Carrying device and conveying equipment

Abstract

The invention relates to a carrying device and conveying equipment, the carrying device comprises a rack, a pick-up structure and a swing arm mechanism, the pick-up structure comprises a connecting plate and a plurality of pick-up pieces arranged on the connecting plate, and the pick-up pieces are used for picking up workpieces; the swing arm mechanism comprises a plurality of swing arms, and the two ends of each swing arm are rotationally connected with the rack and the connecting plate correspondingly, so that the connecting plate and the rack form parallelogram transmission connection through the swing arm mechanism. The two ends of the swing arm mechanism are rotationally connected with the rack and the connecting plate correspondingly, so that when the swing arm mechanism rotates, the connecting plate can be driven to eccentrically rotate relative to the rack, and the whole picking structure can move in the two orthogonal directions. Therefore, two drivers do not need to be arranged to drive the picking structure to move in the two orthogonal directions, and the structure of the carrying device is simplified. Moreover, the connecting plate and the rack are connected only through the swing arm, the structure is simple, and production is convenient. The conveying equipment comprises the carrying device and is simpler in structure.

Description

Technical Field

[0001] The present application relates to the technical field of material conveying, and in particular to a handling device and conveying equipment. Background Art

[0002] In automated production and processing, products are usually fixed on fixtures and transferred to different workstations by transfer devices. Currently, workpieces are usually transferred by manipulators, which have at least two orthogonal motion axes, a horizontal axis and a vertical axis. After the manipulator takes the workpiece out of the fixture along the vertical axis, it moves horizontally along the horizontal axis to another workstation, and then puts the product down along the vertical axis. However, for the above-mentioned method of transferring products, at least two sets of drive structures are required to drive the manipulator to move respectively, making the structure of the transfer device complex. Summary of the invention

[0003] Based on this, it is necessary to provide a handling device and a conveying equipment to address the problem of the complex structure of the current transfer device.

[0004] On the one hand, the present application provides a transport device, which includes a frame, a picking structure and a swing arm mechanism, the picking structure includes a connecting plate and a plurality of picking parts arranged on the connecting plate, the picking parts are used to pick up workpieces; the swing arm mechanism includes a plurality of swing arms, and the two ends of each of the swing arms are respectively rotatably connected to the frame and the connecting plate, so that the connecting plate and the frame form a parallelogram transmission connection through the swing arm mechanism.

[0005] In one of the embodiments, the swing arm mechanism is used to drive the picking structure to move between the picking position and the placing position, and the picking structure at the picking position and the picking structure at the placing position are both used to transfer the workpiece to the supporting device; when the picking structure moves from the picking position to the placing position, at least part of the picking member moves from one of the supporting positions of the supporting device to another adjacent supporting position.

[0006] In one embodiment, the connecting plate in the placement position is laterally shifted by a first displacement value in a first direction compared to the connecting plate in the picking position, and overlaps in a direction perpendicular to the first direction; at least part of the picking members are spaced apart along the first direction, and the spacing value between the picking members is equal to the first displacement value.

[0007] In one embodiment, the swing arm includes a first rotating part connected to the frame, and a second rotating part connected to the connecting plate, the length between the first rotating part and the second rotating part of each swing arm is equal, and the distance between adjacent first rotating parts is equal to the distance between adjacent second rotating parts; wherein each first rotating part is distributed along a first direction.

[0008] In one embodiment, the transport device further includes a buffer, the connecting plate at the picking position and the connecting plate at the placing position have an overlapping area, and the buffer is arranged on the frame and corresponds to the overlapping area to abut against the connecting plate at the picking position and the connecting plate at the placing position.

[0009] In one embodiment, the transport device further includes a driving assembly, which includes a driver and a transmission component, the transmission component is connected to each of the swing arms, and the driver is connected to the transmission component to drive each of the swing arms to rotate synchronously.

[0010] In one embodiment, a receiving cavity is hollowed out in the frame, and the swing arm mechanism includes a transmission shaft, and multiple transmission shafts are passed through the receiving cavity and are correspondingly connected to the swing arms; the transmission component is arranged in the receiving cavity and is connected to the multiple transmission shafts.

