Transfer equipment

Abstract

The present invention provides a transfer device, including a device body, a clamp installed on the device body, and a driving mechanism installed on the device body, the driving mechanism is used to drive the clamp to move, and an industrial camera is also installed on the device body, the industrial camera is electrically connected to a controller, and the controller is electrically connected to the driving mechanism. In the process of grabbing items, the transfer device uses the industrial camera installed on the device body to take pictures of the items to be grabbed to obtain the position information or outline size information of the items to be grabbed, and feeds the shooting information back to the controller. The controller controls the driving mechanism to perform corresponding actions based on the acquired information, so as to drive the clamp to move to a set position, and enable the clamp to accurately grab the items, without the need to manually obtain the corresponding information of the items to be grabbed by visual inspection, thus avoiding the instability caused by human differences in visual inspection, facilitating use, and saving labor costs.

Description

Technical Field

[0001] The present invention relates to a transfer device, and in particular to a transfer device that is more convenient to use. Background Art

[0002] When the existing transfer device clamps an item to be transferred, it is necessary to manually observe the relative position relationship between the clamping jaw and the item by visual inspection, and then control the movement mechanism of the transfer device to drive the clamping jaw to perform corresponding movements and move the clamping jaw to a set position, so as to grab the item with the clamping jaw. When using the existing transfer device, it is necessary to rely on manual observation of the relative position between the item and the clamping jaw, which causes certain inconvenience, results in a relatively high labor cost, and is prone to low accuracy and reliability of the visual inspection results due to human unstable factors. Summary of the Invention

[0003] In view of the above-mentioned disadvantages of the prior art, the technical problem to be solved by the present invention is to provide a transfer device that is more convenient to use and can save labor costs.

[0004] To achieve the above object, the present invention provides a transfer device, including a device body, a clamping jaw installed on the device body, and a driving mechanism installed on the device body. The driving mechanism is used to drive the clamping jaw to move. An industrial camera is also installed on the device body. The industrial camera is electrically connected to a controller, and the controller is electrically connected to the driving mechanism.

[0005] Further, a distance measuring sensor is also installed on the device body. The distance measuring sensor is electrically connected to the controller.

[0006] Further, the device body includes a carrier seat and a frame installed on the carrier seat. The driving mechanism, the clamping jaw, and the industrial camera are all installed on the frame. A plurality of spaced-apart limiting blocks are provided on the carrier seat. An item storage cavity for accommodating items is formed between all the limiting blocks. And a stepped limiting portion is provided on the side wall of the limiting block facing the item storage cavity.

[0007] Further, there are at least 3 limiting blocks, and all the limiting blocks are evenly distributed along the circumferential direction.

[0008] Further, the device body further includes an AGV chassis, and the carrier seat is installed on the AGV chassis.

[0009] Further, there are two clamping jaws, and the two clamping jaws are spaced apart in the left-right direction. The driving mechanism includes two sets of linear modules installed on the device body. The two sets of linear modules are respectively used to drive the two clamping jaws to move in the left-right direction, and both linear modules are electrically connected to the controller.

[0010] Further, the equipment body includes an upper plate and a lower plate connected to the upper plate through a slewing bearing. The clamping jaws are installed on the lower plate. The driving mechanism includes a rotary driving assembly installed on the upper plate. The rotary driving assembly can drive the lower plate to rotate relative to the upper plate around the central axis of the slewing bearing. The rotary driving assembly is electrically connected to the controller.

[0011] Further, the rotary driving assembly includes a rotary motor installed on the upper plate, a rotary gear installed at the output end of the rotary motor, and an arc-shaped rack engaged with the rotary gear. The arc-shaped rack is fixed on the lower plate. The rotary motor is electrically connected to the controller.

[0012] Further, the equipment body further includes a support cantilever extending in the front-rear direction. One end of the support cantilever is fixedly connected to the upper plate. The clamping jaws are movably connected to the lower plate through a hinge shaft extending in the left-right direction. The clamping jaws can rotate relative to the lower plate around the central axis of the hinge shaft.

