Transfer equipment

Abstract

The invention discloses transfer equipment, and relates to the technical field of material transfer, the transfer equipment comprises a base station, a detection mechanism, a material moving mechanism, a discharging mechanism, a material tray jacking mechanism and a material tray transfer mechanism, the base station is provided with a feeding position and a discharging position; the detection mechanism is provided with a detection position and an overturning position; the material moving mechanism is configured to move among a feeding position, a detection position and an overturning position so as to transfer materials; the detection mechanism comprises a detection module and an overturning module, and the detection module is arranged towards the detection position so as to detect materials located at the detection position; the overturning module is configured to overturn the materials located at the overturning position; the discharging mechanism is configured to obtain materials from the detection position so as to transfer the materials to a discharging position; the material tray jacking mechanism is configured to be used for driving the material tray in the feeding position to be jacked to the material taking height position; the tray transferring mechanism is configured to obtain the top-layer trays from the feeding position so as to transfer the top-layer trays to the empty material position. According to the technical scheme, the convenience of material transfer and detection can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of material transfer, and in particular to a transfer device. Background Art

[0002] At present, in order to ensure product quality and facilitate product turnover during the turnover of injection molded products, trays are used to hold the injection molded products, so that the injection molded products can be transferred to appearance inspection or other inspection and post-processing processes. However, when trays are used to collect injection molded products, there is often a problem of different upper and lower positions of the products. In order to avoid affecting the accuracy of the inspection, the product placement position needs to be manually checked first to ensure that the products are placed consistently, which is time-consuming, labor-intensive and inefficient, and there may also be problems with manual omissions. Summary of the invention

[0003] The main purpose of the present invention is to provide a transfer device, aiming to improve the convenience of material transfer and detection.

[0004] To achieve the above object, the transfer equipment proposed by the present invention comprises:

[0005] A base, wherein the base has an upper material position, a lower material position and an empty material position;

[0006] A detection mechanism, which is disposed on the base and has a detection position and a flip position;

[0007] A material transfer mechanism, which is disposed on the base and is configured to transfer materials between the loading position, the detection position, and the flip position; the detection mechanism includes a detection module and a flip module, the detection module is disposed toward the detection position to detect the material located at the detection position; the flip module is configured to flip the material located at the flip position;

[0008] A material unloading mechanism, which is disposed on the base and configured to obtain material from the detection position to transfer it to the material unloading position;

[0009] A material tray lifting mechanism, which is disposed at the material loading position and is configured to drive the material tray in the material loading position to be lifted to a material taking height position;

[0010] A material tray transfer mechanism is disposed on the base platform and is configured to obtain a top material tray from the upper material position to transfer it to the empty material position.

[0011] In one embodiment, a full material tray buffer space is provided inside the base corresponding to the loading position, and a side opening communicating with the full material tray buffer space is provided on the side of the base;

[0012] The tray lifting mechanism includes a first material rack and a first supporting platform. At least a portion of the first material rack is located in the full tray buffer space. The first material rack has a first stacking space. The feed inlet of the first stacking space is arranged opposite to the side opening. The first supporting platform can be raised and lowered in the first stacking space.

[0013] In one embodiment, the first material rack has a feeding section and a loading section arranged from bottom to top, the feeding section is arranged in the full material tray buffer space, at least part of the loading section protrudes from the base, and the loading section has a surrounding wall arranged on all sides;

[0014] A first guide structure is provided between the feeding section and the loading section. The first guide structure is located at a side of the first stacking space and is inclined from bottom to top toward the inside of the first stacking space.

[0015] In one embodiment, the loading position is provided with a first position detection component, and the first position detection component is configured to send out a sensing signal when it is detected that the top material tray is lifted into place.

[0016] In one embodiment, an empty tray cache space is provided inside the base corresponding to the empty material position, and the transfer equipment also includes a tray sinking mechanism provided at the empty material position, and the tray sinking mechanism is configured to support at least two stacked empty trays and drive the stacked empty trays to descend to the empty tray cache space.

[0017] In one embodiment, the tray sinking mechanism includes a second material rack and a second supporting platform, at least a portion of the second material rack is located in the empty tray buffer space, the second material rack has a second stacking space, the second supporting platform is escalably arranged in the second stacking space, the second material rack is provided with a second guide structure located at the top entrance of the second stacking space, and the second guide structure is inclined from top to bottom into the second stacking space;

[0018] And / or, the empty material level is provided with a second position detection component, and the second position detection component is configured to detect whether there is a material tray at the material discharge height position.

[0019] In one embodiment, the tray transfer mechanism includes a tray conveying platform and a tray picking assembly, and the tray conveying platform is configured to drive the tray picking assembly to flow between a full level and an empty level.

[0020] In one embodiment, the tray picking assembly includes at least two tray adsorption structures, and the tray adsorption structures are arranged downward.

[0021] In one embodiment, the flip module includes a first swing arm, which is rotatably disposed on the base and configured to swing between the detection position and the flip position to flip the material located at the flip position to the detection position.

[0022] In one embodiment, the unloading mechanism includes a first translation assembly, a second translation assembly and a transfer assembly;

[0023] The transfer assembly is disposed on the base and is configured to obtain material from the detection position and transfer it to the first translation assembly;

[0024] The first translation assembly is disposed on the base and is configured to translate the material from the starting end to the final end;

[0025] The second translation assembly is disposed on the base and passes through the terminal end to obtain material from the first translation assembly.