[0011] In one embodiment, the picking member includes a support plate, a picking portion and an elastic member, the picking portion is movably disposed on the support plate, one end of the elastic member is connected to the support plate, and the other end of the elastic member elastically abuts against a side of the picking portion away from the workpiece.

[0012] In one embodiment, the support plate is provided with a first limiting portion, and a second limiting portion located on a side away from the workpiece relative to the first limiting portion, the picking portion is slidably disposed between the first limiting portion and the second limiting portion, the picking member also includes a guide rod, one end of the guide rod is connected to the picking portion, and the other end of the guide rod is slidably passed through the first limiting portion, and the elastic member is sleeved on the guide rod and abuts between the first limiting portion and the picking portion.

[0013] On the other hand, the present application further provides a conveying device, which includes a supporting device and the handling device as described above, wherein the supporting device is provided with a plurality of supporting positions for carrying workpieces, and the handling device can transport the workpieces to each of the supporting positions.

[0014] In the above-mentioned handling device, the two ends of the swing arm mechanism are rotatably connected to the frame and the connecting plate respectively, so when the swing arm mechanism rotates, it can drive the connecting plate to rotate eccentrically relative to the frame, so that the picking structure as a whole can move in two orthogonal directions. Therefore, there is no need to set up two drivers to drive the picking structure to move in two orthogonal directions respectively, so the structure of the handling device is simplified and the cost is reduced. At the same time, in the present application, the swing arm mechanism drives the picking structure to move by rotating, and the swing arm mechanism can move directly under the rotation drive of the driver, so the handling is more efficient and the handling speed can be faster. In addition, the connecting plate and the frame only need to be connected by the swing arm, which has a simple structure and is easy to produce.

[0015] Furthermore, the connecting plate and the frame form a parallelogram transmission connection through a swing arm mechanism. Based on the characteristics of the parallelogram transmission connection, the various postures of the connecting plate during movement are parallel to each other, so the position of the picking part arranged on the connecting plate can be made more stable, thereby improving the position stability of the picked workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG. 1 is an axial schematic diagram of a transport device provided in one embodiment of the present application.

[0017] FIG. 2 is a front view of the transport device shown in FIG. 1 .

[0018] FIG. 3 is a front view of a frame and a swing arm mechanism in the transport device shown in FIG. 2 .

[0019] FIG. 4 a is a simplified diagram showing the picking structure in the handling device shown in FIG. 2 when it is in the picking position.

[0020] FIG. 4 b is a simplified diagram of the picking structure in the handling device shown in FIG. 2 when it is in the placing position.

[0021] FIG. 4 c is a simplified diagram showing the pick-up structure in the pick-up position shown in FIG. 4 a and the pick-up structure in the placement position shown in FIG. 4 b being superimposed.

[0022] FIG. 5 is an axial schematic diagram of a portion of the structure of a drive assembly and a frame in the handling device shown in FIG. 1 .

[0023] FIG. 6 is a schematic axial view of the transmission components and the transmission shaft in the handling device shown in FIG. 5 .

[0024] FIG. 7 is a schematic axial view of a picking member in the handling device shown in FIG. 1 .

[0025] FIG. 8 is an exploded schematic diagram of the picking member shown in FIG. 7 .

