Taking-out mechanism and transportation device

Abstract

The invention relates to the technical field of workpiece transportation, and provides a taking-out mechanism and a transportation device.The taking-out mechanism comprises a first follow-up assembly, a grabbing assembly and a first fixing assembly; wherein the first follow-up frame and the carrier can move at the same speed, and the carrier is used for transporting a first target object; the grabbing assembly is installed on the first follow-up frame and can transplant the first target object to the first follow-up frame from the carrier. The first fixing assembly comprises a first fixing frame, the first follow-up frame can move relative to the first fixing frame and can be in butt joint with the first fixing frame, and the first target object can move to the first fixing frame from the first follow-up frame. The taking-out mechanism can stably obtain the first target object carried on the carrier under the condition that the carrier is not parked. And the transportation efficiency of the first target object is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece transportation, and particularly to a taking-out mechanism and a transportation device. Background Art

[0002] In an assembly workshop, it is usually necessary to use a transportation mechanism to concentrate parts on an assembly production line, and workers assemble each part on the assembly production line.

[0003] Generally, for the convenience of transportation, parts are mostly loaded in parts boxes to avoid being knocked during transportation. This also leads to the accumulation of parts boxes on the assembly production line.

[0004] Therefore, in the prior art, the transportation mechanism can not only transport the parts boxes loaded with parts to the assembly production line, but also transport the empty parts boxes back to the feeding station, and place parts into the empty parts boxes at the feeding station.

[0005] At the feeding station, it is currently mostly necessary for workers to unload the parts boxes. After filling them with parts, the parts boxes are then placed on a conveyor belt or an AGV vehicle and returned to the assembly production line. During the process of manually handling the parts boxes, the transportation mechanism needs to stop, which leads to repeated pauses of the transportation mechanism, relatively high energy consumption for starting and stopping, and affects the transportation efficiency.

[0006] Therefore, there is an urgent need for a taking-out mechanism and a transportation device to solve the above technical problems. Summary of the Invention

[0007] The purpose of the present invention is to provide a taking-out mechanism and a transportation device, which can obtain a target object without the vehicle stopping. In this way, the transportation efficiency can be improved, and the handover stability can be ensured.

[0008] To achieve this purpose, the present invention adopts the following technical solutions:

[0009] The taking-out mechanism includes:

[0010] A first follow-up component, including a first follow-up frame, the first follow-up frame can move at the same speed as the vehicle, and the vehicle is used to transport a first target object;

[0011] A grasping component, installed on the first follow-up frame, the grasping component can transplant the first target object from the vehicle to the first follow-up frame;

[0012] A first fixing component, including a first fixing frame, the first follow-up frame can move relative to the first fixing frame and can also be docked with the first fixing frame, and the first target object can move from the first follow-up frame to the first fixing frame.

[0013] As a preferred technical solution of the above-mentioned taking-out mechanism, the above-mentioned grasping component includes a first telescopic member and a grasping member. One end of the first telescopic member is fixed to the first follower frame, and the other end can drive the grasping member to reciprocate in a first direction. The grasping member includes a first finger joint, which can rotate relative to the first telescopic member and can abut against the first target object on the side facing away from the first follower frame.

[0014] The first direction is arranged at an angle to the moving direction of the vehicle.

[0015] As a preferred technical solution of the above-mentioned taking-out mechanism, the first follower assembly further includes a first locking mechanism. The first locking mechanism is installed on the first follower frame, and the first follower frame can be kept relatively stationary with the vehicle through the first locking mechanism.

[0016] As a preferred technical solution of the above-mentioned taking-out mechanism, the first locking mechanism includes a second telescopic member. The second telescopic member can move relative to the first follower frame in the first direction and can be inserted into the vehicle. The first direction is arranged at an angle to the moving direction of the vehicle.

[0017] As a preferred technical solution of the above-mentioned taking-out mechanism, the first follower frame includes a first slide rail, and the first slide rail is inclined. The first fixed frame includes a second slide rail. When the first follower frame is docked with the first fixed frame, the first target object can enter the second slide rail along the first slide rail under the action of gravity.

[0018] As a preferred technical solution of the above-mentioned taking-out mechanism, the first follower frame further includes a first limiting member. The first limiting member is installed at the outlet end of the first slide rail and can intercept the first target object from entering the second slide rail from the first slide rail.

[0019] As a preferred technical solution of the above-mentioned taking-out mechanism, a reset component is further included. The reset component makes the first follower frame always have a tendency to move to the position where it is docked with the first fixed frame.

[0020] As a preferred technical solution of the above-mentioned taking-out mechanism, the taking-out mechanism further includes a plurality of first sensors. The plurality of first sensors are all relatively fixed to the first fixed frame and are arranged in sequence along the moving direction of the vehicle for obtaining the relative position between the vehicle and the first fixed frame.

