piece through the push rod.

In this technical solution, the pick-and-place unit further includes a second driving member and a push rod. The second driving piece is connected with the connecting piece, the push rod is connected with the second driving piece, and the second driving piece can drive the push rod to move. When the material is released by the taking and placing part, the driving part drives the push rod to move towards the material, after the push rod is contacted with the material, the second driving part continues to drive the push rod to move towards the material, the push rod applies force deviating from the direction of the material taking part to the material, and the material is separated from the material taking part, so that the action of releasing the material is realized.

Through set up the second driving piece in getting in put portion, the motion of second driving piece promotion push rod makes the push rod can apply the power that deviates from getting material piece direction to the material, realizes the material and gets the separation of material piece, realizes letting go of material.

In any of the above technical solutions, further, the driving part includes a first driving member disposed on the bracket, and the first driving member includes a driving shaft; and the driving shaft is connected with the connecting piece through the joint.

In this technical scheme, the drive division includes first driving piece, and first driving piece setting is on the support, and the support plays the fixed stay effect to first driving piece, and first driving piece includes the drive shaft. The drive portion further comprises a joint, and the drive shaft is connected with the connecting piece through the joint. The first driving part provides driving power for the driving shaft to enable the driving shaft to move, the driving shaft is connected with the connecting part through the joint, and the connecting part moves under the driving of the driving shaft.

The connecting piece links to each other with the drive shaft through connecting, has realized the drive effect of first driving piece to the connecting piece, makes the connecting piece move under the drive of first driving piece. Through setting up the joint, make the drive shaft be connected with the connecting piece through connecting, can realize the rotation of drive shaft connecting piece for the drive shaft, increased the motion range of connecting piece.

In any of the above technical solutions, further, the pick and place mechanism further includes: the buffer piece is arranged on the connecting piece and positioned between the bracket and the connecting piece; the guide piece is arranged along the axial direction of the driving shaft and is movably connected with the bracket, and the guide piece is connected with the connecting piece.

In this technical scheme, the pick and place mechanism still includes bolster and guide. The buffer piece is arranged on the connecting piece and located between the support and the connecting piece, specifically, the buffer piece is arranged between the second support and the connecting piece, when the connecting piece moves towards the second support, the buffer piece is in contact with the second support before the connecting piece, and the buffer piece is in contact with the second support first, so that the connecting piece is prevented from continuing to move towards the second support, and rigid impact between the connecting piece and the second support is avoided.

Furthermore, the buffer piece is arranged between the second support and the connecting piece, so that the second support has a limiting effect on the buffer piece.

Furthermore, a guide piece is further arranged in the picking and placing mechanism, the guide piece is arranged along the axial direction of the driving shaft and is movably connected with the support, and the guide piece is connected with the connecting piece. The driving shaft is connected with the connecting piece, the connecting piece is driven to move, the connecting piece is movably connected with the guide piece, the connecting piece moves along the direction of the guide piece, and the guide piece is arranged along the axial direction of the driving shaft, so that the connecting piece moves along the axial direction of the driving shaft.

The buffer member is arranged in the taking and placing mechanism and is positioned between the support and the connecting member, so that the connecting member can be prevented from being rigidly impacted with the support when moving towards the support, the taking and placing mechanism and materials are prevented from being damaged, the materials and the taking and placing mechanism are protected, and the service life of the taking and placing mechanism is prolonged. The connecting piece can move along the direction of the guide piece by arranging the guide piece in the taking and placing mechanism, and the guide piece is arranged along the axial direction of the driving shaft, so that the connecting piece can move along the axial direction of the driving shaft, the power loss is reduced, the driving efficiency is improved, and the limiting effect of the support on the buffer piece is realized.

In any of the above technical solutions, further, the guide includes: the guide shaft penetrates through the bracket and is connected with the connecting piece; the buffer block is sleeved on the guide shaft and fixedly arranged on the bracket; the guide shaft is located to the stopper, stopper cover, and along the axis of guide shaft, the stopper is located the buffer block and keeps away from the one side of getting the material piece.

In this technical scheme, the guide includes guiding axle, buffer block and stopper. The guide shaft is connected with the connecting piece, and the second driving piece drives the guide shaft to move through the connecting piece due to the fact that the connecting piece is connected with the second driving piece. The guide shaft is located to the buffer block cover and sets firmly on the support, and the stopper is located the buffer block and keeps away from the one side of getting the material piece along the axial of guide shaft, and when second driving piece drive guide shaft was got material piece one side motion towards, the guide shaft drove the stopper and moved towards the bolster, and when stopper and bolster offset, the guide shaft arrived extreme position, can't continue to get material piece one side motion towards.

