Material transfer device and system

Abstract

The invention relates to the technical field of wine packaging and conveying equipment, and discloses a material transferring device and system.The material transferring device comprises a movement assembly and a taking and placing mechanism. The pick-and-place mechanism is arranged on the movement assembly, the movement assembly is used for driving the pick-and-place mechanism to move in the operation space, and the pick-and-place mechanism comprises a base, an adsorption assembly and a clamping assembly. The base is arranged on the moving assembly. The adsorption assembly is arranged on the first surface of the base and used for adsorbing or releasing the wine box and the tray. The clamping assembly is arranged on the second surface, opposite to the first surface, of the base through a telescopic mechanism, the telescopic mechanism is used for driving the clamping assembly to stretch out of the first surface or driving the clamping assembly to retract towards the second surface, and the clamping assembly is used for clamping the transfer box. Through cooperation of the base, the adsorption assembly and the clamping assembly on the taking and placing mechanism, work can be conducted according to order requirements, the taking and placing mechanism can be suitable for transferring work of wine boxes, trays and transferring boxes, and the applicability of the taking and placing mechanism is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of liquor packaging and conveying equipment, and particularly relates to a material transfer device and system. Background Art

[0002] In a liquor production and transportation workshop, according to the needs of production and transportation links, wine boxes are generally transferred to a conveyor line manually. Different conveying links also have different requirements. For example, when palletizing and storing wine boxes, workshop workers need to transfer pallets to the production line, then stack wine boxes at corresponding positions on the pallets, then place another pallet above the wine boxes, and continue to stack wine boxes on the pallet. After the stacking quantity reaches the requirement, the conveyor line transfers the pallet. When carrying out the outbound operation of wine boxes, workshop workers need to transfer turnover boxes to the production line. After removing the cover plate of the turnover box, stack the wine boxes in the turnover box. After the turnover box is filled with wine boxes, cover the cover plate on the turnover box again, and the conveyor line transfers the turnover box. However, the efficiency of manually palletizing and storing or carrying out outbound operations on wine boxes is low, and multiple people are required to cooperate, wasting a large amount of human resources. Summary of the Invention

[0003] In view of this, the present invention provides a material transfer device and system to solve the problems of low efficiency in manually palletizing and storing or carrying out outbound operations on wine boxes, the need for multiple people to cooperate, and the waste of a large amount of human resources.

[0004] In a first aspect, the present invention provides a material transfer device, including:

[0005] A motion component;

[0006] A picking and placing mechanism is arranged on the motion component, and the motion component is used to drive the picking and placing mechanism to move between operating spaces. The picking and placing mechanism includes:

[0007] A base is arranged on the motion component;

[0008] An adsorption component is arranged on the first surface of the base and is used to adsorb or release wine boxes and pallets;

[0009] A clamping component is arranged on the second surface of the base opposite to the first surface through a telescopic mechanism. The telescopic mechanism is used to drive the clamping component to extend towards the first surface or drive the clamping component to retract towards the second surface. The clamping component is used to clamp the transfer box.

[0010] Optionally, the adsorption component includes:

[0011] A first adsorbent, and a plurality of first adsorbents are respectively arranged at the corners of the first surface;

[0012] The second suction member, and a plurality of the second suction members are arranged in a matrix in the central region of the first surface.

[0013] Optionally, a notch is provided on the base, and the notch is located between the first suction member and the second suction member. The clamping assembly is adapted to extend or retract through the notch under the drive of the telescopic mechanism.

[0014] Optionally, the telescopic mechanism includes:

[0015] Telescopic arms. Two of the notches are symmetrically formed on the end surface of the base. The two telescopic arms are respectively disposed close to the corresponding notches, and the clamping assembly is disposed at the end of the telescopic arms;

[0016] A first driving member, which is in transmission connection with the telescopic arms and is used to drive the two telescopic arms to move synchronously through the notch to extend towards the first surface or retract towards the second surface.

[0017] Optionally, the clamping assembly includes:

[0018] A second driving member, which is disposed at the end of the telescopic arm;

[0019] Fingers, which are in transmission connection with the output end of the second driving member;

[0020] Two groups of second driving members and fingers are respectively disposed on the corresponding telescopic arms, and the two groups of fingers are adapted to rotate towards each other or away from each other under the drive of the second driving member.

[0021] Optionally, the telescopic mechanism is disposed on the second surface of the base through a transverse movement structure, and the transverse movement structure is used to drive the two telescopic arms to move towards each other or away from each other.

[0022] Optionally, the transverse movement structure includes:

[0023] A slide rail, which is disposed on the second surface and extends in a direction parallel to the line connecting the two telescopic arms;

[0024] A slider, which is slidably disposed on the slide rail, and the telescopic mechanism is disposed on the slider;

[0025] A third driving member, which is disposed on the second surface, and the output end is connected to the telescopic mechanism or the slider.

[0026] Optionally, a collecting device is further included and is disposed on the first surface of the base.

[0027] Optionally, the moving assembly is a multi-axis robot, and the base is mounted on the free end of the multi-axis robot.