[0021] A transportation device, including a feeding mechanism, a first transfer mechanism, and the above-mentioned taking-out mechanism. The first target object in the above-mentioned taking-out mechanism can be transported to the above-mentioned feeding mechanism through the above-mentioned first transfer mechanism, and the above-mentioned feeding mechanism can put the above-mentioned first target object into the vacant above-mentioned carrier.

[0022] As a preferred technical solution of the above-mentioned transportation device, the above-mentioned feeding mechanism includes a second follower assembly. The above-mentioned second follower assembly includes a second follower frame, and the above-mentioned second follower frame can move at a constant speed with the above-mentioned carrier.

[0023] As a preferred technical solution of the above-mentioned transportation device, the above-mentioned second follower assembly further includes a second locking mechanism. The above-mentioned second locking mechanism is installed on the above-mentioned second follower frame, and the above-mentioned second follower frame can be relatively stationary with the above-mentioned carrier through the above-mentioned second locking mechanism.

[0024] As a preferred technical solution of the above-mentioned transportation device, the above-mentioned first transfer mechanism includes a second limiting member, which is installed at one end of the above-mentioned first transfer mechanism for docking with the above-mentioned second follower frame and can prevent the above-mentioned first target object from escaping from the above-mentioned first transfer mechanism.

[0025] As a preferred technical solution of the above-mentioned transportation device, the above-mentioned feeding mechanism further includes a second fixing assembly. The above-mentioned second fixing assembly includes a second fixing frame and a receiving tray. The above-mentioned second follower frame can move relative to the above-mentioned second fixing frame. The above-mentioned receiving tray is rotatably connected to the above-mentioned second fixing frame, and the above-mentioned first target object can enter the above-mentioned second follower frame through the above-mentioned receiving tray.

[0026] As a preferred technical solution of the above-mentioned transportation device, a plurality of bull's-eye bearings are installed on the above-mentioned receiving tray, and the above-mentioned bull's-eye bearings are used to support the above-mentioned first target object.

[0027] As a preferred technical solution of the above-mentioned transportation device, rollers are installed on the edge of the above-mentioned receiving tray. When the above-mentioned first target object is transferred from the above-mentioned receiving tray to the above-mentioned second follower frame, the above-mentioned rollers support the above-mentioned first target object between the above-mentioned second follower frame and the above-mentioned receiving tray.

[0028] As a preferred technical solution of the above-mentioned transportation device, the above-mentioned receiving tray can be tilted so that the above-mentioned first target object can move from the above-mentioned receiving tray to the above-mentioned second follower frame under the action of gravity.

[0029] As a preferred technical solution of the above-mentioned transportation device, the above-mentioned feeding mechanism further includes a plurality of second sensors. The plurality of above-mentioned second sensors are all fixed relative to the above-mentioned second fixing frame, and the plurality of above-mentioned second sensors are arranged in sequence along the moving direction of the above-mentioned carrier for obtaining the relative position between the above-mentioned carrier and the above-mentioned second fixing frame.

[0030] As a preferred technical solution of the above transportation device, it further includes a second transportation mechanism. The second transportation mechanism includes a first platform, a second platform, and a guide rail. The first platform is installed on the first fixing frame, the second platform is installed on the second fixing frame, the guide rail connects the first fixing frame and the second fixing frame. The first transfer mechanism can transport the first target object and the second target object simultaneously, and the second target object can sequentially pass through the second platform, the guide rail, the first transfer mechanism, and the second platform.

[0031] Advantages of the present invention:

[0032] The present invention provides a taking-out mechanism, which includes a first follower assembly, a grasping assembly, and a first fixing assembly. Among them, the first follower frame can move at the same speed as the carrier, and the carrier is used to transport the first target object; the grasping assembly is installed on the first follower frame, and the grasping assembly can transplant the first target object from the carrier to the first follower frame; the first fixing assembly includes a first fixing frame, the first follower frame can move relative to the first fixing frame and can also be docked with the first fixing frame, and the first target object can move from the first follower frame to the first fixing frame.

[0033] With such a setting, the first follower frame can move together with the carrier to form a relatively static state. At this time, the grasping assembly on the first follower frame and the first target object in the carrier also achieve relative static. The grasping assembly can firmly grasp the first target object in this state, and the first target object is separated from the carrier and carried on the first follower frame. After the transplantation of the first target object is completed, the first follower frame can be separated from the empty carrier and move to the docking position with the first fixing frame, and the first target object is transferred from the first follower frame to the first fixing frame. The empty first follower frame can then move relative to the first fixing frame to obtain the first target object from the next carrier. In this way, the taking-out mechanism can stably obtain the first target object carried on the carrier without the carrier stopping. The transportation efficiency of the first target object is improved. Description of the Drawings

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the content of the embodiments of the present invention and these drawings.

