Transfer device and transfer system having the same

Abstract

The present invention discloses a transfer device and a transfer system having the same. The transfer device comprises: a frame and a pick-and-place assembly, the pick-and-place assembly is arranged on the frame, the pick-and-place assembly comprises: a picking mechanism and a plurality of lifting mechanisms, each lifting mechanism is connected to the picking mechanism to drive the picking mechanism to move up and down to approach or move away from a piece to be transferred, and the picking mechanism is suitable for clamping or releasing the piece to be transferred; wherein each lifting mechanism comprises an oil cylinder. The transfer device according to the present invention has a high level of automation, can better save the manpower and material input of the transfer operation, and can better increase the load of the pick-and-place assembly to improve the transfer efficiency of the transfer device.

Description

Technical Field

[0001] The present invention relates to the field of transportation technology, and in particular to a transfer device and a transfer system having the same. Background Art

[0002] In industrial production scenarios, material handling or transfer operations are usually required. Forklifts or slings are usually used to carry objects, but forklifts require a lot of manpower and material resources, while slings in related technologies have low loads and poor handling efficiency. When carrying heavy objects or carrying multiple objects at a time, the overall size of the sling increases exponentially, and the cost investment also increases accordingly. Summary of the invention

[0003] The present invention provides a transfer device, which has the advantages of low cost investment and high transfer efficiency.

[0004] The present invention also provides a transfer system having the transfer device.

[0005] The transfer device according to an embodiment of the present invention includes: a frame; a pick-and-place assembly, which is arranged on the frame, and the pick-and-place assembly includes: a picking mechanism and a plurality of lifting mechanisms, each of which is connected to the picking mechanism to drive the picking mechanism to move up and down to approach or move away from the object to be transferred, and the picking mechanism is suitable for clamping or releasing the object to be transferred; wherein each of the lifting mechanisms includes a cylinder.

[0006] According to the transfer device of the embodiment of the present invention, multiple lifting mechanisms are connected to the picking mechanism, driving the picking mechanism to move up and down to approach or move away from the object to be transferred, and the picking mechanism clamps or releases the object to be transferred, which can improve the automation level of the transfer device and save manpower and material investment in the transfer operation. In addition, the load of the pick-and-place component can be increased to improve the transfer efficiency of the transfer device.

[0007] According to some embodiments of the present invention, the oil cylinder includes: a cylinder body and a piston rod, the piston rod is telescopically arranged on the cylinder body along the up and down directions, the free end of the piston rod is connected to the picking mechanism, the cylinder body is rotatably connected to the frame around a first direction, and the first direction is parallel to the horizontal direction; and / or the piston rod is rotatably connected to the picking mechanism around a second direction, and the second direction is parallel to the horizontal direction.

[0008] According to some embodiments of the present invention, the cylinder body is rotatably connected to the frame around the first direction, and the piston rod is rotatably connected to the picking mechanism around the second direction, and the first direction is perpendicular to the second direction.

[0009] According to some embodiments of the present invention, the lifting mechanism includes a first connecting seat, which is connected to the frame and fixed relative to the frame, and the cylinder body is rotatably connected to the first connecting seat around a first direction; and / or, the lifting mechanism includes a second connecting seat, which is connected to the picking mechanism and fixed relative to the picking mechanism, and the piston rod is rotatably connected to the second connecting seat around the second direction.

[0010] According to some embodiments of the present invention, the plurality of lifting mechanisms are distributed on opposite sides of the frame in a horizontal direction, and a receiving space for receiving the picking mechanism is defined in the frame, and the picking mechanism can move up and down in the receiving space.

[0011] According to some embodiments of the present invention, the plurality of lifting mechanisms are symmetrically distributed on opposite sides of the frame along the second direction, and the plurality of lifting mechanisms located on the same side of the frame are arranged at intervals along the first direction, and the first direction is perpendicular to the second direction.

[0012] According to some embodiments of the present invention, the picking mechanism includes: a hanger frame, the frame has a guide groove extending in the up-down direction, the lifting mechanism is connected to the hanger frame, and the hanger frame is provided with a guide column that cooperates with the guide groove; a hook assembly, the hook assembly is arranged at the bottom of the hanger frame, and the hook assembly is suitable for clamping the object to be transported;

[0013] According to some embodiments of the present invention, the frame includes: a frame body, the lifting mechanism is arranged on the frame body; a first guide rail and a second guide rail are arranged at an angle in the horizontal direction, the first guide rail and the second guide rail are both arranged on the frame body and extend in the up and down directions, and the guide groove is defined between the first guide rail and the second guide rail; the transfer device also includes a first adjusting member, at least one of the first guide rail and the second guide rail is connected to the frame body through the first adjusting member, and the first adjusting member is used to adjust the gap size in the horizontal direction between the first guide rail and / or the second guide rail and the guide column.

[0014] According to some embodiments of the present invention, the guide column is movably arranged on the hanger frame in the horizontal direction, and the picking mechanism also includes a second adjusting member, which is passed through the side walls of the hanger frame and the guide column that are opposite to each other in the horizontal direction, and the second adjusting member is used to adjust the gap size between the guide column and the side walls of the guide groove.

[0015] According to some embodiments of the present invention, a guide block is provided on a surface of the guide column opposite to a side wall of the guide groove, and the guide block is made of a wear-resistant material.