[0013] Further, the driving mechanism further includes a lifting driving assembly installed on the equipment body and a translation driving assembly connected to the lifting driving assembly. The translation driving assembly is connected to the other end of the support cantilever. The lifting driving assembly can drive the translation driving assembly and the support cantilever to move in the up-down direction. The translation driving assembly can drive the support cantilever to move in the front-rear direction.

[0014] As described above, the transfer equipment involved in the present invention has the following beneficial effects:

[0015] During the process of grasping an item, this transfer equipment uses an industrial camera installed on the equipment body to take a photo of the item to be grasped, so as to obtain information such as the position information or the contour size of the item to be grasped, and feeds back the captured information to the controller. The controller controls the driving mechanism to perform corresponding actions according to the obtained information, etc., so as to drive the clamping jaws to move to the set position and enable the clamping jaws to accurately grasp the item. There is no need for manual visual inspection to obtain the corresponding information of the item to be grasped, which avoids the instability caused by human differences in visual inspection, facilitates use, and saves labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a perspective view of the transfer equipment in the first perspective in an embodiment of the present invention.

[0017] Figure 2 It is a perspective view of the transfer equipment in the second perspective in an embodiment of the present invention.

[0018] Figure 3 It is a schematic structural view when the clamping jaws grasp an item in an embodiment of the present invention.

[0019] Description of Component Symbols

[0020] 1 Equipment body 13 AGV chassis

[0021] 11 Bearing seat 131 Lidar

[0022] 111 Limit block 2 Claw

[0023] 112 Limiting part 21 Hinge shaft

[0024] 12 Frame 3 Industrial camera

[0025] 121 Upper plate 4 Distance measuring sensor

[0026] 122 Slewing bearing 51 Linear module

[0027] 123 Lower plate 521 Rotary motor

[0028] 124 Support cantilever 6 Item Detailed implementation manners

[0029] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0030] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have technical essence. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for convenience of narration and are not used to limit the scope for the implementation of the present invention. The change or adjustment of their relative relationships, without substantial change of the technical content, should also be regarded as the scope within which the present invention can be implemented.

[0031] Such as Figures 1 to 3As shown, this embodiment provides a transfer device, including a device body 1, a clamp 2 installed on the device body 1, and a driving mechanism installed on the device body 1, the driving mechanism is used to drive the clamp 2 to move, and an industrial camera 3 is also installed on the device body 1, the industrial camera 3 is electrically connected to the controller, and the controller is electrically connected to the driving mechanism. In the process of grabbing the object 6, the transfer device uses the industrial camera 3 installed on the device body 1 to take a picture of the object 6 to be grabbed, so as to obtain the position information or outline size information of the object 6 to be grabbed, and feeds the shooting information back to the controller. The controller controls the driving mechanism to perform corresponding actions according to the acquired information, so as to drive the clamp 2 to move to the set position, and enable the clamp 2 to accurately grab the object 6, without the need to manually obtain the corresponding information of the object 6 to be grabbed by visual inspection, avoiding the instability caused by human differences in visual inspection, and facilitating use and saving labor costs.

[0032] like Figure 1 and Figure 2 As shown, in this embodiment, the equipment body 1 includes a bearing seat 11 and a frame 12 installed on the bearing seat 11, and the driving mechanism, the clamping jaws 2 and the industrial camera 3 are all installed on the frame 12. The bearing seat 11 is provided with a plurality of spaced limit blocks 111, and an article storage cavity for accommodating articles 6 is formed between all the limit blocks 111, and a stepped limit portion 112 is provided on one side wall of the limit blocks 111 facing the article storage cavity. In the process of transporting articles 6, after the articles 6 are grasped by the clamping jaws 2, the articles 6 are temporarily placed in the article storage cavity on the bearing seat 11, and all the limit blocks 111 are used to effectively limit the sliding of the articles 6 along the surface of the bearing seat 11, so as to prevent the articles 6 from falling from the bearing seat 11. After the transporting equipment is moved to the set position, the clamping jaws 2 take out the articles 6 in the article storage cavity and place them at the set position. This method avoids the problem that the articles 6 are always held by the clamping jaws 2 and are easy to fall during the transport process, and prevents the clamping jaws 2 from being easily deformed due to bearing a large weight for a long time. At the same time, in this embodiment, a stepped limiting portion 112 is provided on one side wall of the limiting block 111 facing the article storage cavity. This structure enables the article storage cavity to store articles 6 of various sizes and specifications, and meets the limiting requirements for articles 6 of various sizes and specifications. As shown in the figure, there are three limiting blocks 111 in this embodiment, and all limiting blocks 111 are evenly distributed along the circumferential direction. In this embodiment, three steps are specifically provided on the limiting portion 112 of the limiting block 111, and the number of steps can be set as needed in other embodiments. In this embodiment, the article 6 to be grasped can be a circular can. The limiting block 111 on the supporting seat 11 forms a can cache point, which can cache cans of different diameters.

