阅读说明：本技术 取放装置及医用冷柜 (Get and put device and medical freezer ) 是由 吴镝 张立勋 李鹏飞 赵雪 于 2020-06-03 设计创作，主要内容包括：本申请涉及一种取放装置及医用冷柜。上述的取放装置包括机架、滑动板、第一驱动机构、移动板以及第二驱动机构,滑动板滑动连接于机架；第一驱动机构设于机架,第一驱动机构的动力输出端与滑动板连接,第一驱动组件驱动滑动板相对于机架滑动；移动板滑动连接于滑动板；第二驱动机构包括移动组件、固定板和升降组件,移动组件设于机架,固定板与移动组件的动力输出端连接,升降组件设于固定板上,升降组件的动力输出端用于在驱动移动板时与移动板插接；上述的取放装置,移动托盘的行程无疑增加了一个移动板的滑动行程,增加了取放装置的驱动移动托盘的运动行程,减少了驱动机构的设置数目,解决了大储量的医用冷柜无法进一步做小的问题。(The application relates to a taking and placing device and a medical refrigerator. The taking and placing device comprises a rack, a sliding plate, a first driving mechanism, a moving plate and a second driving mechanism, wherein the sliding plate is connected to the rack in a sliding manner; the first driving mechanism is arranged on the rack, a power output end of the first driving mechanism is connected with the sliding plate, and the first driving assembly drives the sliding plate to slide relative to the rack; the moving plate is connected with the sliding plate in a sliding way; the second driving mechanism comprises a moving assembly, a fixed plate and a lifting assembly, the moving assembly is arranged on the rack, the fixed plate is connected with the power output end of the moving assembly, the lifting assembly is arranged on the fixed plate, and the power output end of the lifting assembly is used for being inserted into the moving plate when the moving plate is driven; the stroke of the moving tray of the taking and placing device is increased undoubtedly by the sliding stroke of the moving plate, the moving stroke of the driving moving tray of the taking and placing device is increased, the number of the driving mechanisms is reduced, and the problem that a medical refrigerator with large storage capacity cannot be further reduced is solved.)

1. A pick and place apparatus, comprising:

a frame;

a sliding plate slidably coupled to the frame;

the first driving mechanism is arranged on the rack, a power output end of the first driving mechanism is connected with the sliding plate, and the first driving assembly drives the sliding plate to slide relative to the rack;

a moving plate slidably connected to the sliding plate;

the second driving mechanism comprises a moving assembly, a fixed plate and a lifting assembly, the moving assembly is arranged on the rack, the fixed plate is connected with the power output end of the moving assembly, the lifting assembly is arranged on the fixed plate, and the power output end of the lifting assembly is used for being inserted into the moving plate when the moving plate is driven; an included angle is formed between the output direction of the power output end of the moving assembly and the output direction of the power output end of the lifting assembly; the sliding direction of the sliding plate relative to the frame is a first direction, the sliding direction of the moving plate relative to the sliding plate is a second direction, and the first direction and the second direction are the same.

2. The pick-and-place device according to claim 1, wherein the first driving mechanism comprises a motor assembly, a gear and a rack, the motor assembly is disposed on the frame, the gear is sleeved on a power output shaft of the motor assembly, the rack is connected with the sliding plate, and the rack is engaged with the gear.

3. The pick-and-place device of claim 1, wherein the sliding plate is slidably connected to a side of the frame, and the moving plate is slidably connected to a side of the sliding plate facing away from the frame.

4. The taking and placing device of claim 3, wherein the sliding plate is opened with a first clearance slot, and the lifting assembly is connected with the moving plate through the first clearance slot.

5. The taking and placing device of claim 4, wherein a sliding groove communicated with the first clearance groove is formed on one surface of the sliding plate, which is away from the rack, and the moving plate is located in the sliding groove and is slidably connected with the sliding plate.

6. The taking and placing device of claim 4, wherein the frame is provided with a second empty-avoiding groove communicated with the first empty-avoiding groove, and the lifting assembly is connected with the moving plate through the second empty-avoiding groove and the first empty-avoiding groove respectively.

7. The pick-and-place device of claim 6, wherein the first clearance groove is disposed opposite to the second clearance groove.