[0035] Figure 1 It is a schematic structural diagram of the transportation device provided by the embodiment of the present invention;

[0036] Figure 2It is a schematic structural diagram of the taking-out mechanism provided by an embodiment of the present invention;

[0037] Figure 3 It is a schematic structural diagram of the grasping component provided by an embodiment of the present invention;

[0038] Figure 4 It is a schematic structural diagram of the input mechanism provided by an embodiment of the present invention.

[0039] In the figure:

[0040] 100, taking-out mechanism;

[0041] 110, first follower component; 1111, first slide rail; 112, first locking mechanism;

[0042] 120, grasping component; 121, first telescopic member; 122, grasping member;

[0043] 130, first fixing component;

[0044] 151, first sensor A; 152, first sensor B; 153, first sensor C;

[0045] 200, input mechanism;

[0046] 210, second follower component; 211, second follower frame; 212, second locking mechanism; 213, pushing mechanism;

[0047] 220, second fixing component; 221, second fixing frame; 222, receiving tray;

[0048] 300, second transportation mechanism; 310, first platform; 320, second platform; 330, guide rail. Detailed implementation manners

[0049] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention are shown in the drawings rather than all the structures.

[0050] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In the present invention, unless otherwise clearly specified and defined, the first feature being “on” or “under” the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being “above”, “over” and “on top of” the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being “under”, “beneath” and “underneath” the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0052] In the description of this embodiment, the orientation or positional relationships such as “up”, “down”, “right” and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms “first” and “second” are only used for distinction in description and have no special meaning.

[0053] As Figures 2 to 4 shown, the present invention provides a taking-out mechanism 100, which includes a first follower assembly 110, a grasping assembly 120 and a first fixing assembly 130. Among them, the first follower frame can move at the same speed as the carrier, and the carrier is used for transporting the first target object; the grasping assembly 120 is installed on the first follower frame, and the grasping assembly 120 can transplant the first target object from the carrier to the first follower frame; the first fixing assembly 130 includes a first fixing frame, the first follower frame can move relative to the first fixing frame and can also be docked with the first fixing frame, and the first target object can move from the first follower frame to the first fixing frame.

[0054] With such a setting, the first follower frame can move together with the carrier to form a relatively static state. At this time, the grasping assembly 120 on the first follower frame and the first target object in the carrier also achieve relative static. In this state, the grasping assembly 120 can steadily grasp the first target object, and the first target object is separated from the carrier and carried on the first follower frame. After completing the transplantation of the first target object, the first follower frame can be separated from the empty carrier and move to the docking position with the first fixing frame, the first target object is transferred from the first follower frame to the first fixing frame, and the empty first follower frame can move relative to the first fixing frame to obtain the first target object from the next carrier. In this way, the taking-out mechanism 100 can stably obtain the first target object carried on the carrier without the carrier stopping. The transportation efficiency of the first target object is improved.

[0055] It should be noted that in this embodiment, speed is a vector, which represents the speed and direction of an object's movement. That is, the first follower frame can move in the same direction as the vehicle, and the first follower frame can move at the same speed as the vehicle to achieve relative rest between the two. Optionally, the grasping assembly 120 includes a first telescopic member 121 and a grasping member 122. One end of the first telescopic member 121 is fixed to the first follower frame, and the other end can drive the grasping member 122 to reciprocate in the first direction. The grasping member 122 includes a first finger joint, which can rotate relative to the first telescopic member 121 and can abut against the first target object on the side facing away from the first follower frame; the first direction is set at an angle to the moving direction of the vehicle. Exemplarily, the grasping member 122 further includes a second finger joint. The first finger joint is connected to the first telescopic member 121 through the second finger joint. One end of the second finger joint is fixedly connected to the first telescopic member 121, and the first finger joint is rotatably mounted on the other end of the second finger joint through a first rotating shaft. The axis of the first rotating shaft intersects with the telescopic direction of the first telescopic member 121. A limiting structure is provided between the first finger joint and the second finger joint, and the limiting structure can limit the free end of the first finger joint from rotating towards the side away from the first follower frame.

[0056] When the first telescopic member 121 extends towards the vehicle side to obtain the first target object, after the first finger joint abuts against the first target object, the free end of the first finger joint can rotate towards the first follower frame side to avoid the first target object. When the first telescopic member 121 further extends and all the first finger joints move to the side of the first target object facing away from the first follower frame, the free end of the first finger joint resets, and the first telescopic member 121 contracts, so that the first finger joint can move towards the first follower frame while abutting against the first target object.

[0057] Optionally, the first follower assembly 110 further includes a first locking mechanism 112. The first locking mechanism 112 is installed on the first follower frame, and the first follower frame can maintain relative rest with the vehicle through the first locking mechanism 112. In this embodiment, relative rest between the first follower frame and the vehicle is achieved through the first locking mechanism 112, that is, relative rest is achieved through a mechanical structure connection method. Generally, the vehicle has the ability to move actively, and the first follower frame relies on the vehicle to move through the first locking mechanism 112.