[0033] At the same time, if Figure 1 and Figure 2As shown in the figure, in this embodiment, the equipment body 1 further includes an AGV chassis 13, and the carrier seat 11 is installed on the AGV chassis 13 to utilize the automatic navigation function of the AGV chassis 13 to drive the carrier seat 11 and the frame 12 to automatically move to the set position.

[0034] As Figure 1 and Figure 2 As shown in the figure, in this embodiment, the frame 12 of the equipment body 1 includes an upper plate 121 and a lower plate 123 connected to the upper plate 121 through a slewing bearing 122. The gripper 2 is installed on the lower plate 123. The driving mechanism includes a rotary driving assembly installed on the upper plate 121. The rotary driving assembly can drive the lower plate 123 to rotate relative to the upper plate 121 around the central axis of the slewing bearing 122. The rotary driving assembly is electrically connected to the controller. Specifically, as shown in the figure, in this embodiment, the rotary driving assembly includes a rotary motor 521 installed on the upper plate 121, a rotary gear installed at the output end of the rotary motor 521, and an arc-shaped rack engaged with the rotary gear. The arc-shaped rack is fixed on the lower plate 123, and the rotary motor 521 is electrically connected to the controller. When the transfer equipment runs to the grasping position, it will first use the industrial camera 3 to photograph the item 6 to be grasped to obtain the specific position information or the contour information of the item 6, etc. If there is a positioning error of the AGV chassis 13 resulting in the relative position relationship between the item 6 and the gripper 2 not accurately meeting the set requirements at this time, for example, when the gripper 2 has a position deviation relative to the item 6 along the circumferential direction of the slewing bearing 122, the controller will control the rotary motor 521 to operate. The rotary motor 521 drives the lower plate 123 and the gripper 2 to rotate around the central axis of the slewing bearing 122 through the rotary gear and the arc-shaped rack until the relative position between the gripper 2 and the item 6 meets the set requirements. Then, the controller will control the driving mechanism to act to drive the gripper 2 to grasp the item 6.

[0035] As Figure 1 and Figure 2As shown, in this embodiment, there are two clamping jaws 2. The two clamping jaws 2 are spaced apart in the left-right direction and are respectively installed at the left and right ends of the lower plate 123. The driving mechanism includes two sets of linear modules 51 installed on the lower plate 123. The two sets of linear modules 51 are respectively used to drive the two clamping jaws 2 to move in the left-right direction, and the two linear modules 51 are both electrically connected to the controller. The two linear modules 51 can drive the two clamping jaws 2 to approach or move away from each other respectively, and the two linear modules 51 can also drive the two clamping jaws 2 to move synchronously to the left or synchronously to the right respectively, which can be used to compensate for the deviation in the left-right direction during the positioning of the AGV chassis 13. In this embodiment, the linear module 51 includes a clamping jaw motor electrically connected to the controller. The clamping jaw 2 is driven by the clamping jaw motor to move in the left-right direction. In this embodiment, the central axis of the slewing bearing 122 is located between the two clamping jaws 2. When the lower plate 123 rotates around the central axis of the slewing bearing 122, it will drive the two clamping jaws 2 to rotate synchronously around the central axis of the slewing bearing 122. In this embodiment, the upper plate 121 and the lower plate 123 are both flat plates. The central axis of the slewing bearing 122 is perpendicular to the upper plate 121 and the lower plate 123, and coincides with the centers of the upper plate 121 and the lower plate 123.