[0026] The technical solution of the present invention adopts automated transfer equipment to transfer and detect materials, and places a material tray containing injection molded products on the upper material position of the base platform. At least two material trays can be stacked in the upper material position, and the top material tray in the upper material position is lifted to a preset material picking height position by a material tray lifting mechanism for the material shifting mechanism to pick up the materials; the material in the material tray is transferred one by one to the detection position of the detection mechanism by the material shifting mechanism, and the detection module can detect the materials in the detection position, detect the placement orientation and appearance and other states of the materials, and the materials correctly placed in the preset orientation are transferred to the unloading position by the unloading mechanism, and the materials with the wrong placement orientation are transferred to the flipping position by the material shifting mechanism to flip the materials to the preset orientation. The flipped materials are then detected by the detection module at the detection position for the appearance or other states of the materials, and the detected materials are transferred to the unloading position by the unloading mechanism to ensure that the placement orientation of each material transferred to the unloading position by the unloading mechanism is consistent.

[0027] After the material on the top tray in the upper material position is taken out, the tray transfer mechanism will transfer the empty tray to the empty material position, and the tray lifting mechanism will then lift the current top tray in the upper material position to the preset material taking height, and automatically replenish the material without the user having to frequently refill the material, thereby improving production continuity and efficiency.

[0028] That is, the present invention utilizes the transfer equipment to automatically transfer materials, and detects and adjusts the position of the materials, thereby improving the automation and convenience of material transfer and detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0030] Figure 1 A top view of an embodiment of a transfer device provided by the present invention;

[0031] Figure 2 A structural diagram of an embodiment of a transfer device provided by the present invention;

[0032] Figure 3 for Figure 2 Structural diagram of the tray lifting mechanism, tray lowering mechanism and tray sinking mechanism in the intermediate transfer equipment;

[0033] Figure 4 A first state diagram of an embodiment of a transfer component in a transfer device of the present invention;

[0034] Figure 5 A second state diagram of an embodiment of a transfer component in a transfer device of the present invention;

[0035] Figure 6 A third state diagram of an embodiment of a transfer component in a transfer device of the present invention;

[0036] Figure 7 It is a diagram of the coordination state of the detection mechanism and the transfer assembly when the material is placed in the overturning position in the transfer device of the present invention;

[0037] Figure 8 It is a diagram of the coordination state of the detection mechanism and the transfer assembly when the turning module in the transfer equipment of the present invention turns the material to the detection position;

[0038] Fig. 9 It is a state diagram of the transfer component in the transfer equipment of the present invention taking materials at the detection position;

[0039] Fig.10 This is a state diagram of the transfer component in the transfer equipment of the present invention transferring materials to the first translation component.

[0040] Description of Figure Numbers:

[0041] 100. Transfer equipment; 1. Base; 11. Loading position; 12. Unloading position; 13. Loading position for tray; 14. Unloading position; 15. Waste position; 16. Empty position; 17. Accommodation space; 171. Buffer space for full tray; 172. Buffer space for empty tray; 18. Side opening;

[0042] 2. Detection mechanism; 21. Detection module; 22. Flip module; 221. First swing arm; 2211. Rotation arm; 2212. Carrying arm; 222. First driving member; 23. Fill light; 24. Detection position; 25. Flip position;

[0043] 3. Material moving mechanism; 4. Material unloading mechanism; 41. First translation assembly; 411. Material conveying platform; 412. Material clamping assembly; 42. Second translation assembly; 43. Transfer assembly; 431. Second swing arm; 432. Material taking module; 433. Second driving member;

[0044] 5. Tray transfer mechanism; 51. Tray conveying platform; 52. Tray picking assembly; 521. Tray adsorption structure; 6. Tray lifting mechanism; 61. First material rack; 611. Feeding section; 612. Loading section; 613. First guide structure; 614. First stacking space; 62. First supporting platform; 63. First position detection assembly;

[0045] 7. Material tray sinking mechanism; 71. Second material rack; 711. Second stacking space; 712. Second guide structure; 72. Second material supporting platform; 73. Second position detection component; 8. Waste bin; 200. Material.

[0046] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0049] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0050] At present, in order to ensure product quality and facilitate product turnover during the turnover of injection molded products, trays are used to hold the injection molded products, so as to facilitate the transfer of the injection molded products to appearance inspection or other inspection and post-processing processes. However, when trays are used to collect injection molded products, there is often a problem of different up and down positions of the products. In an embodiment of the present invention, the placement orientation of the material refers to the up and down position of the material, and it is stipulated that the material has a top and a bottom. When the material is placed in a preset orientation, the top of the material faces upward and the bottom faces downward. The wrong placement orientation of the material refers to the material being placed upside down.

[0051] In order to avoid affecting the accuracy of detection, it is necessary to manually check the product placement to ensure that the products are placed consistently, which is time-consuming, labor-intensive and inefficient, and there may also be problems with manual omissions.

[0052] Based on the above problems, the present invention proposes a transfer device 100.

[0053] See also Figure 1 and Figure 2 In one embodiment of the present invention, the transfer equipment 100 includes a base 1, a detection mechanism 2, a material moving mechanism 3, a material unloading mechanism 4, a material tray lifting mechanism 6 and a material tray transfer mechanism 5, the base 1 has a loading position 11, a unloading position 12 and an empty position 16; the detection mechanism 2 is arranged on the base 1, and has a detection position 24 and a flipping position 25; the material moving mechanism 3 is arranged on the base 1, and is configured to flow between the loading position 11, the detection position 24 and the flipping position 25 to transfer the material 200; the detection mechanism 2 includes a detection module 21 and a flipping module 22, the detection module 21 is arranged toward the detection position 24 to detect the material 200 located at the detection position 24; the flipping module 22 is configured to flip the material 200 located at the flipping position 25; the unloading mechanism 4 is arranged on the base 1, and is configured to obtain the material 200 from the detection position 24 to transfer it to the unloading position 12.