[0058] In other embodiments, the speed of the vehicle can be obtained, and the first follower frame moves at the same speed. In this way, relative rest between the first follower frame and the vehicle can still be achieved without the aid of a mechanical structure connection, that is, both the vehicle and the first follower frame have the ability to move actively.

[0059] Optionally, the first locking mechanism 112 includes a second telescopic member, which can move relative to the first follower frame in the first direction and can be inserted into the vehicle. The first direction is set at an angle to the moving direction of the vehicle.

[0060] Exemplarily, the second telescopic member is a cylinder structure. One end thereof is mounted on the first follower frame, and the other end can be telescoped along the first direction. When the vehicle passes through a preset position, the second telescopic member extends and is inserted into the vehicle, and the first follower frame is driven by the vehicle to move, thereby realizing the relative rest between the vehicle and the first follower frame.

[0061] Preferably, the vehicle is provided with a waist-shaped hole, and the length direction of the waist-shaped hole is parallel to the moving direction of the vehicle. The second telescopic member can be inserted into the waist-shaped hole and can slide relative to the vehicle along the length direction of the waist-shaped hole within the waist-shaped hole. With such a setting, the requirement for the docking accuracy between the second telescopic member and the vehicle is reduced, and reaction time is given to the second telescopic member.

[0062] In other embodiments, the vehicle is provided with a first magnetic attraction member, and the first locking mechanism 112 includes a second magnetic attraction member. Both the first magnetic attraction member and the second magnetic attraction member are provided with magnetic members, that is, the first magnetic attraction member and the second magnetic attraction member can be mutually attracted by the action of a magnetic field. Preferably, the second magnetic attraction member is provided with an electromagnet. When the vehicle approaches the first follower frame, the second magnetic attraction member is powered on to make it have magnetism and adsorb the first magnetic member of the vehicle. When detachment is required, the second magnetic attraction member is powered off to lose magnetism and detach from the first magnetic attraction member.

[0063] Optionally, the first follower frame includes a first slide rail 1111 which is inclined. The first fixed frame includes a second slide rail. When the first follower frame is docked with the first fixed frame, the first target object can enter the second slide rail along the first slide rail 1111 under the action of gravity.

[0064] Exemplarily, in the first direction, one end of the first slide rail 1111 away from the first fixed frame is higher than the end close to the first fixed frame. After the grasping assembly 120 acquires the first target object, the first target object is placed on the first slide rail 1111. The first slide rail 1111 supports the first target object, which can reduce the load of the grasping assembly 120. After the first follower frame is docked with the first fixed frame, the grasping assembly 120 releases the first target object. Due to the inclined setting of the first slide rail 1111, the first target object can move towards the second slide rail and enter the second slide rail under the action of its own gravity, completing the handover between the first follower frame and the first fixed frame.

[0065] Further, multiple rows of rollers are arranged on the first slide rail 1111 along the first direction. The rotation axis of the rollers is perpendicular to the first direction, and the rollers are used to support the first target object to reduce the friction between the first target object and the first slide rail 1111.

[0066] It should be noted that even if the first target object cannot enter the second slide rail independently under its own gravity, the inclined setting of the first slide rail 1111 can still convert part of the gravity of the first target object into a force along the first direction, which is still labor-saving compared to a plane.

[0067] Optionally, the first follower frame further includes a first limiting member, which is installed at the outlet end of the first slide rail 1111 and can intercept the first target object from entering the second slide rail from the first slide rail 1111.

[0068] Exemplarily, the first limiting member is movably installed at one end of the first slide rail 1111 close to the first fixed frame. The first limiting member includes an intercepting position and a releasing position relative to the first slide rail 1111. When the first limiting member is at the intercepting position, the first limiting member is on the moving path of the first target object moving from the first slide rail 1111 to the second slide rail and can intercept the first target object on the first slide rail 1111; when the first limiting member is at the releasing position, the first limiting member is outside the moving path of the first target object moving from the first slide rail 1111 to the second slide rail, making the moving path unobstructed. In use, when the first follower frame and the first fixed frame are in a non-docking state, the first limiting member is always at the intercepting position. After the grasping assembly 120 obtains the first target object, it places the first target object on the first slide rail 1111, and the first limiting member prevents the first target object from slipping out of the first slide rail 1111. When the first follower frame and the first fixed frame are in a docking state, the first limiting member switches to the releasing position, so that the first target object can enter the second slide rail along the first slide rail 1111.

[0069] Exemplarily, the first limiting member can move relative to the first slide rail 1111 by lifting, thereby switching between the intercepting position and the releasing position.

[0070] Exemplarily, the first limiting member can also move relative to the first slide rail 1111 by flipping, that is, the first limiting member is hinged to the first slide rail 1111, and then switches between the intercepting position and the releasing position.