[0026] Figure numerals: 10, handling device; 100, frame; 110, accommodating chamber; 200, picking structure; 210, connecting plate; 220, picking member; 220a, first picking member; 220b, second picking member; 221, supporting plate; 221a, first limiting portion; 221b, second limiting portion; 221c, slide rail; 222, picking portion; 222a, guide rod; 223, elastic member; 300, swing arm mechanism; 301, swing arm; 302, transmission shaft; 310, first rotating Moving part; 320, second rotating part; 400, driving assembly; 410, driver; 420, transmission component; 420a, transmission wheel; 420b, transmission belt; 421, first transmission wheel; 422, second transmission wheel; 423, third transmission wheel; 424, fourth transmission wheel; 500, buffer; 21, first station; 22, second station; 23, third station; L1, first displacement value; L2, interval value; S1, first direction; S2, second direction; S3, third direction. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0028] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0029] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0030] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0031] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0033] An embodiment of the present application provides a conveying device, which includes a supporting device (not shown in the figure, the same below) and a handling device. The supporting device is provided with a plurality of supporting positions for carrying workpieces, and the handling device can carry the workpieces to each supporting position. A processing element can be arranged at each supporting position, and the handling device carries the workpieces to each supporting position so that the workpieces are processed by the processing element.

[0034] Please refer to FIG. 1 , an embodiment of the present application provides a transport device 10, which includes a frame 100, a pick-up structure 200, and a swing arm mechanism 300. The pick-up structure 200 includes a connecting plate 210 and a plurality of pick-up members 220, the pick-up members 220 are used to pick up workpieces, and the plurality of pick-up members 220 are arranged on the connecting plate 210. The swing arm mechanism 300 includes a plurality of swing arms 301, and the two ends of each swing arm 301 are rotatably connected to the frame 100 and the connecting plate 210, respectively, so that the connecting plate 210 and the frame 100 form a parallelogram transmission connection through the swing arm mechanism 300.

[0035] In the above-mentioned handling device 10, the two ends of the swing arm mechanism 300 are rotatably connected to the frame 100 and the connecting plate 210 respectively, so when the swing arm mechanism 300 rotates, it can drive the connecting plate 210 to rotate eccentrically relative to the frame 100, so that the picking structure 200 as a whole can move in two orthogonal directions. Therefore, it is not necessary to set two drivers 410 to drive the picking structure 200 to move in two orthogonal directions respectively, so the structure of the handling device 10 is simplified and the cost is reduced.

[0036] At the same time, in the present application, the swing arm mechanism 300 drives the picking structure 200 to move by rotating, and the swing arm mechanism 300 can move directly under the rotation drive of the driver, so the handling is more efficient and the handling speed can be faster. It should be noted that the current driver (such as a motor) usually outputs rotational motion. Therefore, for the linear drive method in the traditional technology, the driver usually needs to cooperate with a transmission structure such as a screw rod to convert the rotational motion output by the driver into a linear motion. Compared with the traditional technology in which the driver outputs motion with the help of a transmission structure, the driver in the present application can directly output rotational motion to the swing arm 301 structure to drive the picking structure 200 to move, so the handling is more efficient and the handling speed can be faster. Take the traditional technology in which the drive structure uses a screw rod as a transmission structure with a rotating motor as an example. At this time, the motion output by the drive structure is limited by the lead of the screw rod. In the present application, when the rotating motor rotates, it can directly output motion with the axial length of the swing arm 301 as the rotation radius, which obviously has a faster handling speed and higher handling efficiency.

[0037] Moreover, the connection plate 210 and the frame 100 are connected only by the swing arm 301, which has a simple structure and is easy to produce. Furthermore, the connection plate 210 and the frame 100 form a parallelogram transmission connection through the swing arm mechanism 300. Based on the characteristics of the parallelogram transmission connection, the various postures of the connection plate 210 during the movement are parallel to each other, so that the position of the picking member 220 disposed on the connection plate 210 can be more stable, so as to improve the position stability of the picked workpiece.

[0038] Regarding the above-mentioned parallelogram transmission connection, it should be noted that since the connecting plate 210 is connected to the frame 100 through the swing arm mechanism 300, the connecting plate 210 and the frame 100 are not adjacent sides in the parallelogram transmission mechanism, but opposite sides, so the connecting plate 210 is parallel to each other in all postures during the movement relative to the frame 100.

