Carrying device

Abstract

The invention discloses a carrying device. The carrying device comprises a frame; the positioning mechanism is arranged on the frame, and the positioning mechanism is matched with the first positioning hole; the gripper assembly is movably arranged on the frame, a gripping part is formed on the gripper assembly, the gripping part can be switched between a first state and a second state, when the gripping part is in the first state, the gripping part is suitable for stretching into the second positioning hole, and when the gripping part is in the second state, the gripping part is suitable for stretching into the second positioning hole. And the grasping part is propped against the second positioning hole. According to the carrying device, the gripper assembly which can be switched between the first state and the second state is matched with the positioning mechanism, so that multiple vehicle types share one gripper assembly for production, frequent replacement of the gripper assembly is avoided, the production efficiency is improved, and the development cost of the carrying device is reduced; and the storage occupied space of the gripper assembly is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle manufacturing, and in particular to a transporting device. Background Art

[0002] The relevant technology points out that in the automobile welding production line, multiple models are produced on the same line. During the production of sub-assemblies (such as rear floor assemblies), robot grippers are generally used for transportation between workstations. At present, the OEM generally has one set of grippers for each model. When producing different models, the gripper of model A needs to be placed on the bracket and then replaced with the gripper of model B. This gripper switching mode not only has low production efficiency, but also high cost and large space occupation. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention is to provide a handling device, which can improve production efficiency, reduce production costs, and reduce storage space.

[0004] According to the handling device of the present invention, a first positioning hole and a second positioning hole are formed on the workpiece to be handled, and the handling device includes: a frame; a positioning mechanism, the positioning mechanism is arranged on the frame, and the positioning mechanism cooperates with the first positioning hole to position the workpiece to be handled; a gripper assembly, the gripper assembly is movably arranged on the frame, and is spaced apart from the positioning mechanism in the X direction, the gripper assembly is formed with a gripping portion, the gripping portion has a first state and a second state, the gripping portion is switchable between the first state and the second state, when the gripping portion is in the first state, the gripping portion is suitable for extending into the second positioning hole, and when the gripping portion is in the second state, the gripping portion abuts against the second positioning hole.

[0005] The handling device according to the present invention, by providing a gripper assembly switchable between a first state and a second state, cooperates with a positioning mechanism, thereby achieving production of multiple vehicle models using a common gripper assembly, avoiding frequent replacement of the gripper assembly, improving production efficiency, reducing development costs of the handling device, and reducing storage space occupied by the gripper assembly.

[0006] In some embodiments, the gripper assembly includes: a connecting seat and a gripper assembly, the gripper assembly is connected to the connecting seat, and the gripper assembly includes: a connecting plate, the gripper assembly is connected to the connecting seat through the connecting plate; a sliding mechanism, the sliding mechanism is arranged on the connecting plate; a gripping mechanism, the gripping mechanism is connected to the sliding mechanism, and the gripping part is formed on the gripping mechanism; a first driving member, the first driving member is arranged on the connecting plate, and the first driving member is connected to the sliding mechanism to drive the gripping part to switch between the first state and the second state.

[0007] In some embodiments, the gripping mechanism includes a second slide rail and two gripping members spaced apart in the Y direction, the two gripping members are both disposed on the second slide rail, a gap is provided between the two gripping members, each of the gripping members has a first body and a second body, the first body extends along the Y direction, the second body extends along the Z direction, the second body is connected to one end of the first body close to the gap, and the gripping portion is formed on a side surface of the second body facing away from the gap.

[0008] In some embodiments, the gripping portion includes a plurality of latch teeth, the plurality of latch teeth are formed on a side surface of the second body away from the gap, and the plurality of latch teeth extend along the X direction and are arranged in the Z direction.

[0009] In some embodiments, the sliding mechanism includes a second sliding rail and two sliding plates arranged at intervals in the Y direction, and the two sliding plates are connected to the connecting plate through the second sliding rail to slide relative to the connecting plate, and each sliding plate is provided with a gripping member.