8. The pick-and-place device of claim 1, wherein the output direction of the power output end of the moving assembly is perpendicular to the output direction of the power output end of the lifting assembly.

9. The pick-and-place device according to any one of claims 1 to 8, wherein the moving plate is provided with a jack; the lifting assembly comprises a lifting cylinder and an inserting column, the lifting cylinder is arranged on the fixed plate, one end of the inserting column is connected with a power output column of the lifting cylinder, and the other end of the inserting column is used for being inserted into the inserting hole in a driving mode when the movable plate is driven.

10. A medical refrigerator comprising a mobile tray and the pick-and-place device of any one of claims 1 to 9, wherein the mobile tray is connected to the mobile plate.

Technical Field

The application relates to the technical field of medical equipment, in particular to a taking and placing device and a medical refrigerator.

Background

Medical freezers are specialized freezers used to store drugs, vaccines, enzymes, hormones, stem cells, platelets, semen, transplanted skin and tissue samples of animals, extracted RNA and gene libraries and some important biological and chemical agents as special drugs. The medical refrigerator is provided with a digital display temperature control system, and the temperature adjusting range of the medical refrigerator is generally 2-8 ℃.

When the taking and placing device of the medical refrigerator drives the movable tray to move relative to the refrigerator body, the driving mechanism drives the movable tray to have a certain movement stroke. When the storage space of the machine body is large, especially when the size of the machine body is larger than the movement stroke of the driving mechanism for driving the movable tray, more than two driving mechanisms need to be arranged, and the space of the machine body for arranging the taking and placing device is increased undoubtedly. The traditional medical freezer's actuating mechanism occupies the more space of organism, and under the condition that medical freezer satisfies predetermined reserves demand, because the volume that needs to occupy the organism is set up to actuating mechanism more than two, the medical freezer that leads to big reserves can't further do for a short time.

Disclosure of Invention

In view of the above, it is necessary to provide a taking and placing device and a medical refrigerator for solving the problem that a medical refrigerator with a large storage capacity cannot be further reduced.

A pick and place apparatus comprising:

a frame;

a sliding plate slidably coupled to the frame;

the first driving mechanism is arranged on the rack, a power output end of the first driving mechanism is connected with the sliding plate, and the first driving assembly drives the sliding plate to slide relative to the rack;

a moving plate slidably connected to the sliding plate;

the second driving mechanism comprises a moving assembly, a fixed plate and a lifting assembly, the moving assembly is arranged on the rack, the fixed plate is connected with the power output end of the moving assembly, the lifting assembly is arranged on the fixed plate, and the power output end of the lifting assembly is used for being inserted into the moving plate when the moving plate is driven; an included angle is formed between the output direction of the power output end of the moving assembly and the output direction of the power output end of the lifting assembly; the sliding direction of the sliding plate relative to the frame is a first direction, the sliding direction of the moving plate relative to the sliding plate is a second direction, and the first direction and the second direction are the same.

In one embodiment, the first driving mechanism includes a motor assembly, a gear and a rack, the motor assembly is disposed on the frame, the gear is sleeved on a power output shaft of the motor assembly, the rack is connected with the sliding plate, and the rack is engaged with the gear, so that the power output end of the first driving mechanism is connected with the sliding plate.

In one embodiment, the sliding plate is slidably connected to one surface of the frame, and the moving plate is slidably connected to one surface of the sliding plate, which is far away from the frame, so that the sliding action of the sliding plate relative to the frame and the sliding action of the moving plate relative to the sliding plate do not interfere.

In one embodiment, the sliding plate is provided with a first clearance groove, and the lifting assembly is connected with the moving plate through the first clearance groove, so that the sliding plate and the moving plate can be arranged in an opposite direction, and the taking and placing device is compact in structure.

In one embodiment, a sliding groove communicated with the first clearance groove is formed in one surface of the sliding plate, which is far away from the rack, and the moving plate is located in the sliding groove and is in sliding connection with the sliding plate, so that the moving plate and the sliding plate can slide smoothly, and the sliding plate can be better in sliding connection with the rack.