[0016] According to some embodiments of the present invention, the hook assembly includes: a first hook and a second hook arranged relatively to each other along a second direction, the upper ends of the first hook and the second hook are connected to the hanger frame, the lower end of the first hook forms a first support portion bent toward the second hook, the lower end of the second hook forms a second support portion bent toward the first hook, a clamping space is formed between the first hook and the second hook, and the part to be transported is suitable for entering the clamping space along the first direction; a guide plate, the guide plates are provided on the opposite sides of the first hook and the second hook along the first direction, and the guide plates are inclined toward the clamping space in the direction in which the part to be transported enters the clamping space along the first direction.

[0017] According to some embodiments of the present invention, the transfer device also includes: a walking mechanism, which is provided with two groups and is respectively located at the bottom of the frame on both sides along the second direction, and the walking mechanism is suitable for driving the frame to move along a walking track; wherein, the walking mechanism is provided with a movable track sweeping part, and the track sweeping part is arranged on at least one side of the walking mechanism along the extension direction of the walking track.

[0018] According to some embodiments of the present invention, the transfer device further includes: a cable retracting assembly, the cable is suitable for being stored or released through the cable retracting assembly, the cable retracting assembly includes: a reel and a guide member, the cable passes through the guide member and is wound around the reel.

[0019] The transfer system according to an embodiment of the present invention comprises: a walking track and the above-mentioned transfer device, wherein the transfer device is suitable for walking on the walking track.

[0020] According to the transfer system of the embodiment of the present invention, multiple lifting mechanisms are connected to the picking mechanism, driving the picking mechanism to move up and down to approach or move away from the object to be transferred, and the picking mechanism clamps or releases the object to be transferred, which can improve the automation level of the transfer device and save manpower and material investment in the transfer operation. In addition, the load of the pick-and-place component can be increased to improve the transfer efficiency of the transfer device.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a front view of a transfer device according to an embodiment of the present invention;

[0023] Figure 2 is a perspective view of a transfer device according to an embodiment of the present invention;

[0024] Figure 3is a side view of an oil cylinder, a first connecting seat and a second connecting seat of a transfer device according to an embodiment of the present invention;

[0025] Figure 4 is a three-dimensional diagram of an oil cylinder, a first connecting seat and a second connecting seat of a transfer device according to an embodiment of the present invention;

[0026] Figure 5 is a front view of a picking mechanism of a transfer device according to an embodiment of the present invention;

[0027] Figure 6 is a perspective view of a picking mechanism of a transfer device according to an embodiment of the present invention;

[0028] Figure 7 yes Figure 6 A magnified image of area A;

[0029] Figure 8 is a perspective view of a first guide rail (second guide rail) of a transfer device according to an embodiment of the present invention;

[0030] Fig. 9 is a side view of a walking mechanism of a transfer device according to an embodiment of the present invention;

[0031] Fig.10 It is a three-dimensional diagram of the walking mechanism of the transfer device according to an embodiment of the present invention.

[0032] Reference numerals:

[0033] Transfer system 1000;

[0034] Transfer device 100;

[0035] Frame 1; guide groove 11; frame body 12; first guide rail 13a; second guide rail 13b; guide rail body 131; connecting plate 132; first adjusting member 14;

[0036] Pick-and-place assembly 20; pick-up mechanism 3; hanger frame 31; connecting arm 311; mounting frame 312; threaded through hole 313; hook assembly 32; first hook 321; first support portion 3211; second hook 322; second support portion 3221; guide plate 323; guide column 33; guide block 34; guide slope 341;

[0037] Lifting mechanism 4; oil cylinder 41; cylinder body 411; piston rod 412; first connecting seat 42; second connecting seat 43;

[0038] Traveling mechanism 5; track sweeping member 51; traveling frame 52; driving wheel 53; driven wheel 54; driving motor 55;

[0039] Cable retracting assembly 6; reel 61; guide member 62;

[0040] Traveling track 200; object to be transported 300; first direction S1; second direction S2. DETAILED DESCRIPTION

[0041] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0042] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific processes and examples of materials, but those of ordinary skill in the art can be aware of the applicability of other processes and / or the use of other materials.

[0043] The following describes a transfer device 100 according to an embodiment of the present invention with reference to the accompanying drawings.

[0044] like Figure 1 and Figure 2 As shown, the transfer device 100 according to an embodiment of the present invention comprises: a frame 1 and a pick-and-place assembly 20. The pick-and-place assembly 20 is arranged on the frame 1, and the pick-and-place assembly 20 comprises: a picking mechanism 3 and a plurality of lifting mechanisms 4, each lifting mechanism 4 is connected to the picking mechanism 3 to drive the picking mechanism 3 to move up and down to approach or move away from the object to be transferred 300, and the picking mechanism 3 is suitable for clamping or releasing the object to be transferred 300.

[0045] Specifically, during the transportation process of the object 300 to be transported, the transport device 100 can be first moved to the stacking place of the object 300 to be transported, and the picking mechanism 3 can be driven downward by multiple lifting mechanisms 4, that is, moved in the direction close to the object 300 to be transported. After the picking mechanism 3 contacts the object 300 to be transported, the picking mechanism 3 is clamped and fixed by the picking mechanism 3, and then the picking mechanism 3 is driven upward by multiple lifting mechanisms 4, that is, moved in the direction away from the ground to lift the object 300 to be transported, which can avoid interference during the transportation of the object 300 to be transported. Further, after the transport device 100 moves to the transfer point of the object 300 to be transported, the picking mechanism 3 is driven downward by multiple lifting mechanisms 4, so that the object 300 to be transported can be stably placed on the operating table or workbench, and then the picking mechanism 3 releases the object 300 to be transported to complete the transportation operation of the object 300 to be transported.