[0010] In some embodiments, the gripper assembly further includes: a mounting bracket, a sensor and a sensing trigger member, wherein the mounting bracket is disposed on the sliding plate, the sensor is disposed on the mounting bracket, the sensing trigger member is disposed on the connecting plate, and a sensing portion is formed at one end of the sensing trigger member away from the connecting plate, and the sensor cooperates with the sensing portion to sense and determine the state of the gripping portion.

[0011] In some embodiments, the gripper assembly further includes: a limiting mechanism, which is disposed on the connecting plate, and includes a first limiting member and a second limiting member, wherein the first limiting member and the second limiting member cooperate to limit the sliding distance of the sliding plate in the Y direction.

[0012] In some embodiments, the gripper assembly further includes: a first slide rail, a second driving member and a connecting rod, wherein the first slide rail is connected to the frame, the connecting rod is connected to the first slide rail, the connecting rod and the frame can slide relative to each other along the X direction, one end of the connecting seat is connected to the connecting rod, the connecting plate is connected to the other end of the connecting seat, and the second driving member drives the first slide rail to drive the connecting rod to move in the X direction.

[0013] In some embodiments, there are two gripper assemblies, which are arranged on both sides of the positioning mechanism in the X direction, each of the gripper assemblies includes two connecting seats and two gripper assemblies, and each of the connecting seats is provided with a gripper assembly.

[0014] In some embodiments, the handling device also includes: a control unit, which is disposed on the frame and is electrically connected to the positioning mechanism and the gripper assembly; a connecting plate, which is disposed on the frame and is used to connect to the assembly robot.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the operation of a transport device according to an embodiment of the present invention;

[0017] Figure 2 yes Figure 1 A schematic diagram of the handling device shown in;

[0018] Figure 3 yes Figure 2 A schematic bottom view of the handling device shown in ;

[0019] Figure 4 yes Figure 2 A schematic diagram of the gripper assembly shown in ;

[0020] Figure 5 yes Figure 4 A schematic diagram of the gripper assembly shown in ;

[0021] Figure 6 yes Figure 5 An exploded schematic diagram of the gripper assembly shown in ;

[0022] Figure 7 yes Figure 6 A schematic diagram of the gripping member shown in ;

[0023] Figure 8 It is a schematic diagram of the parts to be transported;

[0024] Fig. 9 yes Figure 8 Schematic diagram of the AA section of the workpiece to be transported shown in FIG.

[0025] Reference numerals:

[0026] 100. Handling device;

[0027] 1. Framework;

[0028] 2. Positioning mechanism;

[0029] 3. Grip assembly; 31. Connecting seat;

[0030] 32. gripper assembly; 321. connecting plate; 322. second slide rail; 323. gripping member; 3231. first body; 3232. second body; 324. gap; 325. gripping portion; 3251. latching teeth; 326. sliding plate; 327. mounting bracket; 328. sensor; 329. induction trigger member; 3210. first position limiting member; 3211. second position limiting member; 3212. first driving member;

[0031] 33. First slide rail; 34. Second driving member; 35. Connecting rod;

[0032] 4. Control unit; 5. Connection plate;

[0033] 200, workpiece to be transported; 201, first positioning hole; 202, second positioning hole. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0035] Reference below Figure 1-Figure 9 A transfer device 100 according to an embodiment of the present invention is described.

[0036] like Figure 1-Figure 9 As shown, the handling device 100 according to the embodiment of the present invention includes: a frame 1, a positioning mechanism 2 and a gripper assembly 3.