[0054] The tray lifting mechanism 6 is arranged at the upper material position 11 and is configured to drive the tray in the upper material position 11 to be lifted to the material taking height position; the tray transfer mechanism 5 is arranged on the base 1 and is configured to obtain the top layer tray from the upper material position 11 to transfer it to the empty material position 16.

[0055] In the embodiment of the present invention, the base 1 provides an installation foundation for other mechanisms of the transfer device 100, and is used to place other mechanisms of the transfer device 100 to integrate the various mechanisms of the transfer device 100. Among them, the base 1 can be set as but not limited to a structure such as a frame and a substrate; the base 1 is formed with a bearing surface, and an upper material position 11 and a lower material position 12 are formed on the bearing surface. The material tray collecting the material to be detected is placed in the upper material position 11, and the upper material position 11 can be provided with a structure for limiting the position of the material tray, such as a silo, etc., to keep the material tray in a stable position at the upper material position 11, so that the material moving mechanism 3 can take the material. The lower material position 12 is configured to place a material tray collecting the detected material 200, and the lower material position 12 can also be provided with a silo or other limiting structure for limiting the position of the material tray, which is not limited here.

[0056] In an embodiment of the present invention, at least two material trays can be stacked in the upper material position 11, and the top material tray in the upper material position 11 is lifted to a preset material picking height by the material tray lifting mechanism 6 for the material transfer mechanism 3 to pick up the material; after the material 200 of the top material tray in the upper material position 11 is taken, the empty material tray is transferred to the empty material position 16 by the material tray transfer mechanism 5, and the material tray lifting mechanism 6 then lifts the current top material tray in the upper material position 11 to the preset material picking height, and automatically replenishes the material without the user having to frequently replenish the material, thereby improving production continuity and production efficiency.

[0057] Optionally, the tray lifting mechanism 6 can be configured to only drive the top tray in the upper material position 11 to rise, for example, using the clamping assembly 412 to clamp the top tray, and drive the top tray to separate from the second tray to drive the top tray to rise to a preset material removal height position. The tray lifting mechanism 6 can also be configured to drive the stacked trays in the upper material position 11 to rise, which is not limited here.

[0058] Optionally, the tray transfer mechanism 5 can be configured as a pushing mechanism to push the empty tray from which the material 200 has been taken in the upper material position 11 to the empty material position 16; the tray transfer mechanism 5 can also be configured as a translatably movable clamping or adsorption component, etc., to pick up the empty tray from which the material 200 has been taken in the upper material position 11, and drive the empty tray to move to the empty material position 16.

[0059] The detection mechanism 2 is arranged on the bearing surface of the base 1, and a detection position 24 and a flip position 25 are formed in the detection mechanism 2. The detection module 21 is arranged as a visual acquisition module such as a camera, which is used to collect the appearance information of the material 200 on the detection position 24 to determine the placement orientation of the material 200 and the appearance quality of the material 200. The flip module 22 equipped in the detection mechanism 2 is used to flip the material 200 on the flip position 25. For the material 200 that is judged by the detection module 21 to be placed in an incorrect orientation, the material 200 is transferred from the material transfer mechanism 3 to the flip position 25, and flipped to the correct placement orientation by the flip module 22.

[0060] Optionally, the flipping module 22 flips the flipping position 25, which can be to flip the material 200 to the correct placement direction at the flipping position 25, and then the material moving mechanism 3 transfers the flipped material 200 to the detection position 24; in addition, a first swing arm 221 can also be set as in the following embodiment to flip the material 200 on the flipping position 25 and buckle it on the detection position 24, that is, to transfer the material 200 from the flipping position 25 to the detection position 24 while flipping the material 200.

[0061] The material moving mechanism 3 can circulate between the loading position 11, the detection position 24 and the turning position 25 to transfer the material 200. The material moving mechanism 3 can be set as a structure similar to an overhead crane, and a track and a material picking component that can slide along the track are set above the base 1. The material picking component can slide along the track to the loading position 11, the detection position 24 and the turning position 25; or, the material moving mechanism 3 can be set as a manipulator, and the material picking end of the manipulator is controlled to move to the loading position 11, the detection position 24 and the turning position 25.

[0062] In specific applications, a universal material tray for collecting materials to be tested is placed at the loading position 11, and the material shifting mechanism 3 transfers the materials 200 in the universal material tray to the testing position 24 of the testing mechanism 2 one by one. The testing module 21 detects the placement orientation and appearance and other states of the materials 200 in the testing position 24. For materials 200 that are correctly placed in the preset orientation, they are transferred to the unloading position 12 through the unloading mechanism 4. For materials 200 that are placed in the wrong orientation, they are transferred to the flipping position 25 by the material shifting mechanism 3 to flip the materials 200 to the preset orientation. After flipping, the appearance or other states of the materials 200 are detected by the testing module 21 at the testing position 24. The tested materials 200 are transferred to the unloading position 12 through the unloading mechanism 4 to ensure that the placement orientations of the materials 200 transferred from the unloading mechanism 4 to the unloading position 12 are consistent.

[0063] That is, the present invention utilizes the transfer device 100 to automatically transfer the material 200, and detects and adjusts the orientation of the material 200, thereby improving the automation and convenience of the transfer and detection of the material 200. Moreover, in the embodiment of the present invention, the process of transferring the material 200 from the loading position 11 to the detection position 24 and from the detection position 24 to the flipping position 25 is realized by the material transfer mechanism 3, which reduces the number of mechanisms arranged in the transfer device 100, and can reduce the volume and floor space of the transfer device 100.