[0046] Thus, the automation level of the transfer device 100 can be improved, thereby saving manpower and material resources for the transfer operation of the transfer object 300. In addition, by connecting the plurality of lifting mechanisms 4 to the picking mechanism 3, the picking mechanism 3 can be driven to clamp and lift a heavy transfer object 300, or to clamp and lift a plurality of transfer objects 300 at a time, that is, the load of the pick-and-place assembly 20 can be increased to improve the transfer efficiency of the transfer device 100.

[0047] The lifting mechanism 4 includes an oil cylinder 41. It can be understood that the oil cylinder 41 has the advantages of high fatigue strength, light weight, high temperature resistance, etc., thereby the reliability of the lifting mechanism 4 can be improved to improve the stability of the transfer process.

[0048] According to the transfer device 100 of the embodiment of the present invention, multiple lifting mechanisms 4 are connected to the picking mechanism 3, driving the picking mechanism 3 to move up and down to approach or move away from the object to be transferred 300, and the picking mechanism 3 clamps or releases the object to be transferred 300, which can improve the automation level of the transfer device 100 and save manpower and material investment in the transfer operation. In addition, the load of the pick-and-place component 20 can be increased to improve the transfer efficiency of the transfer device 100.

[0049] According to some embodiments of the present invention, reference Figure 2-Figure 4 The oil cylinder 41 includes: a cylinder body 411 and a piston rod 412, the piston rod 412 is telescopically arranged on the cylinder body 411 along the up-down direction, the free end of the piston rod 412 is connected to the pickup mechanism 3, the cylinder body 411 is controllably rotatably connected to the frame 1 around a first direction S1, the first direction S1 is parallel to the horizontal direction, and / or the piston rod 412 is rotatably connected to the pickup mechanism 3 around a second direction S2, the second direction S2 is parallel to the horizontal direction. The free end of the piston rod 412 refers to the end of the piston rod 412 extending out of the cylinder body 411, that is, the lifting and lowering of the pickup mechanism 3 is controlled by controlling the length of the free end of the piston rod 412 extending out of the cylinder body 411.

[0050] That is, the oil cylinder 41 can be rotatably connected to one of the picking mechanism 3 and the frame 1. In a specific example, the two oil cylinders 41 are arranged along the second direction S2 (eg Figure 2 The cylinder body 411 is arranged between the frame 1 and the picking mechanism 3 in a spaced manner (in the left and right directions shown in FIG). The piston rod 412 is fixedly connected to the picking mechanism 3. The cylinder body 411 rotates in a first direction S1 (as shown in FIG. Figure 2412 is rotatably arranged on the frame 1 (in the front-to-back direction shown in FIG). Therefore, in the process of the oil cylinder 41 driving the picking mechanism 3 to rise and fall, when the two oil cylinders 41 are not lifted synchronously, for example, when the lifting speed of the oil cylinder 41 on the right side is greater than the lifting speed of the oil cylinder 41 on the left side, the picking mechanism 3 is tilted from right to left, thereby driving the piston rod 412 to rotate leftward relative to the frame 1. Therefore, by rotating the cylinder body 411 toward the left relative to the frame 1, the coaxiality of the piston rod 412 and the cylinder body 411 can be better maintained, so that the failure of the oil cylinder 41 seal caused by the swing of the piston rod 412 relative to the cylinder body 411 can be better avoided.

[0051] In another specific example, the two oil cylinders 41 are arranged along the first direction S1 (eg Figure 2 The cylinder body 411 is fixedly connected to the frame 1, and the piston rod 412 is arranged in a second direction S2 (as shown in the front and rear direction) between the frame 1 and the picking mechanism 3. Figure 2 411 is rotatably connected to the pickup mechanism 3. Therefore, in the process of the oil cylinder 41 driving the pickup mechanism 3 to rise and fall, when the two oil cylinders 41 are not lifted synchronously, for example, the lifting speed of the oil cylinder 41 located at the front side is greater than the lifting speed of the oil cylinder 41 located at the rear side, the pickup mechanism 3 can be rotated relative to the oil cylinder 41 about the second direction S2, thereby forming a tilted posture from front to rear. At this time, the coaxiality of the piston rod 412 and the cylinder body 411 can be better maintained, thereby better avoiding the failure of the oil cylinder 41 seal caused by the swing of the piston rod 412 relative to the cylinder body 411.

[0052] Optionally, the oil cylinder 41 can also be rotatably connected to both the pickup mechanism 3 and the frame 1. Specifically, the cylinder body 411 is rotatably connected to the frame 1 around a first direction S1, and the piston rod 412 is rotatably connected to the pickup mechanism 3 around a second direction S2, and the first direction S1 is perpendicular to the second direction S2. In other words, the oil cylinder 41 can rotate around the first direction S1 relative to the frame 1, and can rotate around the first direction S1 relative to the pickup mechanism 3, thereby further avoiding the failure of the oil cylinder 41 seal due to asynchronous lifting of the oil cylinder 41.

[0053] Specifically, Figure 2As shown, four oil cylinders 41 are symmetrically arranged on the left and right sides of the frame 1, and the two oil cylinders 41 located on the same side of the frame 1 are spaced apart in the front-to-back direction. The piston rods 412 of the four oil cylinders 41 are all rotatably connected to the pickup mechanism 3 around the second direction S2, and the cylinder bodies 411 are all rotatably connected to the frame 1 around the first direction S1. Therefore, by rotating the piston rods 412 relative to the pickup mechanism 3, the oil cylinder 41 sealing failure caused by the oil cylinder 41 lifting asynchronously in the front-to-back direction can be better avoided, and by rotating the cylinder body 411 relative to the frame 1, the oil cylinder 41 sealing failure caused by the oil cylinder 41 lifting asynchronously in the left-to-right direction can be better avoided, thereby extending the service life of the oil cylinder 41.