[0037] Specifically, the object to be transported 200 can be, for example, a rear floor assembly, and a first positioning hole 201 and a second positioning hole 202 are formed on the object to be transported 200. Of course, in other embodiments, the object to be transported 200 can also be a front floor assembly or other subassemblies. The positioning mechanism 2 is provided on the frame 1, and the positioning mechanism 2 cooperates with the first positioning hole 201 to position the object to be transported 200. The gripper assembly 3 is movably provided on the frame 1, and the gripper assembly 3 and the positioning mechanism 2 are arranged at intervals in the X direction. The gripper assembly 3 is formed with a gripping portion 325, and the gripping portion 325 has a first state and a second state. The gripping portion 325 can be switched between the first state and the second state. When the gripping portion 325 is in the first state, the gripping portion 325 is suitable for extending into the second positioning hole 202. When the gripping portion 325 is in the second state, the gripping portion 325 abuts against the second positioning hole 202.

[0038] It can be understood that the frame 1 serves as the basic structure of the entire device, supporting the positioning mechanism 2 and the gripper assembly 3, ensuring the carrying capacity and stability of the transport device 100; the positioning mechanism 2 is installed on the frame 1, and the positioning mechanism 2 cooperates with the first positioning hole 201 on the workpiece 200 to be transported, and is used to preliminarily determine the position of the workpiece 200 to be transported. The positioning mechanism 2 and the first positioning hole 201 are quickly and accurately docked to achieve efficient positioning; the gripper assembly 3 moves along the X direction on the frame 1, so that the position can be adjusted to accommodate workpieces 200 to be transported of different sizes or models. When the gripping portion 325 is in the first state, the gripping portion 325 can extend into the second positioning hole 202. When the gripping portion 325 is in the second state, the outer peripheral surface of the gripping portion 325 abuts against the inner peripheral surface of the second positioning hole 202 to smoothly transport the workpiece 200 to be transported.

[0039] According to the handling device 100 of the embodiment of the present invention, a gripper assembly 3 switchable between a first state and a second state is provided, which cooperates with the positioning mechanism 2 to achieve the production of multiple types of vehicles using the same gripper assembly 3, thereby avoiding frequent replacement of the gripper assembly 3, improving production efficiency, reducing the development cost of the handling device 100, and reducing the storage space occupied by the gripper assembly 3.

[0040] Optionally, the positioning mechanism 2 is a pin cylinder mechanism, and the pin cylinder positions and clamps the first positioning hole 201 on the workpiece 200 to be transported.

[0041] In some embodiments of the present invention, Figure 4-Figure 7As shown, the gripper assembly 3 includes: a connecting seat 31 and a gripper assembly 32, the gripper assembly 32 is connected to the connecting seat 31, the gripper assembly 32 includes: a connecting plate 321, a sliding mechanism, a gripping mechanism and a first driving member 3212, the gripper assembly 32 is connected to the connecting seat 31 through the connecting plate 321, the sliding mechanism is arranged on the connecting plate 321, the gripping mechanism is connected to the sliding mechanism, the gripping portion 325 is formed on the gripping mechanism, the first driving member 3212 is arranged on the connecting plate 321, and the first driving member 3212 is connected to the sliding mechanism to drive the gripping portion 325 to switch between the first state and the second state. It can be understood that the connecting seat 31 serves as a connecting component between the gripper assembly 3 and the frame 1, ensuring that the gripper assembly 3 can be firmly installed on the frame 1, the positioning mechanism 2 cooperates with the first positioning hole 201 for preliminary positioning, the gripper assembly 3 can be moved so that the gripping portion 325 cooperates with the second positioning hole 202, the first driving member 3212 is started to drive the gripping portion 325 of the gripper assembly 32 to be in the first state suitable for extending into the second positioning hole 202, after the gripping portion 325 is located in the second positioning hole 202, the first driving member 3212 drives the gripping portion 325 of the gripper assembly 32 to switch from the first state to the second state, and the outer peripheral wall of the gripping portion 325 abuts against the inner peripheral wall of the second positioning hole 202, and after the conveying device 100 conveys the object 200 to be conveyed to the predetermined position, the first driving member 3212 reverses the action to switch the gripping portion 325 from the second state to the first state and withdraw from the second positioning hole 202, releasing the object 200 to be conveyed. Therefore, through the precise positioning mechanism 2 and the flexible gripper assembly 32, it is ensured that each transport can be completed accurately. The mobility and state switching function of the gripper assembly 3 can adapt to the transported parts 200 of different sizes and shapes, support the co-production of multiple models, improve production efficiency and reduce production costs.