[0064] In specific applications, a universal tray can be used to collect materials 200. The universal tray refers to a tray that can be used to place materials 200 of different shapes or sizes. For example, the material trough on the universal tray can be set larger to accommodate different materials 200. The universal tray collects and places multiple materials 200 of the same type each time. The universal tray with multiple materials 200 collected is placed on the upper material position 11 for the material transfer mechanism 3 to take the materials. The tray on the lower material position 12 for collecting the detected materials 200 can be a special tray. The shape of the upper material trough of the special tray is adapted to the shape of the material 200, so that the placement of the material 200 on the special tray is more stable.

[0065] See also Figure 2 and Figure 3 Optionally, the transfer equipment 100 also includes a tray lowering mechanism 7 arranged at the empty material position 16, and the tray lowering mechanism 7 can drive the tray placed at the empty material position 16 to rise and fall; the tray picking component 52 is set at a preset discharge height of the tray at the empty material position 16, and the tray lowering mechanism 7 can make the tray descend, so that the tray picking component 52 can stack the empty trays on the empty material position 16 in sequence, so that after a certain number of empty trays are placed on the empty material position 16, the trays on the empty material position 16 can be taken away uniformly, without repeatedly taking away the trays at the empty material position 16, thereby improving the convenience of use.

[0066] Please refer to Figure 2 In one embodiment, a full tray buffer space 171 is provided inside the base 1 corresponding to the loading position 11, and a side opening 18 connected to the full tray buffer space 171 is provided on the side of the base 1; the tray lifting mechanism 6 includes a first material rack 61 and a first supporting platform 62, at least part of the first material rack 61 is located in the full tray buffer space 171, the first material rack 61 has a first stacking space 614, the feed port of the first stacking space 614 is arranged opposite to the side opening 18, and the first supporting platform 62 is arranged in the first stacking space 614 so as to be liftable.

[0067] In this embodiment, a full tray buffer space 171 is set inside the base 1 to make full use of the internal space of the base 1 to reduce the overall height of the transfer device 100. The tray with the material 200 collected can enter the full tray buffer space 171 from the side opening 18 on the side of the base 1 and be placed on the first supporting platform 62 of the tray lifting mechanism 6. The first supporting platform 62 can be driven by a cylinder lifting mechanism, or can be driven by a motor screw mechanism, a synchronous belt transmission mechanism, a scissor-type lifting mechanism and other structures to drive the tray to rise and fall, so that the tray rises to the preset material taking height position in turn. The first material rack 61 is fixed in the base 1, and the first material rack 61 is set as a frame structure extending in the height direction. The first stacking space 614 is formed in the first material rack 61, and the first supporting platform 62 is located in the first stacking space 614. The first material rack 61 can guide and limit the lifting and lowering of the first supporting platform 62, and can also limit the stacked trays to prevent the trays from tipping over.

[0068] Optionally, the base 1 is provided with a door body that can be opened and closed, and the door body closes the side entrance when there is no need to take or place the material tray.

[0069] Combined with reference Figure 2 and Figure 3 In one embodiment, the first material rack 61 has a feeding section 611 and a loading section 612 arranged from bottom to top, the feeding section 611 is arranged in the full material tray buffer space 171, at least part of the loading section 612 protrudes from the base 1, and the loading section 612 has a surrounding wall; a first guide structure 613 is provided between the feeding section 611 and the loading section 612, and the first guide structure 613 is located on the side of the first stacking space 614, and is inclined from bottom to top toward the inner side of the first stacking space 614.

[0070] In this embodiment, the first material rack 61 includes a feed section 611 and a loading section 612, which are connected to form a first stacking space 614. The feed section 611 has a feed port arranged toward the side opening 18 of the base 1, and the loading section 612 is arranged to protrude from the top of the base 1. The loading section 612 is provided with a surrounding wall arranged along its circumference, thereby limiting the material tray at various locations in the circumference to reduce the risk of the material tray being displaced and tipping over. Among them, the first material rack 61 also includes a first guide structure 613 arranged between the feeding section 611 and the loading section 612. The first guide structure 613 can be arranged around the circumference of the first material rack 61, or it can be arranged only in a local area on the circumference of the first material rack 61. The first guide structure 613 is inclined from bottom to top toward the inner side of the first stacking space 614. When the first supporting platform 62 drives the material tray to rise, the first guide structure 613 can contact the side of the material tray to guide the material tray to accurately enter the loading section 612, ensuring that the material tray is accurately positioned in the preset area to improve the accuracy of material retrieval.

[0071] Please refer to Figure 3 In one embodiment, the loading position 11 is provided with a first position detection component 63, and the first position detection component 63 is configured to send a sensing signal when it is detected that the top material tray is lifted into place.

[0072] In this embodiment, the first position detection component 63 can be set as a photoelectric sensor, a proximity switch or other detection mechanism 2. When the material tray lifting mechanism 6 drives the material tray to rise, the first position detection component 63 detects whether the top material tray rises to the preset material picking height position, and sends out a sensing signal when the top material tray is lifted into place, so that the material tray lifting mechanism 6 stops lifting, thereby improving the height control accuracy of the top material tray, ensuring that the material moving mechanism 3 can accurately pick up materials, avoiding the problem of insufficient material tray height causing the material moving mechanism 3 to be unable to pick up materials or unstable material picking, and also avoiding the problem of the material tray being too high and colliding with the material moving mechanism 3.

[0073] Please refer to Figure 2 In one embodiment, an empty tray buffer space 172 is provided inside the base 1 corresponding to the empty material position 16, and the transfer equipment 100 also includes a tray sinking mechanism 7 provided at the empty material position 16, and the tray sinking mechanism 7 is configured to support at least two stacked empty trays and drive the stacked empty trays to descend to the empty tray buffer space 172.