In one embodiment, the frame is provided with a second empty-avoiding groove communicated with the first empty-avoiding groove, and the lifting assembly is connected with the moving plate through the second empty-avoiding groove and the first empty-avoiding groove respectively, so that the frame, the sliding plate and the moving plate can be arranged oppositely, and the structure of the taking and placing device is more compact.

In one embodiment, the first empty avoiding groove and the second empty avoiding groove are arranged oppositely, so that the lifting assembly is better arranged in the first empty avoiding groove and the second empty avoiding groove, and the structure of the taking and placing device is more compact.

In one embodiment, the output direction of the power output end of the moving assembly is perpendicular to the output direction of the power output end of the lifting assembly, so that the problem that the power output end of the lifting assembly is separated from the moving plate in the insertion and connection process of the moving plate in the sliding process of the moving plate is avoided, and the moving assembly reliably drives the moving plate to slide relative to the sliding plate.

In one embodiment, the moving plate is provided with a jack; the lifting assembly comprises a lifting cylinder and an inserting column, the lifting cylinder is arranged on the fixed plate, one end of the inserting column is connected with a power output column of the lifting cylinder, and the other end of the inserting column is used for being inserted into the inserting hole when the movable plate is driven, so that the power output end of the lifting assembly is inserted into the movable plate.

A medical freezer comprises a movable tray and the taking and placing device in any one of the embodiments, wherein the movable tray is connected with the movable plate.

In the taking and placing device and the medical refrigerator, the movable tray is connected to the movable plate; the sliding plate is connected with the frame in a sliding way, the first driving mechanism is arranged on the frame, the power output end of the first driving mechanism is connected with the sliding plate, the first driving component drives the sliding plate to slide relative to the frame, so that the moving plate can slide relative to the frame by a first movement stroke along with the sliding plate, the moving component is arranged on the frame, the fixed plate is connected with the power output end of the moving component, the lifting component is arranged on the fixed plate, and the power output end of the lifting component is inserted into the moving plate when driving the moving plate, namely when the moving plate needs to be driven to slide relative to the sliding plate, the power output end of the lifting component is inserted into the moving plate firstly, the moving component drives the fixed plate to move secondly, the lifting component is arranged on the fixed plate, and the power output end of the lifting component is inserted into the moving plate, so that the fixed plate drives the lifting component and the moving plate to move, thereby driving the moving plate to slide relative to the sliding plate, the second driving mechanism drives the moving plate to slide relative to the sliding plate, the second driving mechanism drives the moving plate to slide relative to the sliding plate to a second movement stroke, and the first direction is the same as the second direction, so that the stroke of the movable tray is increased undoubtedly by the sliding stroke of one moving plate under the same rack length, the movement stroke of the movable tray driven by the picking and placing device is increased, the number of the driving mechanisms is reduced, and the problem that a medical refrigerator with large reserve cannot be further reduced is solved; the taking and placing device is provided with the first driving mechanism and the second driving mechanism, is compact in overall structure, and can flexibly adapt to limited working environment.

Drawings

Fig. 1 is a schematic view of a medical cooler according to an embodiment;

fig. 2 is a partial schematic view of another view of the medical cooler of fig. 1;

fig. 3 is a partial schematic view of the medical cooler shown in fig. 2 at a;

fig. 4 is a schematic view of the pick-and-place device of the medical refrigerator shown in fig. 3;

FIG. 5 is a schematic view of the pick-and-place apparatus shown in FIG. 4 from another perspective;

FIG. 6 is a partial schematic view of the pick-and-place apparatus shown in FIG. 5;

FIG. 7 is a perspective cross-sectional view of the pick-and-place apparatus shown in FIG. 5;

FIG. 8 is a partial schematic view of the pick-and-place apparatus shown in FIG. 7;

FIG. 9 is a schematic view of a first blocking plate of the pick-and-place apparatus shown in FIG. 7;

fig. 10 is a schematic view of a second blocking sheet of the pick-and-place device shown in fig. 7.