Through set up guiding axle, buffer block and stopper in the guide, realized the limit function of guiding axle, restricted the extreme position that the guiding axle can remove to confirm to get the concrete position that the mechanism was released the material of putting, make and get the material and drive the material and can stop motion when reaching this position.

In any of the above technical solutions, further, the material taking member includes any one of or a combination of the following: permanent magnet, electro-magnet, sucking disc.

In this technical scheme, it can be for following any one or its combination to get material piece: permanent magnet, electro-magnet, sucking disc.

The material taking piece is set to be any one or combination of a permanent magnet, an electromagnet and a sucker, so that the material taking piece can effectively take and place materials, the structure of the material taking piece is simple, the maintenance is easy, and the product finished products are reduced.

In any of the above technical solutions, further, the material taking part is connected with the connecting part through a ball bearing; or the material taking part is connected with the connecting part through a hinge; or the material taking part is connected with the connecting piece through the floating joint.

In this technical scheme, get material spare and pass through ball bearing with the connecting piece and be connected to the messenger gets material spare and can rotate for the connecting piece.

In another technical scheme, get material spare and connecting piece and pass through hinged joint to it can rotate for the connecting piece to make to get the material spare.

In another technical scheme, get material piece and connecting piece and pass through floating joint and be connected to make and get material piece and can rotate for the connecting piece.

Get the material piece through making and be connected with the connecting piece through ball bearing or hinge or floating joint, can realize making and get the material piece for the connecting piece pivoted technological effect, above-mentioned connected mode is simple, and the cost is lower and easy to maintain.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows one of the schematic structural diagrams of the pick and place mechanism according to an embodiment of the present invention;

fig. 2 shows a second schematic structural diagram of the pick-and-place mechanism according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 and fig. 2 is:

100 pick and place mechanism, 110 support, 111 first support, 112 second support, 120 driving part, 121 first driving part, 122 joint, 130 pick and place part, 131 connecting part, 1311 first connecting part, 1312 second connecting part, 1313 limiting part, 132 pick part, 133 second driving part, 134 push rod, 140 detection part, 141 detection shaft, 142 contact block, 143 detection part, 150 buffer part, 160 guide part, 161 guide shaft, 162 buffer block and 163 limiting block.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A pick and place mechanism 100 according to some embodiments of the present invention is described below with reference to fig. 1 and 2.

Example one

According to an embodiment of the first aspect of the present invention, as shown in fig. 1 and 2, the present invention provides a pick and place mechanism 100.

The utility model provides a pick and place mechanism 100, including support 110, drive division 120 and get and put portion 130.

Specifically, the driving part 120 is provided to the bracket 110; the taking and placing part 130 comprises a connecting piece 131 and a taking piece 132, the connecting piece 131 is connected with the driving part 120, the taking piece 132 is arranged on the connecting piece 131 and can rotate relative to the connecting piece 131, and the driving part 120 drives the taking piece 132 to move through the connecting piece 131.

Specifically, the taking and placing part 130 includes a connecting member 131 and a material taking member 132, the connecting member 131 is connected to the driving part 120, the driving part 120 drives the connecting member 131 to move, the connecting member 131 is connected to the material taking member 132, and the driving part 120 drives the material taking member 132 to move through the connecting member 131, so that the material taking member 132 is close to or far away from the material. Further, get and be connected between material 132 and the connecting piece 131, get material 132 and can rotate for the connecting piece 131 to get material 132 after the contact material, further the adjustment and the material between the relative position, make get material 132 and the material more closely laminate. Get material piece 132 and can enough be connected with drive division 120 through connecting piece 131, carry out the motion of being close to and keeping away from the material direction, can link to each other with connecting piece 131 through slewing mechanism again, realize rotating to multiple motion mode of getting material piece 132 has been realized, and it is more firm to get the snatching of material piece 132.

Get material 132 and be used for picking up and stacking the material that piles up, owing to get material 132 and can carry out the motion of being close to or keeping away from the material, can rotate for connecting piece 131 again, realized multiple motion, make get material 132 and can get the position and the angle of material 132 self according to the position adjustment of material at the in-process of getting the put material to the realization is to getting of material and is put the function.

In one embodiment, the number of the material taking members 132 is two, and the two material taking members 132 are respectively disposed on two sides of the pick-and-place mechanism 100. By arranging the two material taking parts 132 and respectively arranging the two material taking parts 132 on the two sides of the material taking and placing mechanism 100, the materials can be uniformly stressed in the taking and placing process, the unbalance of the materials in the taking and placing process is avoided, and the stability and the reliability of the taking and placing action of the material taking and placing mechanism are improved.