[0042] In some embodiments of the present invention, the gripping mechanism includes a second slide rail 322 and two gripping members 323 arranged at intervals in the Y direction. The two gripping members 323 are both arranged on the second slide rail 322. There is a gap 324 between the two gripping members 323. Each gripping member 323 has a first body 3231 and a second body 3232. The first body 3231 extends along the Y direction, and the second body 3232 extends along the Z direction. The second body 3232 is connected to one end of the first body 3231 close to the gap 324. The gripping portion 325 is formed on a side surface of the second body 3232 away from the gap 324. That is, there is a certain gap 324 between the two gripping members 323. When the first driving member 3212 is started, the gripping member 323 moves along the Y direction, so that the gripping portion 325 extends into or out of the second positioning hole 202 of the transported object 200, and the gripping and releasing action is completed, that is, the first driving member 3212 pushes the two gripping members 323 to move toward or away from each other along the Y direction. Therefore, it supports multiple vehicle models to share the gripper assembly 3, which not only improves production efficiency but also reduces production costs, ensures the stability and safety of the object 200 to be transported during the transportation process, and reduces the risk of accidental falling off.

[0043] Furthermore, if Figure 7 As shown, the gripping portion 325 includes a plurality of latch teeth 3251, which are formed on a side surface of the second body 3232 away from the gap 324, and the plurality of latch teeth 3251 extend along the X direction and are arranged in the Z direction. Thus, the latch teeth 3251 contact the inner wall of the second positioning hole 202, increasing the friction force, ensuring that the object 200 to be transported will not fall off during the transport process, and the plurality of latch teeth 3251 constitute a plurality of gripping gears, which enable the gripping of the objects 200 to be transported of various heights and sizes, thereby improving the versatility of the transport device 100.

[0044] In some embodiments of the present invention, Figure 6 and Figure 7 As shown, the sliding mechanism includes two sliding plates 326 arranged at intervals in the Y direction, and the two sliding plates 326 are connected to the connecting plate 321 through the second slide rail 322 to slide relative to the connecting plate 321, and each sliding plate 326 is provided with a gripping member 323. Therefore, by providing the sliding plates 326, the overall structural stability of the sliding mechanism is ensured, and the carrying capacity of the transport device 100 is improved.

[0045] like Figure 6 As shown, the sliding plate 326 is formed as an L-shaped plate member.

[0046] In some embodiments of the present invention, Figure 5 and Figure 6As shown, the gripper assembly 32 further includes: a mounting bracket 327, a sensor 328 and a sensing trigger 329. The mounting bracket 327 is arranged on the sliding plate 326, the sensor 328 is arranged on the mounting bracket 327, and the sensing trigger 329 is arranged on the connecting plate 321. The sensing trigger 329 is formed with a sensing part at one end away from the connecting plate 321. The sensor 328 cooperates with the sensing part to sense to determine the state of the gripping part 325. Therefore, when the mounting bracket 327 slides to a predetermined position around the sensing trigger 329, the sensor 328 sends a signal to the control unit 4. The sensor 328 is mounted on the mounting bracket 327 and is used to detect the position of the sensing part, thereby determining the state of the gripping part 325. The sensing trigger 329 is arranged at one end away from the connecting plate 321, which ensures the efficiency and reliability of the handling device 100, enhances the gripping force of the gripping part 325, and improves the stability and safety of the object 200 to be handled during the handling process.