Detailed Description

In order to facilitate understanding of the present application, the pick-and-place device and the medical cooler will be described more fully with reference to the accompanying drawings. The preferred embodiments of the pick-and-place device and the medical refrigerator are shown in the attached drawings. However, the pick-and-place device and the medical cooler may be embodied in many different forms and are not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the pick-and-place device and medical cooler is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 to 3, a medical refrigerator 10 of an embodiment includes a moving tray 100 and a pick-and-place device 200, and the pick-and-place device 200 is used for driving the moving tray 100 to move. Referring also to fig. 4, in one embodiment, the pick-and-place apparatus 200 includes a frame 210, a sliding plate 220, a first driving mechanism 230, a moving plate 240, and a second driving mechanism 250. The sliding plate 220 is slidably coupled to the frame 210. The first driving mechanism 230 is provided to the frame 210. The power output end of the first driving mechanism 230 is connected to the sliding plate 220, and the first driving member drives the sliding plate 220 to slide with respect to the frame 210.

As shown in FIG. 4, in one embodiment, the moving plate 240 is slidably coupled to the sliding plate 220. Referring to fig. 5 and 6 together, the second driving mechanism 250 includes a moving assembly 252, a fixing plate 254, and a lifting assembly 256. The moving assembly 252 is disposed on the frame 210, and the fixing plate 254 is connected to a power output end of the moving assembly 252, such that the power output end of the moving assembly 252 drives the fixing plate 254 to move relative to the frame 210.

As shown in fig. 5 and 6, in one embodiment, the lifting assembly 256 is disposed on the fixed plate 254, and the power output end of the lifting assembly 256 is used for being inserted into the moving plate 240 when the moving plate 240 is driven. An included angle exists between the output direction of the power output end of the moving assembly 252 and the output direction of the power output end of the lifting assembly 256, so that the power output end of the lifting assembly 256 is reliably inserted into the moving plate 240 in the sliding process of the moving plate 240. In this embodiment, when the moving plate 240 needs to be driven to slide relative to the sliding plate 220, firstly, the power output end of the lifting assembly 256 is inserted into the moving plate 240, and secondly, the moving assembly 252 drives the fixed plate 254 to move, because the lifting assembly 256 is disposed on the fixed plate 254, and the power output end of the lifting assembly 256 is inserted into the moving plate 240, the fixed plate 254 drives the lifting assembly 256 and the moving plate 240 to move, so as to drive the moving plate 240 to slide relative to the sliding plate 220, and further, the second driving mechanism 250 drives the moving plate 240 to slide relative to the sliding plate 220.

As shown in fig. 3 and 6, in one embodiment, the moving tray 100 is connected to a moving plate 240. In the present embodiment, the sliding direction of the sliding plate 220 with respect to the frame 210 is set to a first direction. The moving plate 240 slides in a second direction with respect to the sliding plate 220, and the first direction is the same as the second direction. The travel of the moving plate 240 along with the sliding movement of the sliding plate 220 in the first direction with respect to the frame 210 is a first travel. The stroke of the moving plate 240 sliding in the second direction with respect to the sliding plate 220 is a second stroke.

As shown in fig. 3 and 5, in one embodiment, the medical cooler 10 further includes a cabinet 300. The rack 210 is disposed on the cabinet 300. It should be noted that the rack may be fixedly disposed on the cabinet body, or may be slidably disposed on the cabinet body. In one embodiment, the pick-and-place device 200 further includes a connection plate 260, and the rack 210 is connected to the cabinet 300 through the connection plate 260, such that the rack 210 is mounted on the cabinet 300. In other embodiments, the rack may also be slidably disposed on the carrying mechanism of the cabinet.

In one embodiment, the pick-and-place device 200 is used to transport the mobile tray 100 from the first position to the second position of the cabinet 300. It should be noted that the first position and the second position may be any two different positions of the cabinet. Before the pick-and-place device is operated, the moving plate 240 is disposed at one end of the sliding plate 220, and the sliding plate 220 is disposed at a middle position of the frame 210. When it is desired to move from the first position to the second position, the moving plate 240 is first slid to an end near the first position with respect to the sliding plate 220; the first drive mechanism 230 then drives the slide plate 220 to move toward the end near the first position until the slide plate 220 moves to the first position; then, the moving tray is placed on the moving plate 240; then the first driving mechanism 230 drives the sliding plate 220 to move in the opposite direction to the middle position of the frame 210; then the lifting assembly 256 drives the moving plate 240 to slide on the sliding plate 220, so that the moving plate 240 moves from one end near the first position to one end near the second position; then the first driving mechanism 230 drives the sliding plate 220 to move to the second position in a direction close to the second position; and finally, the movable tray is placed at the second position, and the mobile tray is moved to the second position from the first position by the taking and placing device. Under the same length of the rack 210, the stroke of the movable tray 100 undoubtedly increases the sliding stroke of the movable plate 240, increases the moving stroke of the movable tray 100 driven by the pick-and-place device 200, reduces the number of the driving mechanisms, and solves the problem that the medical refrigerator 10 with large storage capacity cannot be further miniaturized.