The support 110 comprises a first support 111 and a second support 112, the second support 112 is connected with the first support 111, the second support 112 is arranged on one side of the first support 111, the driving part 120 is arranged on the second support 112, the second support 112 and the first support 111 are in different directions, the first support 111 and the second support 112 are arranged in the first support 111, and the second support 112 is arranged on one side of the first support 111, so that all parts in the pick-and-place mechanism 100 can be arranged on the support 110 at multiple angles, and interference among all parts is avoided.

The pick-and-place mechanism 100 provided by the application has the advantages that the driving part 120 is arranged on the support 110, the driving part 120 is fixed, the driving part 120 is connected with the connecting piece 131, the pick-and-place part 132 is arranged on the connecting piece 131 and can rotate relative to the connecting piece 131, the pick-and-place part 132 can be driven by the driving part 120 through the connecting piece 131 to move close to or away from the material direction, and can rotate relative to the connecting piece 131, various movement modes of the pick-and-place part 132 are realized, the height and the angle of the pick-and-place part 132 can be adjusted according to different placing positions and placing angles of the material in the pick-and-place process, the material can be picked and placed without adjusting the position and the angle of the material, the working efficiency of the pick-and-place mechanism 100 is improved, and the application range of the pick-and place mechanism 100 is expanded.

Example two

As shown in fig. 1, according to an embodiment of the present invention, on the basis of the above embodiment, further, the material taking member 132 is flexibly connected to the driving portion 120 through the connecting member 131.

In this design, the material taking member 132 is connected to the driving part 120 through the connecting member 131, and the connecting part is not a rigid member but a flexible member formed by connecting a plurality of parts. The drive portion 120 is through the motion of connecting piece 131 drive material taking member 132 in-process, and drive portion 120 and material taking member 132 transmit mutual effort through connecting piece 131, because connecting piece 131 is the flexible component, has played the cushioning effect between drive portion 120 and the material taking member 132.

Through will getting to set up to flexible connection between material 132 and the drive division 120, avoided the drive division 120 directly to drive power to act on getting material 132, the flexonics through connecting piece 131 has played the buffering effect to make drive power act on after the flexible buffering and get material 132, and then act on the material of being got and put, played the guard action to the material.

EXAMPLE III

As shown in fig. 1 and fig. 2, according to an embodiment of the present invention, on the basis of the above embodiment, further, the connecting member 131 includes: a first connector 1311, the first connector 1311 being connected to the driving part 120; the second connecting piece 1312, the second connecting piece 1312 is movably connected with the first connecting piece 1311, and the material taking piece 132 is connected with the second connecting piece 1312; and a limiting member 1313 disposed on the second connecting member 1312 for limiting the displacement of the second connecting member 1312 with respect to the first connecting member 1311.

In this embodiment, the connecting members include a first connecting member 1311, a second connecting member 1312, and a stopper 1313. The first connecting member 1311 is connected to the driving part 120, and the driving part 120 drives the first connecting member 1311 to move. Second connecting member 1312 is movably connected to first connecting member 1311. it will be appreciated that relative movement between second connecting member 1312 and first connecting member 1311 may occur, and that second connecting member 1312 does not move synchronously with first connecting member 1311. The material taking member 132 is connected to the second connecting member 1312, that is, relative movement can be generated between the material taking member 132 and the first connecting member 1311, the material taking member 132 does not move synchronously with the first connecting member 1311, and in the material taking process of the material taking member 132, because relative movement exists between the material taking member 132 and the first connecting member 1311, the driving force of the driving part 120 acting on the first connecting member 1311 cannot directly act on the material taking member 132, so that flexible connection between the driving part 120 and the material taking member 132 is realized, and a buffering effect is achieved between the driving part 120 and the material taking member 132.

In one embodiment, the number of the first connectors 1311 and the second connectors 1312 is two, and the two first connectors 1311 and the two second connectors 1312 are respectively disposed on two sides of the pick-and-place mechanism 100. By arranging the two first connectors 1311 and the two second connectors 1312 and arranging the two first connectors 1311 and the two second connectors 1312 on two sides of the pick-and-place mechanism 100, the relative movement between the first connectors 1311 and the second connectors 1312 is more stable, and the stability of the pick-and-place mechanism 100 is improved.

The limiting member 1313 is disposed on the second connecting member 1312, and is configured to limit displacement of the second connecting member 1312 relative to the first connecting member 1311, when relative movement occurs between the second connecting member 1312 and the first connecting member 1311, because the connecting member is provided with the limiting member 1313, when a relative displacement amount between the second connecting member 1312 and the first connecting member 1311 exceeds a preset threshold, the limiting member 1313 limits movement of the second connecting member 1312, and a resistance value of the relative displacement amount between the second connecting member 1312 and the first connecting member 1311 continues to increase or decrease, so that the relative displacement between the second connecting member 1312 and the first connecting member 1311 is kept within a certain range.