[0047] Reference Figure 6 As shown, the mounting bracket 327 is formed as an L-shaped bending part, the induction triggering part 329 is formed as an L-shaped bending part, and the sensor 328 is a standard part.

[0048] In some embodiments of the present invention, the gripper assembly 32 also includes: a limiting mechanism, which is arranged on the connecting plate 321, and includes a first limiting member 3210 and a second limiting member 3211. The first limiting member 3210 and the second limiting member 3211 cooperate to limit the sliding distance of the sliding plate 326 in the Y direction to prevent the sliding plate 326 from exceeding a predetermined moving range, thereby ensuring precise control of the sliding plate 326 during movement, avoiding damage caused by excessive movement, and improving the stability and safety of the transport device 100.

[0049] Reference Figure 6 As shown, the first limiting member 3210 is formed in a T-shape, and the second limiting member 3211 is formed in an L-shape.

[0050] Specifically, a limiting bolt is provided on the connecting plate 321 , and the limiting bolt cooperates with the first limiting member 3210 to limit the moving range of the sliding plate 326 when it moves toward each other, and the second limiting member 3211 limits the moving range of the sliding plate 326 when it moves away from each other.

[0051] In some embodiments of the present invention, the gripper assembly 3 further includes: a first slide rail 33, a second driving member 34 and a connecting rod 35. The first slide rail 33 is connected to the frame 1, and the connecting rod 35 is connected to the first slide rail 33. By setting the first slide rail 33, the connecting rod 35 and the frame 1 can slide relative to each other along the X direction. One end of the connecting seat 31 is connected to the connecting rod 35, and the connecting plate 321 is connected to the other end of the connecting seat 31. The second driving member 34 drives the first slide rail 33 to drive the connecting rod 35 to move in the X direction. Optionally, the second driving member 34 is a servo motor. Figure 4 As shown, the connecting rod 35 extends along the Y direction, and the first slide rail 33 is arranged between the frame 1 and the connecting rod 35, so that the connecting rod 35 can slide relative to the frame 1 in the X direction. The first slide rail 33 includes a first sliding member and a second sliding member. The first sliding member is connected to the frame 1, and the second sliding member is connected to the connecting rod 35. The first sliding member and the second sliding member can slide relative to each other. Therefore, the first slide rail 33 is cleverly arranged, and the gripper assembly 3 achieves mobility through the first slide rail 33 and the second driving member 34, which improves the flexibility of the gripper assembly 3, making the gripper assembly 3 more flexible in the X direction. It can adapt to different models and sizes of the parts 200 to be transported, and support the co-production of multiple models.

[0052] Reference Figure 6 As shown, the connecting plate 321 is formed in a T-shape. Optionally, the first slide rail 33 and the second slide rail 322 are both standard parts.

[0053] In some embodiments of the present invention, Figure 2 and Figure 4 As shown, there are two gripper assemblies 3, which are arranged on both sides of the positioning mechanism 2 in the X direction, and each gripper assembly 3 includes two connecting seats 31 and two gripper assemblies 32, and each connecting seat 31 is provided with a gripper assembly 32. It can be understood that the second positioning holes 202 include two groups, and the two groups of second positioning holes 202 are arranged on both sides of the first positioning hole 201 in the X direction, and the two gripper assemblies 3 are arranged corresponding to the two second positioning holes 202. Therefore, the provision of two gripper assemblies 3 ensures the stability and safety of the object 200 to be transported during the transport process, improves the adaptability and flexibility of the transport device 100, and can better grasp and transport the objects 200 to be transported of different sizes and shapes.

[0054] Furthermore, if Figure 6 As shown, each gripper assembly 32 is provided with a limiting mechanism, and the limiting mechanism includes two limiting members, and the two limiting members are arranged in a one-to-one correspondence with the two gripping members 323.