In the above-mentioned pick-and-place device 200 and the medical refrigerator 10, the movable tray 100 is connected to the movable plate 240. The sliding plate 220 is slidably connected to the frame 210, since the first driving mechanism 230 is disposed on the frame 210, the power output end of the first driving mechanism 230 is connected to the sliding plate 220, the first driving assembly drives the sliding plate 220 to slide relative to the frame 210, so that the moving plate 240 can slide with the sliding plate 220 by a first movement stroke relative to the frame 210, and since the moving assembly 252 is disposed on the frame 210, the fixed plate 254 is connected to the power output end of the moving assembly 252, the lifting assembly 256 is disposed on the fixed plate 254, and the power output end of the lifting assembly 256 is inserted into the moving plate 240 when the moving plate 240 is driven to slide relative to the sliding plate 220, i.e. when the moving plate 240 is driven to slide relative to the sliding plate 220, the power output end of the lifting assembly 256 is firstly inserted into the moving plate 240, and then the moving assembly 252 drives the fixed plate 254 to move, since the lifting assembly 256 is disposed on the fixed plate 254, and the power output end of the lifting assembly 256 is inserted into the moving plate 240, the fixed plate 254 drives the lifting assembly 256 and the moving plate 240 to move, so as to drive the moving plate 240 to slide relative to the sliding plate 220, and further the second driving mechanism 250 drives the moving plate 240 to slide relative to the sliding plate 220, so that the second driving mechanism 250 drives the moving plate 240 to slide to a second movement stroke relative to the sliding plate 220, and the first direction is the same as the second direction, so that under the same length of the rack 210, the movement stroke of the moving plate 240 is increased undoubtedly by the stroke of the moving tray 100, the movement stroke of the moving tray 100 driven by the picking and placing device 200 is increased, the number of the driving mechanisms is reduced, and the problem that the medical refrigerator 10 with large storage capacity cannot be further reduced is solved. The pick-and-place device 200 is provided with the first driving mechanism 230 and the second driving mechanism 250, has a compact overall structure, and can flexibly adapt to a limited working environment.

As shown in fig. 6, in order for the first driving mechanism 230 to drive the sliding plate 220 to slide relative to the frame 210, in one embodiment, the first driving mechanism 230 includes a motor assembly 232, a gear 234 and a rack 236. The motor assembly 232 is disposed on the frame 210, and the gear 234 is sleeved on the power output shaft of the motor assembly 232. The rack gear 236 is coupled to the sliding plate 220, and the rack gear 236 is engaged with the gear 234, so that the power output end of the first driving mechanism 230 is coupled to the sliding plate 220. When the gear 234 is driven by the motor assembly 232 to rotate, the gear 234 is meshed with the rack 236, and since the rack 236 is connected with the sliding plate 220, the motor is disposed on the frame 210, so that the sliding plate 220 is driven by the first driving mechanism 230 to slide relative to the frame 210.

As shown in fig. 4, in one embodiment, the sliding plate 220 is slidably coupled to a face of the frame 210. The moving plate 240 is slidably coupled to a surface of the sliding plate 220 facing away from the frame 210 such that the sliding movement of the sliding plate 220 with respect to the frame 210 does not interfere with the sliding movement of the moving plate 240 with respect to the sliding plate 220. In the present embodiment, the frame 210, the sliding plate 220, and the moving plate 240 are disposed in parallel two by two.