[0054] In other words, the connection mode between the oil cylinder 41 and the frame 1 and the pickup mechanism 3 can be flexibly set according to the layout of the lifting mechanism 4. For example, the rotation direction of the oil cylinder 41 relative to the frame 1 and the pickup mechanism 3 can be flexibly set according to the layout of the lifting mechanism 4. Therefore, by rotating the oil cylinder 41 relative to the frame 1 or the pickup mechanism 3, the sealing failure of the oil cylinder 41 caused by the asynchronous lifting of multiple lifting mechanisms 4 can be avoided, so that the service life of the oil cylinder 41 can be well extended to improve the stability of the transfer device 100.

[0055] In a specific example, the lifting mechanism 4 includes a hydraulic station and a synchronization valve. The hydraulic station is connected to the cylinder bodies 411 of multiple oil cylinders 41 through the synchronization valve, so that the hydraulic station can control the telescopic adjustment of the piston rod 412, thereby driving the picking mechanism 3 to rise and fall.

[0056] Optionally, refer to Figure 2-Figure 4 , the cylinder body 411 is rotatably connected to the frame 1 around the first direction S1, the lifting mechanism 4 includes a first connecting seat 42, the first connecting seat 42 is connected to the frame 1 and is fixed relative to the frame 1, and the cylinder body 411 is rotatably connected to the first connecting seat 42 around the first direction S1. In other words, the cylinder body 411 is connected to the cylinder body 411 through the first connecting seat 42. Therefore, not only can the structure of the frame 1 be simplified and the production difficulty of the frame 1 be reduced, but also, by using the first connecting seats 42 of different sizes, the cylinder bodies 411 of different specifications can be connected to the frame 1, so that the assembly difficulty of the oil cylinder 41 and the frame 1 can be reduced, which is conducive to improving the assembly efficiency of the transfer device 100.

[0057] In addition, the piston rod 412 is rotatably connected to the picking mechanism 3 around the second direction S2, and the lifting mechanism 4 includes a second connecting seat 43, the second connecting seat 43 is connected to the picking mechanism 3 and is fixed relative to the picking mechanism 3, and the piston rod 412 is rotatably connected to the second connecting seat 43 around the second direction S2. In other words, the piston rod 412 is connected to the picking mechanism 3 through the second connecting seat 43. In this way, not only can the structure of the picking mechanism 3 be simplified and the production difficulty of the picking mechanism 3 be reduced, but also different sizes of second connecting seats 43 can be used to connect piston rods 412 to the picking mechanism 3, thereby reducing the difficulty of assembling the oil cylinder 41 and the picking mechanism 3, which is conducive to improving the assembly efficiency of the transfer device 100. It should be noted that the first connecting seat 42 and the second connecting seat 43 can be flexibly used according to the layout of the lifting mechanism 4, and no specific restrictions are made here.

[0058] According to some embodiments of the present invention, a plurality of lifting mechanisms 4 are distributed on opposite sides of the frame 1 along the horizontal direction. The plurality of lifting mechanisms 4 may be distributed on opposite sides of the frame 1 along the first direction S1, and the plurality of lifting mechanisms 4 may also be distributed on opposite sides of the frame 1 along the second direction S2, which is not specifically limited here.

[0059] Furthermore, a storage space for accommodating the picking mechanism 3 is defined in the frame 1, and the picking mechanism 3 can move up and down in the storage space. In other words, the lifting mechanism 4 is located on the outer peripheral side of the storage space, and the object 300 to be transported is placed in the storage space for transportation through the picking mechanism 3. In this way, the risk of interference during the lifting and transportation of the object 300 to be transported can be better avoided, so as to improve the safety of the transportation operation.

[0060] According to some embodiments of the present invention, reference Figure 2 , Figure 5 and Figure 6 The picking mechanism 3 includes: a hanger frame 31 and a hook assembly 32. Specifically, the frame 1 is provided with a guide groove 11 extending in the up-down direction, the lifting mechanism 4 is connected to the hanger frame 31, and the hanger frame 31 is provided with a guide column 33 that cooperates with the guide groove 11. In other words, the guide column 33 can slide up and down in the guide groove 11, and the hanger frame 31 and the frame 1 are slidably connected through the cooperation of the guide column 33 and the guide groove 11. The guide groove 11 can better limit the sliding direction of the guide column 33, and then the hanger frame 31 is driven by the lifting mechanism 4 to slide relative to the frame 1 in the up-down direction, which is conducive to improving the stability of the lifting process of the hanger frame 31.

[0061] In a specific example, the cylinder body 411 of the oil cylinder 41 is connected to the frame 1, and the piston rod 412 of the oil cylinder 41 is connected to the hanger frame 31. Therefore, by limiting the sliding direction of the hanger frame 31, the sealing failure caused by the swing of the piston rod 412 of the oil cylinder 41 relative to the cylinder body 411 can be better prevented, which is beneficial to extending the service life of the oil cylinder 41 and improving the stability of the transfer device 100.