It is understood that the limiting member 1313 can limit the displacement of the second connecting member 1312 relative to the first connecting member 1311, that is, the limiting member 1313 can limit the movement of the second connecting member 1312 relative to the first connecting member 1311 within a certain displacement range, so that the second connecting member 1312 can move relative to the first connecting member 1311 within a certain displacement range. The displacement range can be set according to actual conditions, specifically, the displacement range is greater than or equal to 0 and less than or equal to 100cm, and further, the displacement range is greater than or equal to 0 and less than or equal to 10 cm.

Through setting up first connecting piece 1311, second connecting piece 1312 in connecting piece 131, make and get material piece 132 accessible second connecting piece 1312 and produce relative motion between first connecting piece 1311 to reach the effect of flexible coupling, make the drive power of drive division 120 act on and get material piece 132 after flexible buffering, and then act on the material of being got and put, played the guard action to the material. The stopper 1313 is provided in the connecting member 131 to restrict the displacement of the second connecting member 1312 with respect to the first connecting member 1311, so that the second connecting member 1312 is always stably connected to the first connecting member 1311, and the second connecting member 1312 is prevented from coming off the first connecting member 1311.

Further, in one embodiment, one of the first connector 1311 and the second connector 1312 is a shaft, and the other is a bearing, and the bearing is sleeved on the shaft; or one of the first connecting member 1311 and the second connecting member 1312 is provided with a slide groove, and at least a part of the other is provided in the slide groove and is capable of sliding therein.

In this design, one of the first connector 1311 and the second connector 1312 is a shaft, and the other is a bearing, and the shaft is sleeved with the bearing and can move relatively to the bearing along the axial direction. The receiver is further provided with a limiting piece 1313, and when the relative displacement between the shaft and the bearing piece exceeds a preset threshold value, the limiting piece 1313 is abutted to the bearing to limit the shaft to continue moving along the original moving direction.

In another embodiment, one of the first connector 1311 and the second connector 1312 is provided with a sliding slot, and at least a portion of the other is provided in the sliding slot and can slide in the sliding slot, so that the first connector 1311 and the second connector 1312 can generate relative movement along the direction of the sliding slot.

Further, the connecting member 131 further includes a connecting shaft, the connecting shaft is used for connecting the first connecting member 1311 and the second connecting member 1312, a sliding groove is formed in the second connecting member 1312, the sliding groove extends along the axial direction of the driving shaft, the connecting shaft is arranged in the sliding groove, the connecting shaft slides in the sliding groove along with the second connecting member 1312, and when the connecting shaft slides to two ends of the sliding groove, the second connecting member 1312 cannot move continuously, so that the second connecting member 1312 is limited.

One of the first connecting member 1311 and the second connecting member 1312 is a bearing, the other is a shaft, or one of the first connecting member 1311 and the second connecting member 1312 is provided with a sliding groove, and at least a part of the other is arranged in the sliding groove and can slide in the sliding groove, so that the first connecting member 1311 can move relative to the second connecting member 1312 along a fixed direction, and the first connecting member 1311 and the second connecting member 1312 are connected and cannot be separated from each other.

Example four

As shown in fig. 1 and fig. 2, according to an embodiment of the present invention, on the basis of the above embodiment, further, the pick-and-place mechanism 100 further includes a detection portion 140, the detection portion 140 is disposed on the connecting member 131, and the detection portion 140 is used for detecting whether the material taking member 132 grabs the material.

In this design, the pick-and-place mechanism 100 further includes a detecting portion 140, the detecting portion 140 is disposed on the connecting member 131, and the detecting portion 140 is used for detecting whether the material taking member 132 grabs the material.

The detection part 140 is arranged in the pick-and-place mechanism 100 to detect whether the material taking part 132 grabs the material, so that whether the material taking part 132 grabs the material can be timely confirmed, the next action of the material taking part 132 when the material is not grabbed is avoided, the error operation of the pick-and-place mechanism 100 is prevented, the next action can be timely carried out after the material is confirmed to be grabbed, the reliability of the pick-and-place mechanism 100 is improved, and the working efficiency of the pick-and-place mechanism 100 is also improved.

Further, as shown in fig. 1 and 2, the detecting part 140 includes a detecting shaft 141, and the detecting shaft 141 is movably connected to the connecting member 131; the contact block 142 is connected with the detection shaft 141, the contact block 142 and the material taking part 132 are positioned on the same side of the connecting part 131, the contact block 142 protrudes out of the material taking part 132 along the axial direction of the detection shaft 141, and the contact block 142 and the material taking part 132 are distributed along the length direction of the connecting part 131; the detection piece 143, the detection piece 143 is located the connecting piece 131, and the detection piece 143 is used for detecting the positional information of detection axle 141 for the connecting piece 131 to whether the material piece 132 snatchs the material is got according to positional information to confirm.