[0074] In this embodiment, a tray settling mechanism 7 is provided at the empty material position 16, and the tray settling mechanism 7 can be used to support at least two empty trays. When the tray transfer mechanism 5 transfers the trays from which the material 200 has been taken out in the upper material position 11 to the empty material position 16 one by one, they can be stacked on the tray settling mechanism 7 in sequence. After stacking an empty tray, the tray settling mechanism 7 drives the tray to descend a preset distance, so that the tray transfer mechanism 5 can place the empty tray at the same height position, which is convenient for controlling the moving trajectory of the tray transfer mechanism 5. The tray settling mechanism 7 can drive the tray to descend into the empty tray buffer space 172, and when multiple trays are accumulated and stacked in the empty material position 16, the stacked empty trays can be taken out uniformly, without the need for the user to frequently take out materials, thereby improving the convenience of use.

[0075] Optionally, the empty tray buffer space 172 and the full tray buffer space 171 in the base 1 may be interconnected, that is, an integral accommodating space 17 is provided in the base 1 to facilitate the structural setting of the base 1 .

[0076] Please refer to Figure 3In one embodiment, the tray lowering mechanism 7 also includes a second material rack 71 and a second supporting platform 72, at least part of the second material rack 71 is located in the empty tray buffer space 172, the second material rack 71 has a second stacking space 711, and the second supporting platform 72 is liftable in the second stacking space 711. The second material rack 71 is provided with a second guide structure 712 located at the top entrance of the second stacking space 711, and the second guide structure 712 is inclined from top to bottom into the second stacking space 711.

[0077] In this embodiment, the material tray sinking mechanism 7 also includes a second material rack 71, which is fixed in the base 1. The second material rack 71 is configured as a frame structure extending along the height direction. A second stacking space 711 is formed in the second material rack 71, and the second material supporting platform 72 is located in the second stacking space 711. The second material rack 71 can guide and limit the lifting and lowering of the second material supporting platform 72, and can also limit the stacked material trays to prevent the material trays from tipping over.

[0078] The second material rack 71 is provided with a second guide structure 712 at the top entrance. The second guide structure 712 can be arranged around the circumference of the second material rack 71, or can be arranged only in a local area on the side of the second material rack 71. The second guide structure 712 is inclined from top to bottom toward the inner side of the second stacking space 711. When the second supporting platform 72 drives the material tray to descend, the second guide structure 712 can contact the side of the material tray to guide the material tray to accurately enter the second stacking space 711, and make each material tray coaxially stacked to reduce the risk of the material tray tipping over.

[0079] In one embodiment, the empty material level 16 is provided with a second position detection component 73, and the second position detection component 73 is configured to detect whether there is a material tray at the material discharge height position.

[0080] In this embodiment, the second position detection component 73 can be set as a photoelectric sensor, a proximity switch or other detection mechanism 2. When the tray lifting mechanism 6 drives the tray to rise, the second position detection component 73 detects whether there is a tray at the material discharge height position. If a tray is detected at the material discharge height position, the second material supporting platform 72 is lowered by a preset distance or the user is reminded that the empty material position 16 is already full of trays, ensuring that the material moving mechanism 3 does not collide with the tray already placed at the empty material position 16 when transferring the empty tray to the empty material position 16.

[0081] See also Figures 1 to 3 In one embodiment, the tray transfer mechanism 5 includes a tray conveying platform 51 and a tray picking assembly 52 , and the tray conveying platform 51 is configured to drive the tray picking assembly 52 to flow between the upper material position 11 and the empty material position 16 .

[0082] In this embodiment, the tray conveying platform 51 drives the tray picking assembly 52 to move to the upper material position 11, and the tray picking assembly 52 picks up the empty tray on the upper material position 11, and then the tray conveying platform 51 drives the tray picking assembly 52 to move to the empty material position 16, and places the picked up empty tray on the empty material position 16; thereby, the user does not need to remove the empty tray from the upper material position 11.

[0083] Optionally, the tray picking component 52 can be configured as an adsorption structure for adsorbing and picking up an empty tray; the tray picking component 52 can also be configured as a clamping mechanism for clamping and picking up an empty tray.

[0084] Optionally, the tray conveying platform 51 can use a synchronous belt transmission mechanism to drive the tray picking component 52 to move, or can use a screw transmission mechanism, a cylinder pushing mechanism, a rodless cylinder or other structures to drive the tray picking component 52 to move, which is not limited here.

[0085] See also Figure 3 In one embodiment, the tray picking assembly 52 includes at least two tray adsorption structures 521, and the tray adsorption structures 521 are arranged downward.

[0086] In this embodiment, the tray adsorption structure 521 can be set as a vacuum suction nozzle. When the tray is made of magnetic material, an electromagnet adsorption structure can also be set. The tray adsorption structure 521 is used to adsorb the tray, which can reduce damage to the tray. The tray adsorption structure 521 is always higher than the tray, which can reduce the risk of the tray pickup component 52 colliding with other structures during the transfer process. The tray pickup component 52 can include two, three, four or more tray adsorption structures 521 to adsorb different positions of the tray and improve the stability of picking up the tray.

[0087] See also Figures 7 to 10 In some embodiments, the detection mechanism 2 further includes a fill light 23, which is disposed toward the detection position 24 to illuminate the detection position 24 and improve the detection precision and accuracy of the detection module 21. Optionally, the fill light 23 can be disposed on the same side as the detection module 21, or the fill light 23 and the detection module 21 can be disposed on both sides of the detection position 24, which is not limited here.

[0088] Combined with reference Figure 1 , Figure 7 and Figure 8 In one embodiment, the flip module 22 includes a first swing arm 221, which is rotatably disposed on the base 1 and is configured to swing between the detection position 24 and the flip position 25 to flip the material 200 located at the flip position 25 to the detection position 24.