[0071] Optionally, the taking-out mechanism 100 further includes a reset assembly, which makes the first follower frame always have a tendency to move to the position where it docks with the first fixed frame.

[0072] Exemplarily, the reset assembly includes a rope puller and a rope. One end of the rope is wound around the rope puller and fixed to the rope puller, and the other end of the rope is connected to the first follower frame. When the first follower frame moves with the vehicle, the rope is pulled out of the rope puller by the first follower frame. At this time, the rope puller is in a state of storing energy. When the first follower frame is separated from the vehicle, the rope puller resets, winds the rope, and pulls the first follower frame back to the position where it docks with the first fixed frame through the rope.

[0073] Optionally, the taking-out mechanism 100 further includes a plurality of first sensors, which are relatively fixed to the first fixing frame. The plurality of first sensors are arranged in sequence along the moving direction of the vehicle, and are used to obtain the relative position between the vehicle and the first fixing frame.

[0074] Exemplarily, the taking-out mechanism 100 includes a first sensor A151, a first sensor B152, and a first sensor C153. The three first sensors are arranged in sequence along the moving direction of the vehicle, and the vehicle moves towards the taking-out mechanism 100 from far to near.

[0075] The vehicle first triggers the first sensor A151, and the taking-out mechanism 100 sequentially executes S11 and S12.

[0076] S11. The first follower frame follows the vehicle. Specifically, the second telescopic member extends out and is connected to the carried vehicle, and the vehicle drives the first follower frame to move together.

[0077] S12. The grasping assembly 120 grasps the first target object. Specifically, the first telescopic member 121 extends out, and the first finger joint abuts against the first target object back to back.

[0078] Subsequently, the vehicle triggers the first sensor B152. At this time, it is defaulted that the first follower frame and the vehicle have achieved relative rest, and the taking-out mechanism 100 executes S20.

[0079] S20. The grasping assembly 120 transplants the first target object to the first follower frame. Specifically, the first telescopic member 121 resets, and the grasping member 122 drags the first target object onto the first slide rail 1111 of the first follower frame, and the first target object is intercepted by the first limiting member on the first slide rail 1111.

[0080] Finally, the vehicle triggers the first sensor C153, and the taking-out mechanism 100 executes S30.

[0081] S30. The second telescopic member is disengaged from the vehicle, and the first follower frame is reset under the action of the reset mechanism and is docked with the first fixing frame. The first limiting member moves to the release position, and the first target object moves from the first follower frame to the first fixing frame.

[0082] As Figure 1 shown, a transportation device is further provided, which includes a feeding mechanism 200, a first transfer mechanism, and the above-mentioned taking-out mechanism 100. The first target object in the taking-out mechanism 100 can be transported to the feeding mechanism 200 through the first transfer mechanism, and the feeding mechanism 200 can feed the first target object into an empty vehicle.

[0083] Exemplarily, in this embodiment, the first target object obtained by the taking-out mechanism 100 from the carrier is the empty parts box A. The taking-out mechanism 100 transfers the empty parts box A to the first transfer mechanism. During the transportation path of the first transfer mechanism, parts A are loaded into the empty parts box A. The parts box A loaded with parts A is transported to the input mechanism 200 and is put back into the carrier by the input mechanism 200. Then the carrier carries the parts box A loaded with parts A to the assembly workshop, and then the empty parts box A is transported back from the assembly workshop to the taking-out mechanism 100, and so on.

[0084] It should be noted that generally, there are differences between the first target object obtained by the taking-out mechanism 100 from the carrier and the first target object put into the carrier by the input mechanism 200. They may be the same workpiece but with different processing degrees, or as described above, the components are increased, or they may be different workpieces. Here, they are all simply referred to as the first target object without distinction.

[0085] Optionally, the input mechanism 200 includes a second following component 210. The second following component 210 includes a second following frame 211, and the second following frame 211 can move at a constant speed with the carrier.

[0086] Exemplarily, the second following frame 211 can move relative to the first transfer mechanism. The second following frame 211 relative to the first transfer mechanism includes a docking position and a non-docking position. When the second following frame 211 is in the docking position, the first target object on the first transfer mechanism can be placed on the second following frame 211; when the second following frame 211 moves with the carrier, the second following frame 211 and the first transfer mechanism are in the non-docking position. At this time, the first target object on the first transfer mechanism cannot enter the second following frame 211. In use, when the second following frame 211 is in the docking position, the first transfer mechanism places the first target object on the second following frame 211. After the carrier moves to the preset position, the second following frame 211 moves at a constant speed with the carrier. When the two are relatively stationary, the second following frame 211 then transfers the first target object to the carrier. Subsequently, the second following frame 211 returns to the docking position, obtains the first target object from the first transfer mechanism, and waits for the next carrier.