In this design, the detection part 140 includes a detection shaft 141, a detection block, and a detection piece 143. The detection block and the material taking part 132 are located on the same side of the connecting part 131, when the material taking part 132 begins to grab materials, the detection block is in contact with the materials, the materials exert acting force on the detection block, the detection block generates displacement, the detection block is connected with the detection shaft 141, the detection shaft 141 is movably connected with the connecting part 131, when the detection block generates displacement due to the force exerted by the materials, the detection block drives the detection shaft 141 to move together, and relative displacement is generated between the detection shaft 141 and the connecting part 131. The detecting element 143 is disposed on the connecting element 131, and the detecting element 143 is configured to detect position information of the detecting shaft 141 relative to the connecting element 131, and determine whether the material taking element 132 grabs the material according to the position information, that is, when a relative displacement between the connecting element 131 and the detecting shaft 141 exceeds a preset threshold, it may be determined that the material taking element 132 has grabbed the material.

Wherein, along the axis direction that detects axle 141, contact block 142 protrusion is in getting the one side that material piece 132 kept away from connecting piece 131 to ensure when snatching the material, contact block 142 is earlier in getting material piece 132 contact material, and then ensures the accuracy to snatching material and detect. The contact block 142 and the material taking member 132 are distributed along the length direction of the connecting member 131, that is, along the length direction of the connecting member 131, and the contact block 142 and the material taking member 132 are arranged in a collinear manner, so that the reliability of material grabbing is ensured.

The detection shaft 141, the detection block and the detection piece 143 are arranged in the detection part 140, so that the detection piece 143 judges whether the material taking piece 132 grabs the material or not according to the position information of the detection shaft 141 relative to the connecting piece 131, the detection part 140 can independently work independently of the material taking piece 132 and synchronously reflect the condition that the material taking piece 132 grabs the material, the detection part 140 can timely confirm whether the material taking piece 132 grabs the material or not, the next action can be timely carried out after the material grabbing is confirmed, the reliability of the material taking and placing mechanism 100 is improved, and the working efficiency of the material taking and placing mechanism 100 is also improved.

EXAMPLE five

As shown in fig. 1, according to an embodiment of the present invention, on the basis of the above embodiment, the taking and placing unit 130 further includes: a second driving member 133, the second driving member 133 being connected to the connecting member 131; the push rod 134, the push rod 134 is connected with the second driving member 133, and the second driving member 133 pushes the material grabbed by the material fetching member 132 through the push rod 134.

In this embodiment, the pick-and-place part 130 further includes a second driving member 133 and a push rod 134. The second driving member 133 is connected to the connecting member 131, the push rod 134 is connected to the second driving member 133, and the second driving member 133 can drive the push rod 134 to move. When the taking and placing part 130 releases the material, the driving part drives the push rod 134 to move towards the material, after the push rod 134 contacts with the material, the second driving part 133 continues to drive the push rod 134 to move towards the material, the push rod 134 applies a force to the material in a direction away from the material taking part 132, and the material is separated from the material taking part 132, so that the material is released.

Through the arrangement of the second driving member 133 in the taking and placing part 130, the second driving member 133 pushes the push rod 134 to move, so that the push rod 134 can apply a force to the material in a direction away from the material taking part 132, the material is separated from the material taking part 132, and the material is released.

EXAMPLE six

As shown in fig. 1, according to an embodiment of the present invention, on the basis of the above embodiment, further, the driving part 120 includes a first driving member 121 disposed on the bracket 110, and the first driving member 121 includes a driving shaft; and a joint 122, wherein the driving shaft is connected with the connecting piece 131 through the joint 122.

In this design, the driving part 120 includes a first driving member 121, the first driving member 121 is disposed on the bracket 110, the bracket 110 is used for fixing and supporting the first driving member 121, and the first driving member 121 includes a driving shaft. The driving part 120 further includes a joint 122, the driving shaft is connected with a connecting member 131 through the joint 122, and the connecting member 131 can rotate relative to the driving shaft through the joint 122. The first driving member 121 provides driving power to the driving shaft to move the driving shaft, the driving shaft is connected to the connecting member 131 through the joint 122, and the connecting member 131 moves by the driving of the driving shaft.

In one particular embodiment, joint 122 is a floating joint, and the drive shaft is coupled to coupling member 131 via the floating joint, and coupling member 131 is rotatable relative to the drive shaft via the floating joint.