[0089] In this embodiment, the flip module 22 includes a first driving member 222 and a first swing arm 221. The first swing arm 221 can be swung in the vertical direction and driven by the first driving member 222. The detection position 24 and the flip position 25 of the detection mechanism 2 are both located on the active path of the free end of the first swing arm 221. The detection position 24 and the flip position 25 are respectively located on both sides of the rotation center of the first swing arm 221. The connection line between the detection position 24 and the flip position 25 passes through the rotation center of the first swing arm 221. The free end of the first swing arm 221 is provided with a fixing component for fixing the material 200. The setting of the fixing component can prevent the material 200 from falling from the first swing arm 221 during the process of the first swing arm 221 carrying the material 200 to flip. The fixing component can be configured as a material clamping component 412 for clamping the material 200, or as an adsorption component for adsorbing the material 200, or as other fixing components or a combination of at least two fixing structures.

[0090] Optionally, the first driving member 222 can be configured as a driving motor, so that the rotating end of the first swing arm 221 can be directly connected to the output shaft of the driving motor, or the driving motor and the first swing arm 221 can be connected by a gear transmission mechanism, a synchronous wheel mechanism, a connecting rod mechanism or other transmission mechanism, which is not limited here.

[0091] In specific applications, the free end of the first swing arm 221 is located on the flip position 25. When the detection module 21 identifies that the material 200 on the detection position 24 is placed in the wrong orientation, the material moving mechanism 3 moves the material 200 on the detection position 24 to the flip position 25, and fixes the material 200 on the free end of the first swing arm 221 through the fixing component; then the first driving member 222 drives the first swing arm 221 to flip, and buckles the material 200 on the detection position 24. At this time, the material 200 has been flipped to the correct placement orientation. In this way, the material 200 is transferred between the flip position 25 and the detection position 24 while flipping the material 200, which speeds up the work rhythm and improves the work efficiency. After flipping the material 200 to the detection position 24, the fixing component releases the material 200, and the first swing arm 221 swings back to avoid blocking the detection module 21 from detecting the material 200.

[0092] See also Figure 7 and Figure 8 In one embodiment, the first swing arm 221 includes a carrying arm 2212 and a rotating arm 2211, one end of the rotating arm 2211 is rotatably disposed on the base 1, the carrying arm 2212 is bent and connected to the other end of the rotating arm 2211, and is provided with an adsorption component (not shown); the rotating arm 2211 rotates, driving the carrying arm 2212 to move, so that the adsorption component flows between the flipping position 25 and the detection position 24, so as to adsorb the material 200 on the flipping position 25, and drive the material 200 to flip to the detection position 24 synchronously.

[0093] In this embodiment, the rotating arm 2211 of the first swing arm 221 extends radially along the rotation center of the first swing arm 221, the bearing arm 2212 of the first swing arm 221 is connected to the free end of the rotating arm 2211, and the bearing arm 2212 extends axially along the rotation center of the first swing arm 221, so that the bearing arm 2212 and the rotating arm 2211 are arranged at an angle, and a avoidance area can be formed to avoid collision with the detection module 21 during the swinging process of the first swing arm 221. The adsorption component is arranged on the bearing arm 2212, and the adsorption component can be set as a vacuum adsorption structure, or a metal structure that can be magnetically attracted is arranged on the material 200, and the adsorption component can also be set as an electromagnetic adsorption structure, which is not limited here. When the material 200 to be flipped is moved to the flipping position 25, the adsorption component adsorbs the material 200 to fix the material 200 on the bearing arm 2212, and the material 200 is fixed by adsorption, which can reduce damage to the material 200. After the first swing arm 221 drives the material 200 to swing and flip the material 200 to the detection position 24, the adsorption component releases the adsorption of the material 200, for example, the vacuum adsorption structure stops vacuuming, or the electromagnetic adsorption structure is powered off, so that the adsorption component is separated from the material 200, and then the first swing arm 221 is swung back, and the material 200 will remain on the detection position 24 in the correct orientation.

[0094] See also Figure 1 and Figure 2 In one embodiment, the material transfer mechanism 3 is configured as a manipulator. The manipulator can be configured as a manipulator with four axes, five axes, six axes or higher degrees of freedom. The use of a manipulator as the material transfer mechanism 3 is more convenient for arranging the material transfer mechanism 3 on the base 1, and has a compact structure, which is conducive to reducing the volume of the transfer device 100.

[0095] See also Figure 1 In one embodiment, the unloading mechanism 4 includes a first translation component 41, a second translation component 42 and a transfer component 43; the transfer component 43 is arranged on the base 1, and is configured to obtain the material 200 from the detection position 24 and transfer it to the first translation component 41; the first translation component 41 is arranged on the base 1, and is configured to translate the material 200 from the starting end to the terminal end; the second translation component 42 is arranged on the base 1, and passes through the terminal end to obtain the material 200 from the first translation component 41.

[0096] In this embodiment, the first translation assembly 41 is used to convey the material 200, and can be configured as a conveyor belt for directly placing and conveying the material 200, or a feeding structure of a transmission platform and a clamping assembly 412 in the following implementation is provided; the second translation assembly 42 is used to convey the material tray, and the material tray can be conveyed to the terminal end of the first translation assembly 41, so that the material tray receives the material 200 conveyed to the terminal end by the first translation assembly 41. Optionally, the transfer of the material 200 between the first translation assembly 41 and the second translation assembly 42 can be the transfer of the material 200 by the clamping assembly 412 on the first translation assembly 41 in the following embodiment, or it can be the setting of a material picking assembly on the second translation assembly 42 or the base 1 to pick up the material 200 conveyed on the first translation assembly 41 to place it in the material tray of the second translation assembly 42, which is not limited here.