[0055] In some embodiments of the present invention, the handling device 100 further includes: a control unit 4, which is disposed on the frame 1 and is electrically connected to the positioning mechanism 2 and the gripper assembly 3. The control unit 4 is used to receive signals from the positioning mechanism 2 and the sensor 328, confirm the positioning state of the object 200 to be handled and the state of the gripper 325, and judge and control the action of the driving member according to the received signal or information, so as to achieve stable positioning of the positioning mechanism 2 and precise movement of the gripper assembly 3, as well as state switching of the gripper 325, and can also monitor the working state of the handling device 100 in real time, detect and report abnormal conditions, ensure the safety and reliability of the handling device 100, and improve the intelligence level of the handling device 100.

[0056] Optionally, the control unit 4 includes an air-controlled valve module for controlling the action sequence of the starting element. The first driving member 3212 is a dual-axis cylinder. The air-controlled valve module is connected to the dual-axis cylinder to control the action of the dual-axis cylinder. The dual-axis cylinder includes two drive shafts, one of the two drive shafts is connected to one of the two sliding plates 326, and the other of the two drive shafts is connected to the other of the two sliding plates 326.

[0057] In some embodiments of the present invention, the transport device 100 also includes: a connecting plate 5, which is arranged on the frame 1, and is used to connect to the assembly robot to achieve a stable connection between the transport device 100 and the assembly robot, thereby improving the degree of automation of the transport device 100, improving the overall performance and reliability of the system, reducing manual intervention, improving production efficiency, and ensuring stability during long-term operation.

[0058] Reference Figure 2 As shown, the frame 1 is welded by a plurality of square tubes; the connecting plate 5 is a standard part, so as to be connected with different types of assembly robots. In other embodiments of the present invention, the connecting plate 5 can also be other connecting parts, which only need to be able to stably connect with the assembly robot.

[0059] The following will refer to Figure 1-Figure 9 A handling device 100 according to a specific embodiment of the present invention is described.

[0060] like Figure 1-Figure 9 As shown, first, the product structure design method of the transported part 200 is described:

[0061] Taking the first positioning hole 201 as a reference, the height of the second positioning hole 202 located at the first end is designed to be within the range of +20mm to -30mm of the height of the first positioning hole 201, and the spacing of the height difference between the first positioning hole 201 and the second positioning hole 202 located at the first end is a multiple of 2, that is, the height of the first positioning hole 201 is set as a reference 0, and the height L1 of the second positioning hole 202 located at the first end can be 20mm, 18mm, 16mm, 14mm, 12mm, 10mm, 8mm, 6mm, 4mm, 2mm, 0mm, -2mm, -4mm, -6mm, -8mm, -10mm, -12mm, -14mm, -16mm, -18mm, -20mm, -22mm, -24mm, -26mm, -28mm, -30mm; taking the first positioning hole 201 as a reference, the height of the second positioning hole 202 located at the second end is designed to be within the range of +20mm to -30mm of the height of the first positioning hole 201, and the spacing of the height difference between the first positioning hole 201 and the second positioning hole 202 located at the first end is a multiple of 2, that is, the height of the first positioning hole 201 is set as a reference 0, and the height L1 of the second positioning hole 202 located at the first end can be 20mm, 18mm, 16mm, 14mm, 12mm, The height of 202 is designed to be in the range of -200mm to -250mm of the height of the first positioning hole 201, and the spacing of the height difference between the first positioning hole 201 and the second positioning hole 202 located at the second end is a multiple of 2, that is, the height of the first positioning hole 201 is set as the reference 0, and the height L2 of the second positioning hole 202 located at the second end can be -200mm, -202mm, -204mm, -206mm, -208mm, -210mm, -212mm, -214mm, -216mm, -218mm, -220mm, -222mm, -224mm, -226mm, -228mm, -230mm, -232mm, -234mm, -236mm, -238mm, -240mm, -242mm, -244mm, -246mm, -248mm, -250mm. The first positioning hole 201 of the transported part 200, the second positioning hole 202 at the first end, and the second positioning hole 202 at the second end are all designed as described above. Combined with the transport device 100 of the present invention, the gripper assembly 3 of the transported parts 200 of different sizes can be shared.