By connecting the connecting member 131 to the driving shaft through the joint 122, the driving action of the first driving member 121 on the connecting member 131 is realized, and the connecting member 131 is driven by the first driving member 121 to move. By providing the joint 122, the drive shaft is connected to the connecting member 131 through the joint 122, so that the rotation of the drive shaft connecting member 131 with respect to the drive shaft can be realized, and the range of motion of the connecting member 131 is increased. The connecting piece 131 can move close to or away from the material direction and can rotate relative to the driving shaft, multiple movement modes of the connecting piece 131 are achieved, clamping stagnation of the connecting piece 131 under the condition of interference between the connecting piece 131 and other parts is avoided, and the connecting piece 131 has a fine adjustment function.

EXAMPLE seven

As shown in fig. 1, according to an embodiment of the present invention, on the basis of the above embodiment, further, the pick and place mechanism 100 further includes: the buffer member 150 is arranged on the connecting member 131, and is positioned between the bracket 110 and the connecting member 131; and a guide member 160, the guide member 160 being disposed along the axial direction of the driving shaft and movably coupled to the bracket 110, the guide member 160 being coupled to the coupling member 131.

In this design, the pick and place mechanism 100 further includes a buffer 150 and a guide 160. The buffer member 150 is disposed between the connecting member 131 and the bracket 110, and specifically, between the second bracket 112 and the connecting member 131, when the connecting member 131 moves towards the second bracket 112, the buffer member 150 contacts the second bracket 112 before the connecting member 131, and since the buffer member 150 contacts the second bracket 112 first, the connecting member 131 is prevented from moving towards the second bracket 112, and rigid impact between the connecting member and the second bracket 112 is avoided.

Further, the buffer member 150 is disposed between the second bracket 112 and the connecting member 131, so that the second bracket 112 can limit the buffer member.

Further, a guide 160 is provided in the pick and place mechanism 100, the guide 160 is disposed along the axial direction of the driving shaft and movably connected to the bracket 110, and the guide 160 is connected to the connecting member 131. The driving shaft is coupled to the coupling member 131 to drive the coupling member 131 to move, the coupling member 131 is movably coupled to the guide member 160, the coupling member 131 moves in the direction of the guide member 160, and the guide member 160 is disposed in the axial direction of the driving shaft, thereby moving the coupling member 131 in the axial direction of the driving shaft.

In one embodiment, the number of the guiding members 160 is two, and the two guiding members 160 are respectively disposed at both sides of the pick-and-place mechanism 100. By arranging the two guiding members 160 and respectively arranging the two guiding members 160 on the two sides of the pick-and-place mechanism 100, the connecting member 131 can synchronously move along the two guiding members in the same direction at the two ends, so that the guiding of the guiding members 160 is more stable, the connecting member is prevented from losing balance in the moving process, and the stability of the pick-and-place mechanism 100 is improved.

By arranging the buffer member 150 in the pick-and-place mechanism 100 and positioning the buffer member 150 between the bracket 110 and the connecting member 131, the connecting member 131 can be prevented from rigidly impacting the bracket 110 when moving towards the bracket 110, damage to the pick-and-place mechanism 100 and materials is avoided, the materials and the pick-and-place mechanism 100 are protected, and the service life of the pick-and-place mechanism 100 is prolonged. The guide member 160 is disposed in the pick and place mechanism 100, so that the connecting member 131 can move along the direction of the guide member 160, and the guide member 160 is disposed along the axial direction of the driving shaft, so that the connecting member 131 can move along the axial direction of the driving shaft, the power loss can be reduced, the driving efficiency can be improved, and the buffer member 150 can be limited by the bracket 110.

Further, the guide 160 includes: the guide shaft 161, the guide shaft 161 is worn and set in the support 110, the guide shaft 161 is connected with link 131; the buffer block 162, the buffer block 162 is sleeved on the guide shaft 161 and is fixedly arranged on the bracket 110; the limiting block 163 is sleeved on the guide shaft 161, and along the axis of the guide shaft 161, the limiting block 163 is located on one side of the buffer block 162 away from the material taking member 132.

In this design, the guide 160 includes a guide shaft 161, a buffer block 162, and a stopper 163. The guide shaft 161 is connected to the connecting member 131, and since the connecting member 131 is connected to the second driving member 133, the second driving member 133 drives the guide shaft 161 to move through the connecting member 131. The buffer block 162 is sleeved on the guide shaft 161 and fixedly disposed on the bracket 110, the limit block 163 is located on one side of the buffer block 162 away from the material taking part 132 along the axial direction of the guide shaft 161, when the second driving part 133 drives the guide shaft 161 to move towards one side of the material taking part 132, the guide shaft 161 drives the limit block 163 to move towards the buffer 150, and when the limit block 163 abuts against the buffer 150, the guide shaft 161 reaches the limit position and cannot move towards one side of the material taking part 132.

The guide shaft 161, the buffer block 162 and the limit block 163 are arranged in the guide member 160, so that the limit function of the guide shaft 161 is realized, and the limit position where the guide shaft 161 can move is limited, thereby determining the specific position where the material taking and placing mechanism 100 releases the material, and stopping the movement when the material taking member 132 drives the material to reach the position.