[0097] The transfer component 43 can transfer the material 200 on the detection position 24 to the starting end of the first translation component 41, so that the material 200 can be transferred by the first translation component 41. Optionally, the transfer component 43 can be set as a manipulator, or configured as a combination structure of the second swing arm 431 and the material taking module 432 in the following embodiment. In addition, the material transfer mechanism 3 in the transfer device 100 can also be configured as the transfer component 43, that is, the material transfer mechanism 3 can be used to transfer the material 200 at the detection position 24 to the first translation component 41.

[0098] See also Figure 1 In one embodiment, the first translation assembly 41 includes a material conveying platform 411 and a material clamping assembly 412 , the material conveying platform 411 is configured to drive the material clamping assembly 412 to translate, and the material clamping assembly 412 is configured to place the material 200 thereon into the second translation assembly 42 .

[0099] In this embodiment, the material conveying platform 411 of the first translation assembly 41 is used to drive the clamping assembly 412 to translate. The material conveying platform 411 can be driven by a cylinder, for example, a rodless cylinder is used to drive the clamping assembly 412 to move, or it can be driven by a motor, for example, a screw drive or a belt drive is used to drive the clamping assembly 412 to move. The clamping assembly 412 can be set as a clamping claw for clamping the material 200, or it can be set as an adsorption structure that can adsorb the material 200. The material 200 is picked up by the clamping assembly 412 to drive the material 200 to move along the material conveying platform 411, which can avoid the material 200 from being offset during the conveying process of the material 200, and improve the stability of the material 200 conveying process. After the clamping assembly 412 drives the material 200 to move to the end, the material 200 is released to place the material 200 on the material tray of the second translation assembly 42.

[0100] Optionally, the clamping mechanism can be configured as a liftable structure so that it can be lifted after picking up the material 200, thereby preventing the material 200 from interfering with other components during the process of moving the material 200 horizontally; in addition, when placing the material 200 on the second translation component 42, the material 200 can be driven downward to prevent the material 200 from freely falling to the second translation component 42, thereby improving the safety and stability of transferring the material 200, allowing the material 200 to be accurately placed in the material tray, and reducing the risk of damage to the material 200.

[0101] See also Figure 1 In one embodiment, the feeding direction of the second translation assembly 42 is perpendicular to the feeding direction of the first translation assembly 41 .

[0102] Specifically, the feeding direction of the first translation assembly 41 is the first direction, and the feeding direction of the second translation assembly 42 is the second direction, and the first direction and the second direction are perpendicular to each other. It can be understood that a plurality of arrayed material slots are usually provided in the material tray. In specific applications, the material tray is placed on the second translation assembly 42, and the first translation assembly 41 can sequentially deliver the material 200 to the plurality of material slots arranged side by side along the first direction, and the material tray is driven to move by the second translation assembly 42 so that the plurality of rows of material slots arranged along the second direction are sequentially aligned with the first translation assembly 41; in this way, the material 200 can be sequentially placed in each material slot in the material tray.

[0103] See also Figure 1 In one embodiment, the terminal end of the first translation assembly 41 is located between the two ends of the second translation assembly 42, and the second translation assembly 42 forms an upper material position 13 and a lower material position 12 on both sides of the first translation assembly 41 along its feeding direction.

[0104] In this embodiment, along the feeding direction of the second translation assembly 42, a tray upper material position 13, a discharge material position 14 and a lower material position 12 are formed on the second translation assembly 42, wherein the discharge material position 14 is arranged corresponding to the terminal end of the first translation assembly 41, and the materials 200 conveyed by the first translation assembly 41 can be placed one by one on the tray of the discharge material position 14. After the tray on the discharge material position 14 is filled with materials 200 or has been discharged, the second translation assembly 42 can transfer the tray on the discharge material position 14 to the lower material position 12, so that the user can collect the materials 200. The tray upper material position 13 is configured to place an empty tray, and the empty tray can be transferred to the discharge material position 14 by the second translation assembly 42. After the tray on the discharge material position 14 is moved to the lower material position 12, the empty tray is automatically replenished to receive the subsequent materials 200, without the need for the user to manually replenish the empty tray, thereby improving the automation of the transfer device 100.

[0105] Combined with reference Figures 4 to 10In one embodiment, the transfer assembly 43 includes a second swing arm 431 and a material picking module 432. The second swing arm 431 is rotatably disposed on the base 1. The material picking module 432 has a connecting end and a material picking end. The connecting end is freely rotatable and connected to the free end of the second swing arm 431, so that the material picking end is set downward during the swinging process of the second swing arm 431; the swinging of the second swing arm 431 drives the material picking module 432 to circulate between the detection position 24 and the first translation assembly 41 to transfer the material 200 from the detection position 24 to the first translation assembly 41.

[0106] In this embodiment, the transfer assembly 43 includes a second driving member 433, a second swing arm 431 and a material picking module 432. The second swing arm 431 can swing in the vertical direction and is driven by the second driving member 433. The detection position 24 and the first translation assembly 41 are both located on the moving path of the free end of the second swing arm 431. The free end of the second swing arm 431 is provided with a material picking module 432, which is used to pick up the material 200 at the detection position 24. The material picking module 432 swings with the second swing arm 431 to transfer the material 200 to the first translation assembly 41. Among them, the material picking module 432 has a connecting end and a material picking end arranged up and down, and the connecting end is freely hinged with the free end of the second swing arm 431. In this arrangement, under the action of gravity, the upper and lower positions of the material picking module 432 remain unchanged during the rotation of the second swing arm 431, and the material picking end is always located below the connecting end, so that the orientation of the material 200 picked up by the material picking module 432 remains unchanged. Optionally, the material taking module 432 may be configured as a clamping mechanism that can clamp the material 200 , or may be configured as an adsorption mechanism that can adsorb the material 200 , which is not limited here.