[0039] Please refer to FIG. 2 and FIG. 3. In one embodiment, the swing arm 301 includes a first rotating portion 310 and a second rotating portion 320. The first rotating portion 310 is connected to the frame 100, and the second rotating portion 320 is connected to the connecting plate 210. The lengths of the first rotating portion 310 and the second rotating portion 320 of each swing arm 301 are equal, and the distance between adjacent first rotating portions 310 is equal to the distance between adjacent second rotating portions 320. In short, in the transmission mechanism formed by the connecting plate 210, the swing arm mechanism 300 and the frame 100, two sets of opposite sides are equal to form a parallelogram mechanism. The connecting plate 210 and the frame 100 form one set of opposite sides, and the two adjacent swing arms 301 form another set of opposite sides.

[0040] Please refer to FIG. 2 and FIG. 4a to FIG. 4c. In one embodiment, the swing arm mechanism 300 is used to drive the picking structure 200 to move between the picking position and the placing position. The picking structure 200 at the picking position and the picking structure 200 at the placing position are both used to transfer the workpiece to the supporting device. When the picking structure 200 moves from the picking position to the placing position, at least part of the picking member 220 moves from one of the supporting positions of the supporting device to another adjacent supporting position. Thus, the picking structure 200 continuously reciprocates between the picking position and the placing position, and the workpiece can be continuously transported from one of the supporting positions to another adjacent supporting position, so that the transport device 10 can transport the workpiece to each supporting position in sequence.

[0041] Please refer to FIG. 1 again. In one embodiment, the connecting plate 210 is spaced apart from the frame 100 so that the motion plane of the connecting plate 210 is staggered with the frame 100, thereby reducing the probability of the motion of the connecting plate 210 interfering with the frame 100. Further, the swing arm 301 is disposed in the space between the connecting plate 210 and the frame 100, and the first rotating portion 310 and the second rotating portion 320 are disposed opposite to each other to be connected to the connecting plate 210 and the frame 100, respectively. Furthermore, the connecting plate 210 and the frame 100 may be spaced apart along the third direction S3.

[0042] Please refer to Figures 4a and 4b, taking the case where the supporting position is divided into the first station 21, the second station 22 and the third station 23 arranged in sequence, and the picking member 220 is divided into the first picking member 220a and the second picking member 220b as an example. As shown in Figure 4a, at this time, the picking structure 200 is in the picking position, and the first picking member 220a is aligned with the first station 21, and is used to pick up the workpiece at the first station 21; the second picking member 220b is aligned with the second station 22, and is used to pick up the workpiece at the second station 22. Then, as shown in Figure 4b, the picking structure 200 moves to the placement position. During this process, the first picking member 220a transports the workpiece from the first station 21 to the second station 22, and the second picking member 220b transports the workpiece from the second station 22 to the third station 23, thus completing a single transport. Furthermore, after the picking structure 200 completes the placement of the workpiece at the placement position, it can return to the picking position for the next transport. This cycle is repeated to realize the sequential transportation of workpieces.

[0043] Please refer to FIG. 4c. In one embodiment, the connecting plate 210 at the placement position is transversely displaced by a first displacement value L1 in the first direction S1 compared with the connecting plate 210 at the picking position, and overlaps in a direction perpendicular to the first direction S1. For example, the connecting plate 210 at the placement position overlaps with the connecting plate 210 at the picking position in the second direction S2, that is, the connecting plate 210 is located at the same position in the second direction S2 before and after the swinging movement, and is displaced in the first direction S1.