[0062] When the welding of the workpiece 200 to be transported is completed, the assembly robot moves with the transport device 100 to the top of the workpiece 200 to be transported, and then the robot drives the transport device 100 to descend, so that the pin of the pin cylinder mechanism is inserted into the first positioning hole 201. At this time, the gripping parts 325 of the gripper assembly 3 are all in the first state (the distance between the two gripping parts 323 is the shortest), and the gripping parts 325 are respectively inserted into the corresponding second positioning holes 202. After being inserted into place, the pin cylinder clamps the table top of the first positioning hole 201, and the double-axis cylinder of the gripper assembly 3 drives the corresponding two gripping parts 323 to move back to the predetermined position. After the assembly is in the second position (the gripping portion 325 of the gripper assembly 3 is in the second state), the gripping portion 325 on the gripping member 323 is stuck into the edge of the second positioning hole 202, and then the sensor 328 is triggered to send a signal to the control unit 4, so that the assembly robot drives the handling device 100 to move to the next operating station along the predetermined trajectory, and then places the workpiece 200 to be handled on the fixture, and finally the pin cylinder is opened, and the gripping member 323 moves towards each other (i.e., switches from the second state to the first state), and the handling device 100 rises and leaves the workpiece 200 to be handled, returns to the initial position, and is ready to continue to grasp the next workpiece 200 to be handled.

[0063] Specifically, the first positioning hole 201 of the transported piece 200 is preliminarily positioned with the positioning mechanism 2 (pin cylinder mechanism), and the positioning mechanism 2 sends a positioning signal to the control unit 4 to confirm that the transported piece 200 has been correctly positioned; based on the positioning signal, the control unit 4 controls the servo motor (second drive member 34) to drive the sliding assembly to drive the connecting rod 35 to move the gripper assembly 3 along the X direction, so that the gripping portion 325 of each gripper assembly 3 is aligned with the corresponding second positioning hole 202; the control unit 4 drives the first drive member 3212 (dual-axis cylinder) to drive the two gripping members 323 to move in opposite directions, and after moving to the predetermined position (the gripping portion 325 of the gripper assembly 3 is in the second state), the gripping portion 325 on the gripping member 323 is clamped into the second positioning hole 202, the sensor 328 detects the sensing part of the sensing trigger member 329, confirms that the gripping part 325 is in the second state, and sends a signal to the control unit 4; the first limit member 3210 and the second limit member 3211 cooperate to limit the sliding distance of the sliding plate 326 to prevent excessive movement; a signal is sent to the control unit 4, so that the assembly robot drives the handling device 100 to move to the next operating station along a predetermined trajectory, and then places the workpiece 200 to be transported on the fixture, and the control unit 4 starts the driving member to move the sliding plate 326 outward, and the second body 3232 withdraws from the second positioning hole 202 of the workpiece 200 to be transported along the Z direction, and the latch tooth 3251 completely withdraws from the second positioning hole 202 to release the workpiece 200 to be transported.

[0064] When producing different vehicle models, the spacing between the first positioning hole 201 and the second positioning hole 202 of the transported part 200 is constrained and designed based on the above-mentioned product structure design method. Therefore, when producing different vehicle models, with the first positioning hole 201 as a reference, the gripper assembly 3 slides along the X direction to the corresponding position of the second positioning hole 202 through the servo motor (second driving member 34), and the Z-direction height difference of different vehicle models is positioned and clamped through the latch teeth 3251 on the gripping member 323.

[0065] It should be noted that the gripper assembly 32 can be adjusted within a range of 250 mm in the X direction through a corresponding servo motor, thereby meeting the common requirements of various vehicle models.