[0087] Optionally, the second following component 210 further includes a second locking mechanism 212. The second locking mechanism 212 is installed on the second following frame 211, and the second following frame 211 can be relatively stationary with the carrier through the second locking mechanism 212.

[0088] In this embodiment, the second following frame 211 and the carrier are relatively stationary through the second locking mechanism 212, that is, through the connection method of the mechanical structure. Generally, the carrier has the ability to move actively, and the second following frame 211 moves relying on the carrier through the second locking mechanism 212.

[0089] In other embodiments, the speed of the carrier can be obtained, and the second follower frame 211 moves at the same speed. In this way, the second follower frame 211 and the carrier are not connected by a mechanical structure, and a relative static state between the two can still be achieved, that is, the carrier and the second follower frame 211 both have the ability to move actively.

[0090] Optionally, the second locking mechanism 212 includes a third telescopic member, which can move relative to the second follower frame 211 along the second direction and can be inserted into the carrier, and the second direction is set at an angle to the moving direction of the carrier.

[0091] Exemplarily, the third telescopic member is a cylinder structure, one end of which is mounted on the second follower frame 211, and the other end can be telescoped along the second direction. When the carrier passes through a preset position, the third telescopic member is extended and inserted into the carrier, and the carrier drives the second follower frame 211 to move, thereby achieving relative stillness of the carrier and the second follower frame 211.

[0092] Preferably, the carrier is provided with a waist-shaped hole, and the length direction of the waist-shaped hole is parallel to the moving direction of the carrier. The third telescopic member can be inserted into the waist-shaped hole and can slide relative to the carrier in the waist-shaped hole along the length direction of the waist-shaped hole. Such an arrangement reduces the requirements for the docking accuracy of the third telescopic member and the carrier, and gives the third telescopic member reaction time.

[0093] In other embodiments, the carrier is provided with a third magnetic component, the second locking mechanism 212 includes a fourth magnetic component, and both the third magnetic component and the fourth magnetic component are provided with magnetic components, that is, the third magnetic component and the fourth magnetic component can be attracted to each other through the action of the magnetic field. Preferably, the fourth magnetic component is provided with an electromagnet. When the carrier is close to the second follower frame 211, the fourth magnetic component is energized so that it has magnetism and is attracted to the third magnetic component of the carrier. When it needs to be separated, the fourth magnetic component is powered off, loses its magnetism and is separated from the third magnetic component.

[0094] Optionally, the first transfer mechanism includes a second stopper installed at one end of the first transfer mechanism for docking with the second follower frame 211, which can prevent the first target object from escaping from the first transfer mechanism.

[0095] Exemplarily, the second limiting member is movably installed at one end of the first transfer mechanism close to the second follower 211. The second limiting member includes an intercepting position and a releasing position relative to the first transfer mechanism. When the second limiting member is at the intercepting position, the second limiting member is located on the moving path of the first target object moving from the first transfer mechanism to the second follower 211, and can intercept the first target object on the first transfer mechanism. When the second limiting member is at the releasing position, the second limiting member is located outside the moving path of the first target object moving from the first transfer mechanism to the second follower 211, so that the moving path is unobstructed. In use, when the second follower 211 and the first transfer mechanism are in a non-docking position, the second limiting member is always at the intercepting position. When the second follower 211 and the first transfer mechanism are in a docking position, the second limiting member switches to the releasing position, so that the first target object can enter the second follower 211 from the first transfer mechanism.

[0096] Exemplarily, the second limiting member can move relative to the first transfer mechanism in a lifting manner, and then switch between the intercepting position and the releasing position.

[0097] Exemplarily, the second limiting member can also move relative to the first transfer mechanism in a flipping manner, that is, the second limiting member is hinged to the first transfer mechanism, and then switches between the intercepting position and the releasing position.

[0098] Optionally, the input mechanism 200 further includes a second fixing component 220. The second fixing component 220 includes a second fixing frame 221 and a receiving tray 222. The second follower 211 can move relative to the second fixing frame 221. The receiving tray 222 is rotatably connected to the second fixing frame 221. The first target object can enter the second follower 211 through the receiving tray 222. The receiving tray 222 can reverse the first target object from the first transfer mechanism and then send it into the second follower 211. Optionally, a plurality of bull's-eye bearings are installed on the receiving tray 222, and the bull's-eye bearings are used to support the first target object. With such a setting, the bull's-eye bearings can reduce the friction between the first target object and the receiving tray 222, so that the first target object can enter the second follower 211 more smoothly.

[0099] Optionally, rollers are installed on the edge of the receiving tray 222. When the first target object is transferred from the receiving tray 222 to the second follower 211, the rollers support the first target object between the second follower 211 and the receiving tray 222. With such a setting, the rollers can make up for the gap between the second follower 211 and the receiving tray 222, and prevent the first target object from getting stuck in the gap between the two when the first target object is transferred between the receiving tray 222 and the second follower 211, and the rollers can reduce the friction of the contact surface of the first target object. Optionally, the receiving tray 222 can be tilted so that the first target object can move from the receiving tray 222 to the second follower 211 under the action of gravity.