[0062] Further, the hook assembly 32 is arranged at the bottom of the hanger frame 31, and the hook assembly 32 is suitable for clamping the object to be transferred 300. That is to say, by driving the hanger frame 31 to slide up and down relative to the frame 1 through the lifting mechanism 4, the hook assembly 32 can be driven to approach or move away from the object to be transferred 300. Specifically, in the process of lifting the object to be transferred 300, the lifting mechanism 4 drives the hanger frame 31 to slide downward relative to the frame 1, thereby driving the hook assembly 32 to gradually approach the object to be transferred 300, until the element to be transferred is located in the operating range of the hook assembly 32, so that the hook assembly 32 can clamp the element to be transferred, and then the lifting mechanism 4 drives the hanger frame 31 to slide upward along the frame 1, thereby driving the hook assembly 32 and the object to be transferred 300 off the ground, and when the transfer device 100 goes to the transfer point of the object to be transferred 300, the lifting mechanism 4 drives the hanger frame 31 to slide downward again, so that the object to be transferred 300 can gradually move downward until it is stably placed on the workbench, etc., which is conducive to improving the safety of the transfer process.

[0063] Optionally, the frame 1 includes: a frame body 12 and a first guide rail 13a and a second guide rail 13b arranged at an angle in the horizontal direction, the lifting mechanism 4 is arranged on the frame body 12, the first guide rail 13a and the second guide rail 13b are both arranged on the frame body 12 and extend in the up-down direction, and a guide groove 11 is defined between the first guide rail 13a and the second guide rail 13b. In other words, the lifting mechanism 4 is connected to the hanger frame 31 and the frame body 12 respectively, and the first guide rail 13a and the second guide rail 13b jointly define the guide groove 11 extending in the up-down direction, so that the lifting mechanism 4 can drive the hanger frame 31 to slide up and down relative to the frame body 12. Therefore, by limiting the guide column 33 by the first guide rail 13a and the second guide rail 13b, the lifting path of the picking mechanism 3 can be better limited, thereby improving the stability of the lifting process of the hanger frame 31.

[0064] Furthermore, the transfer device 100 further includes a first adjusting member 14, and at least one of the first guide rail 13a and the second guide rail 13b is connected to the frame 12 through the first adjusting member 14. The first adjusting member 14 is used to adjust the gap size in the horizontal direction between the first guide rail 13a and / or the second guide rail 13b and the guide column 33. Among them, one of the first guide rail 13a and the second guide rail 13b can be connected to the frame 12 through the first adjusting member 14, for example, the first guide rail 13a is connected to the frame 12 through the first adjusting member 14, or the second guide rail 13b is connected to the frame 12 through the first adjusting member 14, and the first guide rail 13a and the second guide rail 13b can also be connected to the frame 12 through the first adjusting member 14.

[0065] Therefore, during the assembly process of the picking mechanism 3 and the frame 1, the positional relationship between the guide column 33 and the guide slot 11 can be well adjusted by the first adjusting member 14. For example, by adjusting the first adjusting member 14, the first guide rail 13a and the second guide rail 13b are both in contact with the guide column 33, thereby ensuring the guiding effect of the guide slot 11 on the guide column 33, and then limiting the movement of the picking mechanism 3 in the up and down directions, so that the production accuracy requirements for the frame 1 are low, which is conducive to reducing the production cost of the transfer device 100. In addition, the first adjusting member 14 can be used to realize the detachable connection between the first guide rail 13a, the second guide rail 13b and the frame 12, so that the frame 12, the first guide rail 13a and the second guide rail 13b can be independently produced, which can well reduce the production and processing difficulty of the frame 1, and facilitate the replacement or maintenance of the first guide rail 13a and the second guide rail 13b in the later stage.

[0066] Optionally, the guide post 33 is movably arranged on the hanger frame 31 in the horizontal direction, and the picking mechanism 3 also includes a second adjusting member (not shown), which is passed through the side walls of the hanger frame 31 and the guide post 33 that are opposite in the horizontal direction, and the second adjusting member is used to adjust the gap between the guide post 33 and the side wall of the guide groove 11. Therefore, the positional relationship between the guide post 33 and the side wall of the guide groove 11 can be well adjusted by the second adjusting member. For example, by adjusting the second adjusting member, the surface of the guide post 33 opposite to the guide groove 11 is abutted against the side wall of the guide groove 11, thereby ensuring the guiding effect of the guide groove 11 on the guide post 33, and then limiting the sliding of the picking mechanism 3 in the up and down directions, so that the production precision requirement for the hanger frame 31 is low, which is conducive to reducing the production cost of the transfer device 100.

[0067] In a specific example, refer to Figure 7A guide block 34 is provided on the surface opposite to the side wall of the guide column 33 and the guide groove 11. The guide block 34 extends in the up-down direction. The upper and lower ends of the guide block 34 away from the guide column 33 form guide slopes 341. The guide block 34 is made of wear-resistant material, such as nylon material. Of course, it can also be made of wear-resistant materials with greater hardness such as metal or plastic, and there is no specific limitation here.

[0068] Optionally, refer to Figure 5 and Figure 6 The hook assembly 32 includes: a first hook 321 and a second hook 322 arranged relatively to each other along the second direction S2, the upper ends of the first hook 321 and the second hook 322 are connected to the hanger frame 31, the lower end of the first hook 321 forms a first support portion 3211 bent toward the second hook 322, the lower end of the second hook 322 forms a second support portion 3221 bent toward the first hook 321, and a clamping space is formed between the first hook 321 and the second hook 322, and the transported object 300 is suitable for entering the clamping space along the first direction S1.