[0044] At least some of the picking members 220 are arranged at intervals along the first direction S1, and the interval value L2 between the picking members 220 is equal to the first displacement value L1. That is to say, the interval value L2 between at least some of the picking members 220 is equal and equal to the above-mentioned first displacement value L1. On the first hand, for the equal interval value L2 between the picking members 220, since each picking member 220 is arranged on the connecting plate 210, each picking member 220 moves synchronously with the connecting plate 210. Therefore, setting the intervals between the picking members 220 to be equal can uniformly switch each picking member 220 from a position aligned with the current supporting position to a position aligned with another adjacent supporting position, thereby improving the handling efficiency. On the second hand, regarding the interval value L2 between the picking members 220 being equal to the first displacement value L1, it is easy to understand that the first displacement value L1 is the distance that the connecting plate 210 moves laterally during the swinging motion. Therefore, the configuration interval value L2 is equal to the first displacement value L1, so that before and after the connecting plate 210 swings, each picking member 220 can be accurately aligned with each supporting position. Of course, for the picking member 220 and the supporting position at the head end, and the picking member 220 and the supporting position at the tail end, there is not always a corresponding picking member 220 aligned with the supporting position. For example, for the first station 21, the first picking member 220a at the picking position is aligned with it, and is used to take away the workpiece on the first station 21. The first picking member 220a at the placement position is staggered with the first station 21. At this time, there is no picking member 220 aligned with the first station 21, and the first station 21 can be used for other devices (such as a loading device) to load workpieces. The same is true for the tail end, which will not be repeated.

[0045] In addition, correspondingly, the intervals between the supporting positions are also equal and equal to the above-mentioned first displacement value L1.

[0046] It should be noted that the interval between the above-mentioned picking members 220 refers to the displacement value required for one picking member 220 to move to overlap with another adjacent picking member 220 along the first direction S1, and does not refer to the minimum interval distance between the two picking members 220.

[0047] In the embodiments of the present application, the interval value L2 between any two picking members 220 is not limited to be equal. For example, in another embodiment, the picking structure 200 may further include a variable pitch driver (not shown in the figure, the same below), which is disposed on the connecting plate 210 and connected to the picking member 220 to adjust the position of the picking member 220 relative to the connecting plate 210, so that the picking member 220 can be accurately aligned with the corresponding supporting position before and after the picking structure 200 swings.

[0048] Please refer to FIG. 2 and FIG. 3 again. In one embodiment, each first rotating portion 310 is distributed along the first direction S1 , and each second rotating portion 320 is also distributed along the first direction S1 .

[0049] Please refer to FIG. 4 a . In the embodiments of the present application, there is no limitation on the angle of rotation of the swing arm 301 during the rotation of the picking structure 200 from the picking position to the placing position, and the swing arm 301 can be designed accordingly according to the length of the swing arm 301 and the required first displacement value L1 .

[0050] Please refer to Figures 2 and 3 again. In one embodiment, the handling device 10 further includes a buffer 500. The connecting plate 210 at the picking position and the connecting plate 210 at the placing position have an overlapping area. The buffer 500 is arranged on the frame 100 and corresponds to the overlapping area to abut the connecting plate 210 at the picking position and the connecting plate 210 at the placing position. The buffer 500 can reduce the impact of the picking member 220 on the supporting device, making it easier to pick up the workpiece. It is easy to understand that since the buffer 500 is arranged in the above-mentioned overlapping area, the buffer 500 can provide buffering for the picking structure 200 regardless of whether the connecting plate 210 is at the picking position or the placing position.

[0051] Furthermore, the buffer 500 may extend along the second direction S2, and the buffer 500 is disposed below the connecting plate 210, and is used to flexibly support the connecting plate 210 when the connecting plate 210 is in the picking position and the placing position.

[0052] Please refer to FIG. 5 . In one embodiment, the handling device 10 further includes a driving assembly 400. The driving assembly 400 includes a driver 410 and a transmission component 420. The transmission component 420 is connected to each swing arm 301, and the driver 410 is connected to the transmission component 420 to drive each swing arm 301 to rotate synchronously, thereby improving the stability of the swinging motion of the picking structure 200. It is easy to understand that, since the connecting plate 210, the swing arm mechanism 300 and the frame 100 form a parallelogram mechanism (which is a single degree of freedom mechanism), only one of the swing arms 301 can be configured as an active rod.

[0053] Please refer to FIG. 1 and FIG. 5 . In one embodiment, a housing cavity 110 is hollowly provided in the frame 100. The swing arm mechanism 300 includes a transmission shaft 302. A plurality of transmission shafts 302 are disposed in the housing cavity 110 and are correspondingly connected to the swing arms 301. The transmission component 420 is disposed in the housing cavity 110 and is connected to the plurality of transmission shafts 302. With such a configuration, the transmission component 420 can drive the plurality of swing arms 301 to rotate simultaneously. In addition, the transmission component 420 is disposed in the housing cavity 110, which can reduce interference in the transmission process and improve the reliability of the drive and transmission.