[0100] Exemplarily, the receiving tray 222 is connected to the second fixing frame 221 through a rotating tray, wherein the rotating tray is rotatably connected to the second fixing frame 221, the receiving tray 222 is installed above the rotating tray and is used for receiving the first target object. The receiving tray 222 is hinged to the rotating tray, and a cylinder is arranged on one side of the hinge axis. When the cylinder extends, the distance between the rotating tray and the receiving tray 222 on this side increases, and the distance on the other side decreases. When it is necessary to place the first target object onto the second follower frame 211, the cylinder extends to form an inclined plane, so that the first target object slides from the receiving tray 222 into the second follower frame 211 under the action of gravity.

[0101] Optionally, a pushing assembly is installed on the second follower frame 211. The pushing assembly includes a fourth telescopic member and a push plate. One end of the fourth telescopic member is installed on the second follower frame 211, and the other end is installed with a push plate. The fourth telescopic member can act on the first target object placed on the second follower frame 211 through the push plate, so that the first target object can be placed from the second follower frame 211 into the carrier.

[0102] Optionally, the input mechanism 200 further includes a plurality of second sensors. The plurality of second sensors are all fixed relative to the second fixing frame 221 and are arranged in sequence along the moving direction of the carrier for obtaining the relative position between the carrier and the second fixing frame 221.

[0103] Exemplarily, the input mechanism 200 further includes a second sensor A, a second sensor B, a second sensor C, and a second sensor D. The four second sensors are arranged in sequence along the moving direction of the carrier, and the carrier moves towards the input mechanism 200 from far to near.

[0104] The carrier first triggers the second sensor A, and the taking-out mechanism 100 sequentially executes S41.

[0105] S41. The second limiting member intercepts the next first target object on the first transfer mechanism, and the carrying tray is in a horizontal state.

[0106] S42. The second follower frame 211 carrying the first target object moves with the carrier. Specifically, the third telescopic member extends out and is connected to the carrier, and the carrier drives the second follower frame 211 to move together.

[0107] The carrier then triggers the second sensor B. At this time, it is defaulted that the second follower frame 211 and the carrier have achieved relative rest, and the input mechanism 200 executes S51 and S52.

[0108] S51. The pushing assembly transfers the first target object to the carrier. Specifically, the fourth telescopic member pushes the first target object into the carrier through the push plate.

[0109] S52. The receiving tray 222 is located at a position docked with the first transfer mechanism.

[0110] The vehicle triggers the second sensor C, and the input mechanism 200 executes S61 and S62.

[0111] S61. The fourth telescopic member resets.

[0112] S62. The second limiting member moves to the release position, and the first target object moves from the first transfer mechanism to the receiving tray 222.

[0113] The vehicle triggers the second sensor D, and the input mechanism 200 executes S71 and S72.

[0114] S71. The third telescopic member resets, the second follower frame 211 disengages from the vehicle and resets.

[0115] S72. The receiving tray 222 rotates and docks with the second follower frame 211, and the cylinder starts, causing the receiving tray 222 to tilt and transfer the first target object to the second follower frame 211.

[0116] Optionally, the transportation device further includes a second transportation mechanism 300. The second transportation mechanism 300 includes a first platform 310, a second platform 320, and a guide rail 330. The first platform 310 is installed on the first fixing frame, the second platform 320 is installed on the second fixing frame 221, the guide rail 330 connects the first fixing frame and the second fixing frame 221. The first transfer mechanism can transport the first target object and the second target object simultaneously, and the second target object can pass through the second platform 320, the guide rail 330, the first transfer mechanism, and the second platform 320 in sequence.

[0117] Exemplarily, the second target object placed on the input mechanism 200 by the first transfer mechanism is the component box B loaded with the workpiece B. At the input mechanism 200, the user places the workpiece B in the component box A. The component box A is loaded with the workpiece A and the workpiece B and is transplanted into the vehicle. The component box B then returns to the first transportation mechanism through the second transportation mechanism 300. During this process, the user can place the workpiece B in the component box B.

[0118] In addition, the above is only the preferred embodiment of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A take-out mechanism, characterized in that: include: A first follower assembly (110) includes a first follower frame, the first follower frame can move at the same speed as a carrier, and the carrier is used to transport a first target object; A grabbing assembly (120) mounted on the first follower frame, the grabbing assembly (120) being capable of transferring the first target object from the carrier to the first follower frame; The first fixing assembly (130) comprises a first fixing frame, the first follower frame can move relative to the first fixing frame and can dock with the first fixing frame, and the first target object can move from the first follower frame to the first fixing frame.