[0069] That is, at least one side of the clamping space in the first direction S1 forms a space opening, and at least part of the object to be transferred 300 can enter the clamping space through the space opening, and the hook assembly 32 is lifted by the lifting mechanism 4, so that the first support part 3211 and the second support part 3221 can respectively lift up the two sides of the object to be transferred 300 in the second direction S2. As a result, the structure of the hook assembly 32 is simple, and while ensuring the transportation stability of the object to be transferred 300, the production cost of the transfer device 100 can be reduced.

[0070] Furthermore, guide plates 323 are provided on opposite sides of the first hook 321 and the second hook 322 along the first direction S1, and the guide plates 323 are inclined toward the inside of the clamping space in the direction in which the object 300 to be transferred enters the clamping space along the first direction S1. That is, in the direction in which the object 300 to be transferred enters the clamping space, the guide plate 323 provided on the first hook 321 is inclined toward the direction close to the second hook 322, and the guide plate 323 provided on the second hook 322 is inclined toward the direction close to the first hook 321. Therefore, in the process in which the object 300 to be transferred enters the clamping space along the first direction S1, when the position of the object 300 to be transferred is offset in the second direction S2, the entry angle of the object 300 to be transferred can be well adjusted by the guide plates 323 provided on the first hook 321 and the second hook 322, thereby reducing the difficulty of transferring the object 300 to be transferred.

[0071] According to some embodiments of the present invention, reference Fig. 9 and Fig.10The transfer device 100 further includes a traveling mechanism 5, which is provided with two groups and respectively located at the bottom of the frame 1 on both sides along the second direction S2, and the traveling mechanism 5 is suitable for driving the frame 1 to move along the traveling track 200. Thus, the mobility of the transfer device 100 can be improved. For example, the traveling track 200 can be laid between multiple transfer points, so that the traveling mechanism 5 can drive the transfer device 100 to move along the preset track to improve the transfer efficiency.

[0072] Furthermore, the traveling mechanism 5 is provided with a movable track sweeping member 51, which is provided on at least one side of the traveling mechanism 5 along the extending direction of the traveling track 200. For example, the track sweeping member 51 can be provided on one side of the traveling mechanism 5 along the extending direction of the traveling track 200, and the track sweeping member 51 can also be provided on both sides of the traveling mechanism 5 along the extending direction of the traveling track 200. Thus, the track sweeping member 51 is always located at the front side of the traveling direction of the traveling mechanism 5, and then the debris on the track can be cleared by the track sweeping member 51, thereby ensuring the traveling stability and safety of the traveling mechanism 5.

[0073] According to some embodiments of the present invention, reference Figure 1 and Figure 2 The transfer device 100 further includes a cable retracting assembly 6, and the cable is suitable for being stored or released through the cable retracting assembly 6. It can be understood that the lifting mechanism 4 and the walking mechanism 5 all require cable power supply, and when the transfer device 100 moves between multiple transfer points, the cable is stored or released through the cable retracting assembly 6. When the cable has a sufficient length to ensure the electrical connection between the power source and the transfer device 100, the risk of tripping caused by loose cables can be better avoided, thereby improving the safety and reliability of the transfer device 100.

[0074] Specifically, the cable retracting assembly 6 includes: a reel 61 and a guide member 62, and the cable passes through the guide member 62 and is wound around the reel 61. In other words, the reel 61 can store or release the cable by rotating forward or reverse, and the guide member 62 can better move the scattered cables toward the reel 61 in a certain direction, which is conducive to ensuring the efficiency of cable retracting.

[0075] Reference below Figure 1-Figure 10 The transfer device 100 according to a specific embodiment of the present invention is described. It is worth noting that the following description is only exemplary and intended to be used to explain the present invention, and cannot be understood as limiting the present invention.

[0076] like Figure 1 and Figure 2 As shown, the transfer device 100 according to an embodiment of the present invention comprises: a frame 1, a pick-up and place assembly 20 and a cable retracting and releasing assembly 6,

[0077] Specifically, Figure 2 and Figure 8 As shown, the frame 1 includes a frame body 12, four first guide rails 13a and four second guide rails 13b, the first guide rails 13a and the second guide rails 13b are arranged one by one on adjacent inner surfaces of the frame body 12, the first guide rails 13a and the second guide rails 13b are vertically arranged in the horizontal direction, and a guide groove 11 is formed between the first guide rails 13a and the second guide rails 13b, the first guide rails 13a and the second guide rails 13b both include a guide rail body 131 and a connecting plate 132, the connecting plate 132 is arranged on the side of the guide rail body 131 facing the clamping body, and the first adjusting member 14 is arranged between the connecting plate 132 and the frame body 12 to adjust the gap size between the guide rail body 131 and the frame body 12.

[0078] The pick-and-place assembly 20 includes a picking mechanism 3 , four lifting mechanisms 4 , and two walking mechanisms 5 .