Example eight

As shown in fig. 1, according to an embodiment of the present invention, on the basis of the above embodiment, further, the material taking member 132 includes any one of the following components or a combination thereof: permanent magnet, electro-magnet, sucking disc.

In this design, the take off member 132 can be any one or combination of the following: permanent magnet, electro-magnet, sucking disc.

Through will getting material part 132 and establishing as in any one or its combination in permanent magnet, electro-magnet, the sucking disc, make and get material part 132 and put the material effectively, make the simple structure who gets material part 132, easily maintenance has reduced the product finished product.

Further, the material taking piece 132 is connected with the connecting piece 131 through a ball bearing; or the material taking piece 132 is connected with the connecting piece 131 through a hinge; or the take off member 132 may be connected to the connecting member by a floating joint.

In this embodiment, the extracting member 132 is connected to the connecting member 131 by a ball bearing so that the extracting member 132 can rotate relative to the connecting member.

In another embodiment, the material taking member 132 is hinged to the connecting member 131 so that the material taking member 132 can rotate relative to the connecting member.

In another embodiment, the extracting member 132 is connected to the connecting member 131 through a floating joint so that the extracting member 132 can rotate relative to the connecting member 131.

Through making get material piece 132 and be connected with connecting piece 131 through ball bearing or hinge or floating joint, can realize making to get material piece 132 for the pivoted technological effect of connecting piece 131, above-mentioned connected mode is simple, and the cost is lower and easy to maintain.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

As shown in fig. 1 and 2, according to an embodiment of the present invention, there is provided a pick and place mechanism 100 capable of picking and placing a plurality of angularly inclined stacked materials, wherein the pick and place mechanism 100 includes a first driving member 121 and a second driving member 133. The first driving member 121 drives the material taking member 132 to reach the grabbing position of each layer of materials, and after the material taking member 132 grabs the materials, the first driving member 121 is lifted immediately; when the second driving piece 133 discharges materials, the material discharging position is limited by the limiting block 163, and the material discharging height is accurately limited; the second driving member 133 pushes the material out of the material taking member 132.

The support 110 is a mounting base of the whole pick-and-place mechanism 100, and the support 110 can be connected to other moving mechanisms. The first driving member 121 drives the first connector 1311 through the joint 122. The guide shaft 161 is mounted on the first connecting piece 1311, the linear bearing is mounted on the second support 112, the guide shaft 161 slides up and down in the linear bearing, the second connecting piece 1312 is connected with the material taking piece 132, the second connecting piece 1312 slides up and down in the sliding groove of the first connecting piece 1311, the limit position of the up-and-down sliding of the second connecting piece 1312 is limited by the limiting piece 1313, the swinging range of the second connecting piece 1312 is limited by the push rod 134, and the material taking piece 132 can slide up and down relative to the first connecting piece 1311 through the connection relation. The take-off member 132 is swingable with respect to the second coupling member 1312 via a ball bearing. The contact block 142 is mounted on the sensing shaft 141, the linear bearing is mounted on the second link 1312, the sensing shaft 141 slides up and down in the linear bearing, and the sensing element 143 is mounted on the second link 1312 through a coupling plate.

The material taking process of the pick-and-place mechanism 100 is as follows: the first driving member 121 drives the material taking member 132 to move, when the material taking member 132 reaches the height of the material on the uppermost layer, the contact block 142 is jacked up by the material on the uppermost layer, the material taking member 132 contacts the material, and the material taking member 132 can slide up and down relative to the first connecting member 1311, so that the force of the first driving member 121 is prevented from being directly transmitted to the material, and the material protecting function is achieved. Meanwhile, the detection part 143 detects that the detection shaft 141 is jacked up, the controller judges that the material taking part 132 contacts the material, the controller retracts the first driving part 121 by changing the state of the electromagnetic valve of the first driving part 121, the buffer part 150 installed on the first connecting part 1311 contacts the second support 112, the buffer part 150 plays roles in reducing impact and limiting, and the material taking process is completed through the actions.

The material feeding process of the pick-and-place mechanism 100 is as follows: the guide shaft 161 is provided with a buffer block 162 and a limiting block 163, the first driving part 121 drives the material to descend, the descending position is determined through the position of the limiting block 163 relative to the guide shaft 161, and the buffer block 162 plays a role in buffering. The magnetic switch on the first driving member 121 senses that the material reaches the material feeding height, and then the material is fed. The second driver 133 is connected to the first connector 1311 through a connecting plate, and the push rod 134 is connected to the second driver 133 through a connecting plate.