[0107] In one embodiment, the first translation assembly 41 is provided with a material clamping assembly 412 driven by the material conveying platform 411. When the material clamping assembly 412 enters the starting end of the material conveying platform 411 or moves away from the starting end, Figure 6 As shown, the second swing arm 431 can be driven to drive the material picking module 432 to rotate to the avoidance position to avoid the material clamping assembly 412, thereby preventing the transfer assembly 43 from interfering with the material clamping assembly 412.

[0108] See also Figure 1 In one embodiment, the base 1 further has a waste position 15 between the two ends of the first translation assembly 41 for collecting waste.

[0109] In this embodiment, a waste position 15 for collecting waste is set on the base 1. For the material 200 with appearance defects detected by the detection module 21, when the first translation component 41 conveys the material 200 to the top of the waste position 15, the first translation component 41 can directly place the material 200 in the waste position 15, and does not transfer the material 200 to the terminal end of the first translation component 41, so that the waste and good products can be collected separately, improving the convenience of collecting the material 200. Optionally, a material guide mechanism for transmitting waste can be set on the base 1, such as a translation material guide structure such as a conveyor belt, and the material guide mechanism sends the waste out of the waste position 15 for easy collection. In addition, a waste bin 8 can be set on the waste position 15, and the first translation component 41 directly discards the waste in the waste bin 8, and the user takes out the waste from the waste bin 8; optionally, in order to facilitate taking out materials from the waste bin 8, the waste bin 8 can be set to a drawer-like structure, which can be used to pull out the waste bin 8 for taking out materials.

[0110] Optionally, the waste position 15 can be provided with at least two waste collection areas in sequence along the feeding direction of the first translation component 41. The first translation component 41 places waste of different defect types in different waste collection areas to classify and collect the waste, thereby facilitating the processing of the waste.

[0111] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A transfer device, characterized in that: include: A base, wherein the base has an upper material position, a lower material position and an empty material position; A detection mechanism, which is disposed on the base and has a detection position and a flip position; A material transfer mechanism, which is disposed on the base and is configured to transfer materials between the loading position, the detection position, and the flip position; the detection mechanism includes a detection module and a flip module, the detection module is disposed toward the detection position to detect the material located at the detection position; the flip module is configured to flip the material located at the flip position; A material unloading mechanism, which is disposed on the base and configured to obtain material from the detection position to transfer it to the material unloading position; A material tray lifting mechanism, which is disposed at the material loading position and is configured to drive the material tray in the material loading position to be lifted to a material taking height position; A material tray transfer mechanism is disposed on the base platform and is configured to obtain a top material tray from the upper material position to transfer it to the empty material position.

2. The transfer device according to claim 1, characterized in that: A full material tray buffer space is provided inside the base corresponding to the loading position, and a side opening communicating with the full material tray buffer space is provided on the side of the base; The tray lifting mechanism includes a first material rack and a first supporting platform. At least a portion of the first material rack is located in the full tray buffer space. The first material rack has a first stacking space. The feed inlet of the first stacking space is arranged opposite to the side opening. The first supporting platform can be raised and lowered in the first stacking space.

3. The transfer device according to claim 2, characterized in that: The first material rack has a feeding section and a loading section arranged from bottom to top, the feeding section is arranged in the full material tray buffer space, at least part of the loading section protrudes from the base, and the loading section has surrounding walls arranged on all sides; A first guide structure is provided between the feeding section and the loading section. The first guide structure is located at a side of the first stacking space and is inclined from bottom to top toward the inside of the first stacking space.

4. The transfer device according to claim 1, characterized in that: The loading position is provided with a first position detection component, and the first position detection component is configured to send out an induction signal when it is detected that the top material tray is lifted to the material taking height position.

5. The transfer device according to claim 1, characterized in that: An empty tray cache space is provided inside the base corresponding to the empty material position, and the transfer equipment also includes a tray sinking mechanism arranged at the empty material position, and the tray sinking mechanism is configured to support at least two stacked empty trays and drive the stacked empty trays to descend to the empty tray cache space.

6. The transfer device according to claim 5, characterized in that: The tray sinking mechanism includes a second material rack and a second supporting platform, at least part of the second material rack is located in the empty tray buffer space, the second material rack has a second stacking space, the second supporting platform is escalable and arranged in the second stacking space, the second material rack is provided with a second guide structure located at the top entrance of the second stacking space, and the second guide structure is inclined from top to bottom into the second stacking space; And / or, the empty material level is provided with a second position detection component, and the second position detection component is configured to detect whether there is a material tray at the material discharge height position.

7. The transfer device according to claim 1, characterized in that: The tray transfer mechanism includes a tray conveying platform and a tray picking assembly, and the tray conveying platform is configured to drive the tray picking assembly to flow between a full material level and an empty material level.

8. The transfer device according to claim 7, characterized in that: The tray picking assembly includes at least two tray adsorption structures, and the tray adsorption structures are arranged downward.

9. The transfer device according to any one of claims 1 to 8, characterized in that The flip module includes a first swing arm, which is rotatably disposed on the base and configured to swing between the detection position and the flip position to flip the material located at the flip position to the detection position.

10. The transfer device according to any one of claims 1 to 8, characterized in that The unloading mechanism includes a first translation assembly, a second translation assembly and a transfer assembly; The transfer assembly is disposed on the base and is configured to obtain material from the detection position and transfer it to the first translation assembly; The first translation assembly is disposed on the base and is configured to translate the material from the starting end to the final end; The second translation assembly is disposed on the base and passes through the terminal end to obtain material from the first translation assembly.

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