As shown in fig. 5, in order to make the sliding plate 220 be better slidably connected to the frame 210, in one embodiment, the pick-and-place device 200 further includes a guide rail 270 and a guide slider 280. The guide rail 270 is provided on a side of the frame 210 adjacent to the sliding plate 220. The guide slider 280 is slidably coupled to the guide rail 270, and the guide slider 280 is coupled to the sliding plate 220, so that the sliding plate 220 is better slidably coupled to the frame 210. In this embodiment, the extending direction of the guide rail 270 is parallel to the extending direction of the rack 236, so that the first driving assembly can drive the sliding plate 220 to slide relatively to the frame 210 more smoothly.

As shown in fig. 4, in order to precisely slide the sliding plate 220 with respect to the frame 210, the pick-and-place device 200 further includes a sensing piece 290, a first photoelectric switch 310, a second photoelectric switch 320, and a third photoelectric switch 370. The sensing piece 290 is provided on the sliding plate 220. The first, second, and third photoelectric switches 310, 320, and 370 are disposed side by side in the chassis 210. The first photoelectric switch 310, the second photoelectric switch 320 and the third photoelectric switch 370 are all used for detecting the sensing piece 290. When the sensing piece 290 passes through the first photoelectric switch 310, the first photoelectric switch 310 sends a first sensing signal for detecting the sensing piece 290. When the sensing piece 290 passes through the second photoelectric switch 320, the second photoelectric switch 320 sends out a second sensing signal for detecting the sensing piece 290. When the sensing piece 290 passes through the third photoelectric switch 370, the third photoelectric switch 370 sends out a third sensing signal for detecting the sensing piece 290. The first photoelectric switch 310, the second photoelectric switch 320 and the third photoelectric switch 370 are all connected to the control end of the first driving mechanism 230 in communication. In this embodiment, the position where the sensing piece 290 blocks the first photoelectric switch 310 is the original position where the sliding plate 220 slides with respect to the frame 210. When the sensing piece 290 passes through the second photoelectric switch 320 and the third photoelectric switch 370, the first driving mechanism 230 stops, so that the first driving mechanism 230 drives the sliding plate 220 to accurately slide relative to the frame 210. When the control end of the first driving mechanism communicates, the original position of the sliding plate 220 sliding relative to the frame 210 is the starting point of the sliding plate 220 sliding relative to the frame 210, and the sensing piece blocks the first photoelectric switch.

In one embodiment, the second electro-optic switch 320 is also communicatively coupled to the control terminal of the second drive mechanism 250. When the sensing piece 290 passes through the second photoelectric switch 320, the first driving mechanism 230 stops operating, and the second driving mechanism 250 starts operating, that is, the power output end of the lifting assembly 256 is inserted into the moving plate 240, and the moving assembly 252 drives the fixed plate 254 to move, because the lifting assembly 256 is disposed on the fixed plate 254 and the power output end of the lifting assembly 256 is inserted into the moving plate 240, the fixed plate 254 drives the lifting assembly 256 and the moving plate 240 to move, so as to drive the moving plate 240 to slide relative to the sliding plate 220, and further, the second driving mechanism 250 drives the moving plate 240 to slide relative to the sliding plate 220.

As shown in fig. 4, in the present embodiment, the movable tray 100 is connected to the movable plate 240 by insertion and removal. In one embodiment, the moving plate 240 includes a plate body 242 and a positioning post 244 protruding from a surface of the plate body 242 facing away from the sliding plate 220. The movable tray 100 is provided with a positioning hole matched with the positioning post 244, so that the movable tray 100 is connected with the movable plate 240 in a plugging manner. The plate body 242 is slidably coupled to the sliding plate 220. The power output of the lifting assembly 256 is used to plug the plate 242 when driving the moving plate 240. When the moving plate 240 needs to be driven to slide relative to the sliding plate 220, firstly, the power output end of the lifting assembly 256 is inserted into the plate body 242, and secondly, the moving assembly 252 drives the fixed plate 254 to move, because the lifting assembly 256 is disposed on the fixed plate 254, and the power output end of the lifting assembly 256 is inserted into the plate body 242, the fixed plate 254 drives the lifting assembly 256 and the plate body 242 to move, so as to drive the plate body 242 to slide relative to the sliding plate 220, and further, the second driving mechanism 250 drives the plate body 242 to slide relative to the sliding plate 220.