[0079] Specifically, refer to Figure 5-Figure 7 The picking mechanism 3 includes a hanger frame 31, a hook assembly 32 and a guide column 33. Four symmetrical connecting arms 311 are formed at the left and right ends of the hanger frame 31. Four symmetrically distributed mounting frames 312 are respectively provided on the front and rear sides of the hanger frame 31. The guide column 33 is movably arranged on the mounting frame 312 in the horizontal direction. The mounting frame 312 includes a first mounting plate and a second mounting plate. The first mounting plate and the second mounting plate are vertically arranged in the horizontal direction. The first mounting plate is parallel to the plane formed by the straight line in the up-down direction and the straight line in the left-right direction. The second mounting plate is parallel to the plane formed by the straight line in the up-down direction and the straight line in the front-back direction. The first guide rail 13a and the first mounting plate are respectively located on the front and rear sides of the guide column 33. The second guide rail 13b and the second mounting plate are respectively located on the left and right sides of the guide column 33. Threaded through holes 313 are formed on the first mounting plate and the second mounting plate. The second adjusting member is a top screw bolt, and the second adjusting member is penetrated into the threaded through hole 313. Furthermore, guide blocks 34 extending in the up-down direction are provided on the side walls of the guide column 33 opposite to the first guide rail 13a and the second guide rail 13b. The upper and lower ends of the outer surface of the guide block 34 form guide slopes 341. The guide block 34 is made of wear-resistant material.

[0080] Further, the hook assembly 32 includes a first hook 321, a second hook 322 and a guide plate 323. The first hook 321 and the second hook 322 are arranged opposite to each other in the left-right direction, the lower end of the first hook 321 forms a first support portion 3211 bent toward the second hook 322, the lower end of the second hook 322 forms a second support portion 3221 bent by the first hook 321, a clamping space is formed between the first hook 321 and the second hook 322, and the transported object 300 is suitable for entering the clamping space along the front-back direction, and the first hook 321 and the second hook 322 are both provided with guide plates 323 on the side walls opposite to each other in the left-right direction, and in the direction in which the transported object 300 enters the clamping space, the guide plate 323 provided on the first hook 321 is inclined toward the direction close to the second hook 322, and the guide plate 323 provided on the second hook 322 is inclined toward the direction close to the first hook 321.

[0081] like Figure 2 As shown, there are four lifting mechanisms 4, two lifting mechanisms 4 are arranged on the left and right sides of the frame 1, and the lifting mechanisms 4 on both sides are symmetrically distributed. The lifting mechanisms 4 on the same side of the frame 1 are arranged at intervals along the front and rear directions. Figure 3 and Figure 4 The lifting mechanism 4 includes an oil cylinder 41, a first connection seat 42, a second connection seat 43, a hydraulic station and a synchronous valve. Specifically, the oil cylinder 41 includes a cylinder body 411 and a piston rod 412. The piston rod 412 can be extended and retracted up and down in the cylinder body 411. One end of the first connection seat 42 is fixedly connected to the frame 1. The cylinder body 411 is rotatably connected to the other end of the first connection seat 42 in the left-right direction. One end of the second connection seat 43 is connected to the connecting arm 311. The piston rod 412 is rotatably connected to the other end of the second connection seat 43 in the front-back direction. The hydraulic station is connected to the four cylinder bodies 411 through the synchronous valve.

[0082] refer to Fig. 9 and Fig.10 The walking mechanism 5 includes a walking frame 52 and a driving motor 55, a driving wheel 53, a driven wheel 54 and a track sweeping member 51 arranged on the walking frame 52. Specifically, the upper portion of the walking frame 52 is fixedly connected to the frame body 12, the walking frame 52 extends in the front-to-back direction, the track sweeping member 51 is respectively located at the bottom of the front and rear ends of the walking frame 52, and is floatingly connected to the walking frame 52, the driving wheel 53 and the driven wheel 54 are arranged between the two track sweeping members 51 at intervals in front and back, and the driving motor 55 is connected to the driving wheel 53.

[0083] like Figure 1 and Figure 2 As shown, the cable retracting assembly 6 is located on the left side of the frame 12, wherein the cables are respectively connected to the hydraulic station and the drive motor 55, and the cable retracting assembly 6 includes a drum 61 and a guide member 62, wherein the guide member 62 is located at the lower side of the drum 61, and the cable passes through the guide member 62 and is wound around the drum 61.

[0084] Specifically, during the transportation of the object to be transported 300, if Figure 2 As shown, the left and right sides of the object to be transferred 300 form hanging ears. First, the posture of the hook assembly 32 is lowered by the lifting mechanism 4, so that the first support part 3211 and the second support part 3221 are lower than the height of the hanging ears. Then the walking mechanism 5 drives the frame 12 to drive the hook to move toward the object to be transferred 300, and the guide plate 323 adjusts the position of the object to be transferred 300 until the hanging ears on both sides are respectively located above the first support part 3211 and the second support part 3221. Then, the hook assembly 32 is lifted by the lifting mechanism 4, so as to pass through the first support part 3211 and the second support part 3221. A support part 3211 and a second support part 3221 lift up the object to be transferred 300, and after moving toward the transfer point through the walking mechanism 5, the posture of the hook assembly 32 is lowered again through the lifting mechanism 4 so that the object to be transferred 300 can land smoothly, and then the hook assembly 32 is continued to be driven to move downward until the first support part 3211 and the second support part 3221 are lower than the height of the two side ears, and the walking mechanism 5 moves the frame 12, so that the object to be transferred 300 leaves the accommodating space to complete the transfer operation of the object to be transferred 300.

[0085] The transfer system 1000 according to the embodiment of the present invention comprises: a walking track 200 and the above-mentioned transfer device 100, and the transfer device 100 is suitable for walking on the walking track 200. The walking track 200 can be set between multiple transfer points, thereby, the walking path of the transfer device 100 can be well guided by the walking track 200, so that the transfer device 100 can accurately perform transfer operations between multiple transfer points, which is conducive to improving the transfer efficiency and high reliability.