[0054] Further, please refer to FIG. 5 and FIG. 6 . In one embodiment, the number of the swing arms 301 can be 3, and the number of the transmission shafts 302 is corresponding thereto, which is also 3. The transmission component 420 includes a transmission wheel 420a and a transmission belt 420b. The transmission wheel 420a is sleeved on the transmission shaft 302 and is transmission-connected with the transmission shaft 302. The transmission belt 420b is wound around the outer periphery of the two transmission wheels 420a, so that the two transmission wheels 420a rotate synchronously. Among them, the transmission wheel 420a is divided into a first transmission wheel 421, a second transmission wheel 422, a third transmission wheel 423 and a fourth transmission wheel 424. The first transmission wheel 421 and the second transmission wheel 422 are sleeved on the same transmission shaft 302, and the third transmission wheel 423 and the fourth transmission wheel 424 are sleeved on the other two transmission shafts 302 respectively. One of the synchronous belts is wound around the first transmission wheel 421 and the third transmission wheel 423, and the other synchronous belt is wound around the second transmission wheel 422 and the fourth transmission wheel 424. The driver 410 can be connected to the transmission shaft 302 provided with the first transmission wheel 421 and the second transmission wheel 422 , so when the driver 410 drives the transmission shaft 302 to rotate, it can drive the other two transmission shafts 302 to rotate, so that each swing arm 301 rotates synchronously.

[0055] Furthermore, the transmission shaft 302 may penetrate the frame 100 along the third direction S3, and the first direction S1, the second direction S2 and the third direction S3 are perpendicular to each other.

[0056] Please refer to FIG. 7 and FIG. 8. In one embodiment, the pick-up member 220 includes a support plate 221, a pick-up portion 222 and an elastic member 223, and the pick-up portion 222 is movably disposed on the support plate 221. One end of the elastic member 223 is connected to the support plate 221, and the other end of the elastic member 223 elastically abuts against the side of the pick-up portion 222 that is away from the workpiece. It is easy to understand that the present application utilizes the swing arm mechanism 300 to drive the connecting plate 210 and the multiple pick-up members 220 on the connecting plate 210 to move synchronously, and the load is relatively large, and the driving force is also relatively large. Therefore, the elastic member 223 is provided in this embodiment to buffer the pick-up member 220, so as to reduce the probability of the pick-up member 220 crushing the workpiece when the workpiece is placed in the supporting position and there is a deviation. In short, the provision of the elastic member 223 can buffer the pick-up portion 222 and reduce the possible damage to the workpiece.

[0057] Please continue to refer to Figures 7 and 8. In one embodiment, the support plate 221 is provided with a first limiting portion 221a and a second limiting portion 221b, and the second limiting portion 221b is located on a side away from the workpiece relative to the first limiting portion 221a. That is, the first limiting portion 221a and the second limiting portion 221b are arranged opposite to each other in the second direction S2, and the second limiting portion 221b is located on a side relatively away from the workpiece along the second direction S2. The picking portion 222 is slidably arranged between the first limiting portion 221a and the second limiting portion 221b, and the travel of the picking member 220 can be limited by the first limiting portion 221a and the second limiting portion 221b. The picking member 220 also includes a guide rod 222a, one end of which is connected to the picking portion 222, and the other end of the guide rod 222a is slidably penetrated by the first limiting portion 221a. The elastic member 223 is sleeved on the guide rod 222a and abuts between the first limiting portion 221a and the picking portion 222. The guide rod 222a can provide support for the elastic member 223 and improve the buffering effect. The elastic member 223 can be configured as a compression spring.

[0058] Furthermore, the support plate 221 is further provided with a slide rail 221 c , which extends along the second direction S2 and is disposed between the first limiting portion 221 a and the second limiting portion 221 b , and the picking portion 222 is slidably matched with the slide rail 221 c .