As shown in fig. 4, in order to allow the sliding plate 220 and the moving plate 240 to be disposed opposite to each other and to make the pick-and-place device 200 compact, in one embodiment, the sliding plate 220 is provided with a first clearance groove 221. The lifting assembly 256 is connected to the moving plate 240 through the first clearance groove 221, so that the sliding plate 220 and the moving plate 240 can be arranged opposite to each other, and the pick-and-place device 200 has a compact structure.

As shown in fig. 4, in order to make the structure of the pick-and-place device 200 more compact, in one embodiment, the frame 210 is provided with a second empty-avoiding groove 211 communicated with the first empty-avoiding groove 221, and the lifting assembly 256 is connected with the moving plate 240 through the second empty-avoiding groove 211 and the first empty-avoiding groove 221, respectively, so that the frame 210, the sliding plate 220 and the moving plate 240 can be arranged opposite to each other, thereby making the structure of the pick-and-place device 200 more compact.

As shown in fig. 4, in order to make the lifting assembly 256 be better disposed in the first empty-avoiding groove 221 and the second empty-avoiding groove 211, and thus make the structure of the pick-and-place device 200 more compact, in one embodiment, the first empty-avoiding groove 221 and the second empty-avoiding groove 211 are disposed opposite to each other, and the lifting assembly 256 be better disposed in the first empty-avoiding groove 221 and the second empty-avoiding groove 211, and thus make the structure of the pick-and-place device 200 more compact. It is understood that in other embodiments, the first clearance groove 221 and the second clearance groove 211 are partially disposed in a staggered manner, which only needs to ensure that the power output end of the lifting assembly 256 can be inserted into the moving plate 240 through the first clearance groove 221 and the second clearance groove 211.

As shown in fig. 4, in order to make the sliding plate 220 be better slidably connected to the frame 210, in one embodiment, a sliding slot 223 communicated with the first clearance slot 221 is formed on a surface of the sliding plate 220 facing away from the frame 210. The moving plate 240 is located in the sliding groove 223 and slidably connected to the sliding plate 220, so that the moving plate 240 and the sliding plate 220 can slide smoothly, and the sliding plate 220 can be slidably connected to the frame 210 better.

As shown in fig. 7, in order to avoid the problem that the power output end of the lifting assembly 256 is separated from the moving plate 240 during the sliding of the moving plate 240, the moving assembly 252 is used to reliably drive the moving plate 240 to slide relative to the sliding plate 220, in one embodiment, the output direction of the power output end of the moving assembly 252 is perpendicular to the output direction of the power output end of the lifting assembly 256, so as to avoid the problem that the power output end of the lifting assembly 256 is separated from the moving plate 240 during the sliding of the moving plate 240, and the moving assembly 252 is used to reliably drive the moving plate 240 to slide relative to the sliding plate 220. It is understood that in other embodiments, the output direction of the power output end of the moving assembly 252 and the output direction of the power output end of the lifting assembly 256 are not limited to being perpendicular to each other. In one embodiment, the angle between the output direction of the power output end of the moving assembly 252 and the output direction of the power output end of the lifting assembly 256 is 70 ° to 86 °.

As shown in fig. 7 and 8, in one embodiment, the moving plate 240 is provided with a receptacle 244 for the power output of the lifting assembly 256 to be inserted into the moving plate 240. The lift assembly 256 includes a lift cylinder 256a and a post 256 b. The elevating cylinder 256a is provided on the fixing plate 254. One end of the insertion column 256b is connected to the power output column of the lifting cylinder 256a, and the other end of the insertion column 256b is inserted into the insertion hole 244 when the moving plate 240 is driven, so that the power output end of the lifting assembly 256 is inserted into the moving plate 240.

As shown in fig. 7, in one embodiment, the moving assembly 252 includes a translation module 252a and a module slide 252 b. The translation module 252a is mounted to the frame 210, and a power output direction of the translation module 252a is the same as a sliding direction of the moving plate 240. The module slider 252b is connected to the power output end of the translation module 252a, so that the translation module 252a drives the module slider 252b to move relative to the frame 210, so as to drive the moving plate 240 to slide relative to the sliding plate 220. In the present embodiment, the module slider 252b is connected below the translation module 252 a.