The material removing process of the pick-and-place mechanism 100 is as follows: the second driving member 133 drives the pushing rod 134 to push the material down, and the material overcomes the attraction force of the material taking member 132, thereby completing the material removing process.

The pick-and-place mechanism 100 further comprises a drag chain, the drag chain is connected with the first bracket 111 through a drag chain fixing plate, the drag chain is connected with the second bracket 112 through another drag chain fixing plate, the related air pipe and cable of the second driving element 133 and the cable of the detecting element 143 penetrate through the drag chain, and the drag chain plays a role in protecting the cable and beautifying.

The utility model discloses only need adopt first driving piece 121 and second driving piece 133 as power, can accomplish to get material, blowing and take off the material process, reduced hardware and control cost, improved work efficiency, can popularize and be applied to piling up getting of product and put the operating mode.

The utility model does not need an additional mechanism to adjust the material feeding mode, and the material taking part 132 can automatically adapt to the material angle; the taking and placing part 130 automatically adapts to the height difference of each layer of products, the taking and placing part 130 can realize the grabbing, placing and stripping of the products only by performing up-and-down actions, the cost is low, and the efficiency is high; the program automatically judges the material taking and placing conditions, and the structure is simple, stable and reliable.

In the present application, the term "plurality" means two or more unless expressly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly and include, for example, fixed connections, detachable connections, or integral connections; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. A pick and place mechanism, comprising:

a support;

the driving part is arranged on the bracket;

the taking and placing part comprises a connecting piece and a taking piece, the connecting piece is connected with the driving part, the taking piece is arranged on the connecting piece and can rotate relative to the connecting piece, and the driving part drives the taking piece to move through the connecting piece.

2. Pick and place mechanism according to claim 1,

the material taking part is flexibly connected with the driving part through the connecting part.

3. Pick and place mechanism according to claim 2, characterised in that said connection means comprise:

the first connecting piece is connected with the driving part;

the second connecting piece is movably connected with the first connecting piece, and the material taking piece is connected with the second connecting piece;

the limiting part is arranged on at least one of the first connecting piece and the second connecting piece and can limit the displacement of the second connecting piece relative to the first connecting piece.

4. Pick and place mechanism according to claim 3,

one of the first connecting piece and the second connecting piece is a shaft piece, the other one is a bearing, the bearing is sleeved on the shaft piece, and the limiting piece is sleeved on the shaft piece; or

One of the first connecting piece and the second connecting piece is provided with a sliding groove, at least one part of the other one is arranged in the sliding groove and can slide in the sliding groove, and the limiting piece penetrates through the first connecting piece and the second connecting piece and can move relative to one of the first connecting piece and the second connecting piece.

5. The pick and place mechanism of any one of claims 1 to 4, further comprising:

the detection part is arranged on the connecting piece and used for detecting whether the material taking piece grabs the material or not.

6. The pick and place mechanism of claim 5, wherein the detection section comprises:

the detection shaft is movably connected with the connecting piece;

the contact block is connected with the detection shaft, the contact block and the material taking part are positioned on the same side of the connecting part, the contact block protrudes out of the material taking part along the axial direction of the detection shaft, and the contact block and the material taking part are distributed along the length direction of the connecting part;

the detection piece is arranged on the connecting piece and used for detecting the position information of the detection shaft relative to the connecting piece and determining whether the material taking piece grabs the material according to the position information.

7. The pick and place mechanism of any one of claims 1 to 4, wherein the pick and place section further comprises:

the second driving piece is connected with the connecting piece;

and the push rod is connected with the second driving piece, and the second driving piece pushes the material grabbed by the material fetching piece through the push rod.

8. The pick and place mechanism of any one of claims 1 to 4, wherein the drive section comprises:

the first driving piece is arranged on the bracket and comprises a driving shaft;

a joint through which the drive shaft is connected with the connecting member.

9. The pick and place mechanism of claim 8, further comprising:

the buffer piece is arranged on the connecting piece and positioned between the bracket and the connecting piece;

the guide piece is arranged along the axial direction of the driving shaft and movably connected with the bracket, and the guide piece is connected with the connecting piece.

10. Pick and place mechanism according to claim 9, characterised in that said guide comprises:

the guide shaft penetrates through the bracket and is connected with the connecting piece;

the buffer block is sleeved on the guide shaft and fixedly arranged on the bracket;

the limiting block is sleeved on the guide shaft and along the axis of the guide shaft, and the limiting block is located on one side, away from the material taking part, of the buffering block.

11. Pick and place mechanism according to any one of claims 1 to 4,

the material taking part comprises any one or combination of the following components: permanent magnet, electro-magnet, sucking disc.

12. Pick and place mechanism according to any one of claims 1 to 4,

the material taking part is connected with the connecting part through a ball bearing, or is connected through a hinge, or is connected through a floating joint.

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