[0086] According to the transfer system 1000 of the embodiment of the present invention, multiple lifting mechanisms 4 are connected to the picking mechanism 3, driving the picking mechanism 3 to move up and down to approach or move away from the object to be transferred 300, and the picking mechanism 3 clamps or releases the object to be transferred 300, which can improve the automation level of the transfer device 100 and save manpower and material investment in the transfer operation. In addition, the load of the pick-and-place component 20 can be increased to improve the transfer efficiency of the transfer device 100.

[0087] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0089] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A transfer device, characterized in that: include: frame; A pick-and-place assembly, the pick-and-place assembly is arranged on the frame, the pick-and-place assembly comprises: a pick-up mechanism and a plurality of lifting mechanisms, each of the lifting mechanisms is connected to the pick-up mechanism to drive the pick-up mechanism to move up and down to approach or move away from the object to be transported, and the pick-up mechanism is suitable for clamping or releasing the object to be transported; Wherein, each of the lifting mechanisms includes an oil cylinder, and the oil cylinder includes: a cylinder body and a piston rod. The hydraulic station is connected to the cylinder bodies of multiple oil cylinders through a synchronization valve. The piston rod is telescopically arranged on the cylinder body along the up and down directions. The free end of the piston rod is connected to the picking mechanism. The cylinder body is rotatably connected to the frame around a first direction, and the first direction is parallel to the horizontal direction; and / or the piston rod is rotatably connected to the picking mechanism around a second direction, and the second direction is parallel to the horizontal direction.

2. The transfer device according to claim 1, characterized in that: The cylinder body is rotatably connected to the frame around the first direction, and the piston rod is rotatably connected to the picking mechanism around the second direction, and the first direction is perpendicular to the second direction.

3. The transfer device according to claim 1, characterized in that: The lifting mechanism includes a first connecting seat, the first connecting seat is connected to the frame and fixed relative to the frame, and the cylinder body is rotatably connected to the first connecting seat around a first direction; and / or, the lifting mechanism includes a second connecting seat, the second connecting seat is connected to the picking mechanism and fixed relative to the picking mechanism, and the piston rod is rotatably connected to the second connecting seat around the second direction.

4. The transfer device according to any one of claims 1 to 3, characterized in that: The plurality of lifting mechanisms are distributed on opposite sides of the frame in the horizontal direction. A receiving space for receiving the picking mechanism is defined in the frame. The picking mechanism can move up and down in the receiving space.

5. The transfer device according to claim 4, characterized in that: The plurality of lifting mechanisms are symmetrically distributed on opposite sides of the frame along the second direction, and the plurality of lifting mechanisms located on the same side of the frame are arranged at intervals along the first direction, and the first direction is perpendicular to the second direction.

6. The transfer device according to claim 1, characterized in that: The picking mechanism comprises: A hanger frame, the frame having a guide groove extending in the up-down direction, the lifting mechanism being connected to the hanger frame, and the hanger frame being provided with a guide column cooperating with the guide groove; A hook assembly is arranged at the bottom of the hanger frame, and the hook assembly is suitable for clamping the object to be transported.

7. The transfer device according to claim 6, characterized in that: The frame comprises: A frame, wherein the lifting mechanism is arranged on the frame; A first guide rail and a second guide rail are arranged at an angle in the horizontal direction, the first guide rail and the second guide rail are both arranged on the frame and extend in the up-down direction, and the guide groove is defined between the first guide rail and the second guide rail; The transfer device also includes a first adjusting member, and at least one of the first guide rail and the second guide rail is connected to the frame through the first adjusting member, and the first adjusting member is used to adjust the gap size in the horizontal direction between the first guide rail and / or the second guide rail and the guide column.

8. The transfer device according to claim 6, characterized in that: The guide column is movably arranged on the hanger frame in the horizontal direction, and the picking mechanism also includes a second adjusting member, which is passed through the side walls of the hanger frame and the guide column that are opposite in the horizontal direction, and the second adjusting member is used to adjust the gap size between the guide column and the side wall of the guide groove.

9. The transfer device according to claim 6, characterized in that: A guide block is arranged on the surface of the guide column opposite to the side wall of the guide groove, and the guide block is made of a wear-resistant material.

10. The transfer device according to claim 6, characterized in that: The hook assembly comprises: A first hook and a second hook are arranged opposite to each other along a second direction, the upper ends of the first hook and the second hook are connected to the hanger frame, the lower end of the first hook forms a first support portion bent toward the second hook, the lower end of the second hook forms a second support portion bent toward the first hook, a clamping space is formed between the first hook and the second hook, and the object to be transported is suitable for entering the clamping space along the first direction; Guide plates are provided on opposite sides of the first hook and the second hook along the first direction, and in the direction in which the object to be transported enters the clamping space along the first direction, the guide plates are inclined toward the clamping space.

11. The transfer device according to claim 1, characterized in that: Also includes: A walking mechanism, wherein the walking mechanism is provided with two groups and respectively located at the bottom of the frame on both sides along the second direction, and the walking mechanism is suitable for driving the frame to move along the walking track; wherein, the walking mechanism is provided with a movable track sweeping part, and the track sweeping part is arranged on at least one side of the walking mechanism along the extension direction of the walking track.

12. The transfer device according to claim 1, characterized in that: Also includes: A cable retracting assembly, wherein the cable is suitable for being stored or released through the cable retracting assembly, and the cable retracting assembly comprises: a reel and a guide member, and the cable passes through the guide member and is wound around the reel.

13. A transport system, characterized in that: include: Walking track; A transfer device, wherein the transfer device is a transfer device according to any one of claims 1 to 12, and the transfer device is suitable for walking on the walking track.

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