[0059] The number of swing arms 301 provided in the embodiments of the present application can be set according to actual needs, for example, the number of swing arms 301 can be 2, 3, 4, 5, 6, 7 or 8, etc. Similarly, the number of picking members 220 can also be set according to actual needs, for example, the number of picking members 220 can be 2, 3, 4, 5, 6, 7, 8, 10, 12 and 15, etc.

[0060] In one embodiment, the picking portion 222 may be connected to a vacuum generator to pick up the workpiece by vacuum adsorption.

[0061] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A transport device, characterized in that: The transport device comprises: frame; A picking structure, the picking structure comprising a connecting plate and a plurality of picking members arranged on the connecting plate, the picking members being used to pick up workpieces; The swing arm mechanism comprises a plurality of swing arms, and two ends of each of the swing arms are rotatably connected to the frame and the connecting plate respectively, so that the connecting plate and the frame form a parallelogram transmission connection through the swing arm mechanism.

2. The transport device according to claim 1, characterized in that: The swing arm mechanism is used to drive the picking structure to move between the picking position and the placing position, and the picking structure at the picking position and the picking structure at the placing position are both used to transfer the workpiece to the supporting device; When the picking structure moves from the picking position to the placing position, at least part of the picking member moves from one of the supporting positions of the supporting device to another adjacent supporting position.

3. The transport device according to claim 2, characterized in that: The connecting plate at the placing position is transversely displaced by a first displacement value in a first direction compared to the connecting plate at the picking position, and overlaps in a direction perpendicular to the first direction; At least some of the picking members are arranged at intervals along the first direction, and the interval value between the picking members is equal to the first displacement value.

4. The transport device according to claim 3, characterized in that: The swing arm includes a first rotating part connected to the frame, and a second rotating part connected to the connecting plate, the length between the first rotating part and the second rotating part of each swing arm is equal, and the distance between adjacent first rotating parts is equal to the distance between adjacent second rotating parts; wherein each first rotating part is distributed along a first direction.

5. The transport device according to claim 3, characterized in that: The transport device also includes a buffer, and the connecting plate at the picking position and the connecting plate at the placing position have an overlapping area. The buffer is arranged on the frame and corresponds to the overlapping area to abut against the connecting plate at the picking position and the connecting plate at the placing position.

6. The transport device according to claim 1, characterized in that: The transport device further comprises a driving assembly, which comprises a driver and a transmission component, wherein the transmission component is connected to each of the swing arms, and the driver is connected to the transmission component to drive each of the swing arms to rotate synchronously.

7. The transport device according to claim 6, characterized in that: The frame is hollowed out with a receiving cavity, the swing arm mechanism includes a transmission shaft, a plurality of the transmission shafts are passed through the receiving cavity and are correspondingly connected to the swing arms; the transmission component is arranged in the receiving cavity and is connected to the plurality of the transmission shafts.

8. The transport device according to claim 1, characterized in that: The picking member comprises a support plate, a picking portion and an elastic member, wherein the picking portion is movably arranged on the support plate, one end of the elastic member is connected to the support plate, and the other end of the elastic member elastically abuts against a side of the picking portion away from the workpiece.

9. The transport device according to claim 8, characterized in that: The support plate is provided with a first limiting portion, and a second limiting portion located on a side away from the workpiece relative to the first limiting portion, the picking portion is slidably disposed between the first limiting portion and the second limiting portion, the picking member also includes a guide rod, one end of the guide rod is connected to the picking portion, and the other end of the guide rod is slidably passed through the first limiting portion, the elastic member is sleeved on the guide rod and abuts between the first limiting portion and the picking portion.

10. A conveying device, characterized in that: The conveying equipment includes a supporting device and a handling device as described in any one of claims 1 to 9, wherein the supporting device is provided with a plurality of supporting positions for carrying the workpiece, and the handling device can handle the workpiece to each of the supporting positions.

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