[0036] As Figure 1 and Figure 2 shown, in this embodiment, the frame 12 of the equipment body 1 further includes a support cantilever 124 extending in the front-rear direction. The upper plate 121 is fixedly connected to the front end of the support cantilever 124. The clamping jaw 2 is movably connected to the lower plate 123 through a hinge shaft 21 extending in the left-right direction. The clamping jaw 2 can rotate relative to the lower plate 123 around the central axis of the hinge shaft 21. When the clamping jaw 2 grabs a relatively heavy item 6, under the action of the gravity of the item 6, a slight downward deformation will occur at the front end of the support cantilever 124, and the upper plate 121 and the lower plate 123 will be tilted to a certain extent. However, the clamping jaw 2 can rotate relative to the lower plate 123 around the central axis of the hinge shaft 21, so as to avoid the clamping jaw 2 tilting together with the lower plate 123, enabling the clamping jaw 2 to maintain a normal hanging state and maintain a good clamping cooperation relationship with the item 6. At the same time, in this embodiment, a limiting member is installed on the lower plate 123, and the limiting member can limit the angular range of the rotation of the clamping jaw 2 relative to the lower plate 123. In this embodiment, the clamping jaw 2 can rotate relative to the lower plate 123 within a range of 3 degrees.

[0037] In this embodiment, the driving mechanism further includes a lifting driving assembly installed on the frame 12 of the equipment body 1 and a translation driving assembly connected to the lifting driving assembly. The translation driving assembly is connected to the rear end of the support cantilever 124. The lifting driving assembly can drive the translation driving assembly and the support cantilever 124 to move in the vertical direction, and the translation driving assembly can drive the support cantilever 124 to move in the front-rear direction. Both the translation driving assembly and the lifting driving assembly are electrically connected to the controller. During the process of grasping the article 6, the controller will control the action of the translation driving assembly as needed to drive the clamping jaw 2 to translate in the front-rear direction through the support cantilever 124, and the controller will also control the action of the lifting driving assembly as needed to drive the translation driving assembly and the clamping jaw 2 to move in the vertical direction. In this embodiment, the driving mechanism can drive the clamping jaw 2 to move in the vertical direction, the front-rear direction and the left-right direction, and the driving mechanism can also drive the clamping jaw 2 to rotate in the horizontal direction through the rotary driving assembly. In addition, the clamping jaw 2 can also perform a certain floating rotation relative to the lower plate 123.

[0038] As Figure 1 and Figure 2 shown, in this embodiment, a ranging sensor 4 is further installed on the equipment body 1. The ranging sensor 4 is electrically connected to the controller. In this embodiment, the ranging sensor 4 can measure the distance vertically downward and feed the measured distance back to the controller. The controller controls the driving mechanism to perform corresponding operations according to the obtained distance until the measured distance reaches the set distance. At this time, the photographing height of the industrial camera 3 reaches the set height, realizing accurate positioning of the photographing height of the industrial camera 3. In this embodiment, the industrial camera 3 is specifically installed on the rear side edge of the upper plate 121 and is located in the middle of the upper plate 121 in the left-right direction; the ranging sensor 4 is specifically installed on the front side edge of the lower plate 123 and is located in the middle of the lower plate 123 in the left-right direction.

[0039] As Figure 1 and Figure 2 shown, in this embodiment, a lidar 131 is configured at each of the front and rear ends of the AGV chassis 13. Each lidar 131 scans and covers a range of 270°, realizing SLAM positioning. In this embodiment, the AGV chassis 13 is configured flexibly, and parameters such as kinematics and dynamics can be adjusted flexibly. It has rich control interfaces and rich visual and auditory warning effects; it has high precision and good stability, has millimeter-level positioning accuracy, has a low motion control delay rate and an extremely low failure rate.