[0066] In the description of the present invention, it should be understood that 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" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0067] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0068] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0070] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A transport device, wherein a first positioning hole and a second positioning hole are formed on a transported object, characterized in that: The transport device comprises: frame; A positioning mechanism, the positioning mechanism is arranged on the frame, and the positioning mechanism cooperates with the first positioning hole to position the object to be transported; A gripper assembly, wherein the gripper assembly is movably disposed on the frame and is spaced apart from the positioning mechanism in the X direction, wherein the gripper assembly is formed with a gripping portion, wherein the gripping portion has a first state and a second state, wherein the gripping portion is switchable between the first state and the second state, wherein when the gripping portion is in the first state, the gripping portion is adapted to extend into the second positioning hole, and when the gripping portion is in the second state, the gripping portion abuts against the second positioning hole.

2. The transport device according to claim 1, characterized in that: The gripper assembly comprises: a connecting seat and a gripper assembly, wherein the gripper assembly is connected to the connecting seat, and the gripper assembly comprises: A connecting plate, through which the gripper assembly is connected to the connecting seat; A sliding mechanism, wherein the sliding mechanism is arranged on the connecting plate; A gripping mechanism, the gripping mechanism is connected to the sliding mechanism, and the gripping portion is formed on the gripping mechanism; A first driving member is disposed on the connecting plate, and the first driving member is connected to the sliding mechanism to drive the gripping portion to switch between the first state and the second state.

3. The transport device according to claim 2, characterized in that: The gripping mechanism includes a second slide rail and two gripping members arranged at intervals in the Y direction, the two gripping members are both arranged on the second slide rail, and there is a gap between the two gripping members. Each of the gripping members has a first body and a second body, the first body extends along the Y direction, the second body extends along the Z direction, the second body is connected to one end of the first body close to the gap, and the gripping portion is formed on a side surface of the second body facing away from the gap.

4. The transport device according to claim 3, characterized in that: The gripping portion includes a plurality of latching teeth, which are formed on a side surface of the second body away from the gap, and the plurality of latching teeth extend along the X direction and are arranged in the Z direction.

5. The transport device according to any one of claims 2 to 4, characterized in that: The sliding mechanism includes a second sliding rail and two sliding plates spaced apart in the Y direction. The two sliding plates are connected to the connecting plate via the second sliding rail to slide relative to the connecting plate. A gripping member is provided on each sliding plate.

6. The transport device according to claim 5, characterized in that: The gripper assembly also includes: a mounting bracket, a sensor and a sensing trigger member, the mounting bracket is arranged on the sliding plate, the sensor is arranged on the mounting bracket, the sensing trigger member is arranged on the connecting plate, and a sensing part is formed at one end of the sensing trigger member away from the connecting plate, and the sensor cooperates with the sensing part to sense to determine the state of the gripping part.

7. The transport device according to claim 6, characterized in that: The gripper assembly also includes: a limiting mechanism, which is arranged on the connecting plate, and includes a first limiting member and a second limiting member, and the first limiting member and the second limiting member cooperate to limit the sliding distance of the sliding plate in the Y direction.

8. The transport device according to claim 2, characterized in that: The gripper assembly also includes: a first slide rail, a second driving member and a connecting rod, the first slide rail is connected to the frame, the connecting rod is connected to the first slide rail, the connecting rod and the frame can slide relatively along the X direction, one end of the connecting seat is connected to the connecting rod, the connecting plate is connected to the other end of the connecting seat, and the second driving member drives the first slide rail to drive the connecting rod to move in the X direction.

9. The transport device according to claim 8, characterized in that: There are two gripper assemblies, which are arranged on both sides of the positioning mechanism in the X direction. Each gripper assembly includes two connecting seats and two gripper components, and each connecting seat is provided with a gripper component.

10. The transport device according to claim 1, characterized in that: Also includes: A control unit, the control unit is disposed on the frame and is electrically connected to the positioning mechanism and the gripper assembly; A connection plate is arranged on the frame and is used to be connected to an assembly robot.

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