As shown in fig. 8, in one embodiment, the fixing plate 254 includes a first sub-plate 254a and a second sub-plate 254b connected, and the module slider 252b is connected to the first sub-plate 254 a. The elevating assembly 256 is installed at the second plate 254b such that the power output end of the moving assembly 252 and the elevating assembly 256 are connected to the fixing plate 254. Further, the first and second sub-plates 254a and 254b are perpendicular to each other, and the fixing plate 254 is L-shaped, so that the operation process of the moving assembly 252 and the operation process of the lifting assembly 256 do not mechanically interfere with each other.

As shown in fig. 7 and 8, in one embodiment, the pick-and-place device 200 further includes a first latch 330, a second latch 340, a first stopper 350, and a second stopper 360. The first latch 330 and the second latch 340 are disposed at two sides of the moving plate 240 side by side. The first stopper 350 and the second stopper 360 are both provided on the sliding plate 220. The first stopper 350 is disposed corresponding to the first latch 330, and the second stopper 360 is disposed corresponding to the second latch 340. When the moving plate 240 slides to the limit position along the positive direction relative to the sliding plate 220, the first latch 330 interferes with the first stopper 350, so as to prevent the moving plate 240 from continuously sliding relative to the sliding plate 220, thereby playing a role of mechanical stop. When the moving plate 240 slides to the limit position in the opposite direction relative to the sliding plate 220, the second latch 340 abuts against the second stopper 360, so as to prevent the moving plate 240 from continuously sliding relative to the sliding plate 220, thereby functioning as a mechanical stop.

As shown in fig. 8 and 9, in order to make the first latch 330 reliably abut against the first stopper 350, in one embodiment, a first protrusion 331 is disposed on a surface of the first latch 330 adjacent to the first stopper 350. The first stopper 350 defines a first interference groove 351 corresponding to the first protrusion 331. When the moving plate 240 slides to the limit position along the positive direction relative to the sliding plate 220, the first protrusion 331 is buckled into the first interference groove 351, so that the first latch 330 is reliably interfered with the first stopper 350.

As shown in fig. 8 and 10, in order to make the second latch 340 reliably interfere with the second stopper 360, in one embodiment, a second protrusion 341 is disposed on a surface of the second latch 340 adjacent to the second stopper 360. The second stopper 360 has a second interference groove 361 corresponding to the second protrusion 341. When the moving plate 240 slides to the limit position along the opposite direction relative to the sliding plate 220, the second protrusion 341 is buckled into the second abutting groove 361, so that the second latch 340 is reliably abutted against the second stopper 360.

The working process of the taking and placing device is as follows: before the pick-and-place device is operated, the moving plate 240 is disposed at one end of the sliding plate 220, the sliding plate 220 is disposed at the middle position of the frame 210, and the sensing piece 290 blocks the first photoelectric switch 310. The first position is set to be close to the second photoelectric switch 320 and the second position is set to be close to the third photoelectric switch 370. When it is desired to move from the first position to the second position, the moving plate 240 is first slid to an end near the first position with respect to the sliding plate 220; then the first driving mechanism 230 drives the sliding plate 220 to move towards the end close to the first position until the sensing piece 290 blocks the second photoelectric switch 320, and at this time, the sliding plate 220 moves to the first position; then, the moving tray is placed on the moving plate 240; then the first driving mechanism 230 drives the sliding plate 220 to move in the opposite direction until the sensing piece blocks the position of the first photoelectric switch 310, and at this time, the sliding plate is located at the middle position of the rack; then the lifting assembly 256 drives the moving plate 240 to slide on the sliding plate 220, so that the moving plate 240 moves from one end close to the first position to one end close to the second position, and at this time, the latch is locked; then the first driving mechanism 230 drives the sliding plate 220 to move to the second position in the direction close to the second position, at this time, the sensing piece 290 shields the third photoelectric switch 370, and the sliding plate stops moving; and finally, the movable tray is placed at the second position, and the mobile tray is moved to the second position from the first position by the taking and placing device.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.