2. The take-out mechanism according to claim 1, characterized in that: The grabbing assembly (120) comprises a first telescopic member (121) and a grabbing member (122), one end of the first telescopic member (121) is fixed to the first follower frame, and the other end is capable of driving the grabbing member (122) to reciprocate in a first direction, the grabbing member (122) comprises a first finger joint, the first finger joint is capable of rotating relative to the first telescopic member (121), and is capable of abutting against the first target object at a side facing away from the first follower frame; The first direction is arranged at an angle to the moving direction of the carrier.

3. The take-out mechanism according to claim 1, characterized in that: The first follower assembly (110) further comprises a first locking mechanism (112), wherein the first locking mechanism (112) is mounted on the first follower frame, and the first follower frame can remain relatively still with the carrier through the first locking mechanism (112).

4. The take-out mechanism according to claim 3, characterized in that: The first locking mechanism (112) comprises a second telescopic member, which can move relative to the first follower frame along a first direction and can be inserted into the carrier, and the first direction is arranged at an angle to the moving direction of the carrier.

5. The take-out mechanism according to claim 1, characterized in that: The first follower frame comprises a first slide rail (1111), the first slide rail (1111) is tilted, and the first fixed frame comprises a second slide rail. When the first follower frame is docked with the first fixed frame, the first target object can enter the second slide rail along the first slide rail (1111) under the action of gravity.

6. The take-out mechanism according to claim 5, characterized in that: The first follower frame also includes a first stopper, which is installed at the exit end of the first slide rail (1111) and can intercept the first target object from entering the second slide rail from the first slide rail (1111).

7. The take-out mechanism according to claim 5, characterized in that: It also includes a reset component, which allows the first follower frame to always have a tendency to move to a position where it is docked with the first fixed frame.

8. The take-out mechanism according to any one of claims 1 to 7, characterized in that: The taking-out mechanism further includes a plurality of first sensors, each of which is relatively fixed to the first fixing frame. The plurality of first sensors are sequentially arranged along the moving direction of the carrier and are used to obtain the relative position of the carrier and the first fixing frame.

9. A transport device, characterized in that It comprises an input mechanism (200), a first transfer mechanism and the retrieval mechanism (100) described in any one of claims 1 to 8, wherein the first target object in the retrieval mechanism (100) can be transported to the input mechanism (200) through the first transfer mechanism, and the input mechanism (200) can input the first target object into the empty carrier.

10. The transport device according to claim 9, characterized in that The input mechanism (200) comprises a second follower assembly (210), the second follower assembly (210) comprises a second follower frame (211), and the second follower frame (211) can maintain a uniform speed movement with the carrier.

11. The transport device according to claim 10, characterized in that The second follower assembly (210) further comprises a second locking mechanism (212), wherein the second locking mechanism (212) is mounted on the second follower frame (211), and the second follower frame (211) can remain relatively still with the carrier through the second locking mechanism (212).

12. The transport device according to claim 10, characterized in that The first transfer mechanism comprises a second stopper, which is installed at one end of the first transfer mechanism for docking with the second follower frame (211) and can prevent the first target object from escaping from the first transfer mechanism.

13. The transport device according to claim 10, characterized in that The input mechanism (200) further comprises a second fixing assembly (220), the second fixing assembly (220) comprising a second fixing frame (221) and a receiving tray (222), the second follower frame (211) is movable relative to the second fixing frame (221), the receiving tray (222) is rotatably connected to the second fixing frame (221), and the first target object can enter the second follower frame (211) through the receiving tray (222).

14. The transport device according to claim 13, characterized in that The receiving tray (222) is equipped with a plurality of bull's eye bearings, and the bull's eye bearings are used to support the first target object.

15. The transport device according to claim 13, characterized in that Rollers are installed on the edge of the receiving tray (222); when the first target object is transferred from the receiving tray (222) to the second follower frame (211), the rollers support the first target object between the second follower frame (211) and the receiving tray (222).

16. The transport device according to claim 13, characterized in that The receiving tray (222) can be tilted, so that the first target object can move from the receiving tray (222) to the second follower frame (211) under the action of gravity.

17. The transport device according to any one of claims 13 to 16, characterized in that: The input mechanism (200) further comprises a plurality of second sensors, each of which is fixed relative to the second fixing frame (221). The plurality of second sensors are arranged in sequence along the moving direction of the carrier and are used to obtain the relative position of the carrier and the second fixing frame (221).

18. The transport device according to claim 13, characterized in that The invention also includes a second transport mechanism (300), wherein the second transport mechanism (300) includes a first platform (310), a second platform (320) and a guide rail (330), wherein the first platform (310) is mounted on the first fixed frame, and the second platform (320) is mounted on the second fixed frame (221), and the guide rail (330) connects the first fixed frame and the second fixed frame (221), and the first transport mechanism can transport the first target object and the second target object at the same time, and the second target object can pass through the second platform (320), the guide rail (330), the first transport mechanism and the second platform (320) in sequence.

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