[0040] This transfer device uses an industrial camera 3 to take pictures for positioning and grasping the target, and provides deviation correction data for each drive motor. Moreover, this transfer device realizes automatic navigation based on the AGV chassis 13. This transfer device uses a translation drive assembly located inside the rear frame 12 to drive the support cantilever 124 and the front clamping mechanism to stretch back and forth horizontally and linearly, so as to compensate for the front and rear deviations of the AGV chassis 13 during navigation and positioning. The lower plate 123 drives the pair of lower clamping jaws 2 to rotate with the vertical direction where the center point of the lower plate 123 is located as the rotation axis, so as to compensate for the rotational deviation of the AGV chassis 13 during navigation and positioning. Two linear modules 51 drive the two clamping jaws 2 to open or close independently or synchronously, and can also move synchronously in the same direction, with greater grasping flexibility, and can also be used to compensate for the left and right deviations of the AGV chassis 13 during navigation and positioning. The lifting drive assembly located inside the rear frame 12 can drive the entire translation drive assembly, the support cantilever 124 and the clamping mechanism to move up and down vertically and linearly.

[0041] In summary, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0042] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A transfer device, comprising a device body (1), a gripper (2) mounted on the device body (1), and a driving mechanism mounted on the device body (1), wherein the driving mechanism is used to drive the gripper (2) to move. Characterized in that, An industrial camera (3) is further mounted on the device body (1), the industrial camera (3) is electrically connected to a controller, and the controller is electrically connected to the driving mechanism; The device body (1) includes a bearing seat (11) and a frame (12) mounted on the bearing seat (11); The device body (1) further includes an AGV chassis (13), and the bearing seat (11) is mounted on the AGV chassis (13); There are two grippers (2), and the two grippers (2) are spaced apart in the left-right direction. The driving mechanism includes two linear modules (51) mounted on the device body (1). The two linear modules (51) are respectively used to drive the two grippers (2) to move in the left-right direction, and both linear modules (51) are electrically connected to the controller; The device body (1) includes an upper plate (121) and a lower plate (123) connected to the upper plate (121) through a slewing bearing (122). The gripper (2) is mounted on the lower plate (123). The driving mechanism includes a rotary driving component mounted on the upper plate (121). The rotary driving component can drive the lower plate (123) to rotate relative to the upper plate (121) around the central axis of the slewing bearing (122), and the rotary driving component is electrically connected to the controller; The rotary driving component includes a rotary motor (521) mounted on the upper plate (121), a rotary gear mounted on the output end of the rotary motor (521), and an arc-shaped rack engaged with the rotary gear. The arc-shaped rack is fixed on the lower plate (123), and the rotary motor (521) is electrically connected to the controller; The central axis of the slewing bearing (122) is perpendicular to the upper plate (121) and the lower plate (123), and coincides with the centers of the upper plate (121) and the lower plate (123); The device body (1) further includes a support cantilever (124) extending in the front-rear direction. The upper plate (121) is fixedly connected to one end of the support cantilever (124). The gripper (2) is movably connected to the lower plate (123) through a hinge shaft (21) extending in the left-right direction. The gripper (2) can rotate relative to the lower plate (123) around the central axis of the hinge shaft (21).

2. The transfer device according to claim 1, Characterized in that, A distance measuring sensor (4) is further mounted on the device body (1), and the distance measuring sensor (4) is electrically connected to the controller.

3. The transfer device according to claim 1, Characterized in that, The driving mechanism, the gripper (2) and the industrial camera (3) are all mounted on the frame (12). A plurality of spaced-apart limit blocks (111) are provided on the bearing seat (11). An article storage cavity for accommodating an article (6) is formed between all the limit blocks (111), and a stepped limit portion (112) is provided on the side wall of the limit block (111) facing the article storage cavity.

4. The transfer device according to claim 3, characterized in that, there are at least three of the limiting blocks (111), and all the limiting blocks (111) are evenly distributed in the circumferential direction.

5. The transfer device according to claim 1, characterized in that, the driving mechanism further includes a lifting driving assembly installed on the equipment body (1) and a translation driving assembly connected to the lifting driving assembly, the translation driving assembly is connected to the other end of the support cantilever (124), the lifting driving assembly can drive the translation driving assembly and the support cantilever (124) to move in the up and down direction, and the translation driving assembly can drive the support cantilever (124) to move in the front and back direction.

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