[0028] In a second aspect, the present invention provides a material transfer system, including the above-mentioned material transfer device, and also includes: a conveyor line, and the motion component of the pick-and-place device is used to drive the pick-and-place mechanism to transfer the material to the conveyor line.

[0029] Beneficial effects:

[0030] 1. The material transfer device provided by the present invention includes: a motion component and a pick-and-place mechanism. The pick-and-place mechanism is arranged on the motion component, and the motion component is used to drive the pick-and-place mechanism to move between operating spaces. The pick-and-place mechanism includes: a base, an adsorption component and a clamping component. The base is arranged on the motion component. The adsorption component is arranged on the first surface of the base, and is used to adsorb or release wine boxes and trays. The clamping component is arranged on the second surface of the base opposite to the first surface through a telescopic mechanism. The telescopic mechanism is used to drive the clamping component to extend toward the first surface, or drive the clamping component to retract toward the second surface. The clamping component is used to clamp the transfer box.

[0031] In response to the order requirements for wine box palletizing and storage, the telescopic mechanism can drive the clamping assembly to retract to the second surface and maintain the retracted state, so that the adsorption assembly located on the first surface can move unimpeded to contact with the wine box or pallet, the motion assembly drives the base to move, and the adsorption assembly moves synchronously, so that the adsorption assembly is aligned with the pallet. After the adsorption assembly adsorbs the pallet, the motion assembly drives the pallet to move to align with the conveyor line, and then the adsorption assembly releases the adsorption, thereby placing the pallet on the conveyor line. After the placement of the pallet is completed, the wine box can be adsorbed and transferred to the pallet by the adsorption assembly. After the wine boxes are stacked on the pallet, the adsorption assembly can stack another pallet on top of the wine boxes on the original pallet, and continue to stack wine boxes on the pallet in the same way. The above steps are repeated until the number requirements for wine box palletizing are met, and the conveyor line drives the pallet to move for subsequent storage.

[0032] In response to the order requirement for wine boxes to be shipped out of the warehouse, the telescopic mechanism can drive the clamping assembly to extend to the first surface to a predetermined position, the motion assembly drives the base to move, and the clamping assembly moves synchronously, so that the clamping assembly is aligned with the transfer box. After the clamping assembly clamps the transfer box, the motion assembly drives the clamping assembly to move to align with the conveyor line, and then the clamping assembly releases the clamping assembly, thereby placing the transfer box on the conveyor line. After completing the placement operation of the transfer box, the telescopic mechanism can drive the second surface of the clamping assembly to retract, and the cover of the transfer box is removed with the cooperation of the motion assembly and the adsorption assembly, and then the adsorption assembly is continued to be used to transfer the wine boxes to the transfer box for stacking until the stacking quantity requirements are met. The motion assembly and the adsorption assembly are used again to buckle the cover on the transfer box, and the conveyor line drives the transfer box to move, so as to facilitate the subsequent outbound link.

[0033] It can be seen that through the cooperation of the base, adsorption components and clamping components on the pick-and-place mechanism, the work of wine box palletizing and storage and wine box delivery can be completed according to the order requirements. Compared with manual transfer and handling, the use of automated equipment can greatly improve work efficiency, and the pick-and-place mechanism can be applied to the transfer of wine boxes, pallets and transfer boxes, which improves the applicability of the pick-and-place mechanism. At the same time, there is no need for manual transfer and handling, which reduces the degree of manual participation and saves transportation costs.

[0034] 2. The material transfer device provided by the present invention, the adsorption component includes: a first adsorption member and a second adsorption member. A plurality of first adsorption members are respectively arranged at the corners of the first surface. A plurality of second adsorption members are arranged in a matrix in the central area of ​​the first surface. Since the middle of the tray has a depression for accommodating wine boxes, the first adsorption member is arranged at the corner position of the first surface, so that it can dock with the edge of the tray to facilitate adsorption of the tray. The plurality of second adsorption members located in the central area of ​​the first surface can adsorb multiple wine boxes at the same time, and then the wine boxes are stacked on the pallet in the stacking order, which reduces the difficulty of stacking and improves the stacking efficiency.

[0035] 3. The material transfer device provided by the present invention has a notch on the base, the notch is located between the first adsorption member and the second adsorption member, and the clamping assembly is suitable for extending or retracting through the notch under the drive of the telescopic mechanism. When the clamping assembly is needed to clamp the transfer box, the telescopic mechanism can drive the clamping assembly to extend from the notch to the first surface, and when the adsorption assembly is needed to adsorb the tray, wine box or the cover of the transfer box, the telescopic mechanism can drive the clamping assembly to retract from the notch to the second surface. Such a configuration can make the structure compact and reduce the volume of the pick-and-place mechanism.

[0036] 4. The material transfer device provided by the present invention, the telescopic mechanism comprises: a telescopic arm and a first driving member. The telescopic arm, two notches are symmetrically opened on the end surface of the base, the two telescopic arms are respectively arranged close to the corresponding notches, and the clamping assembly is arranged at the end of the telescopic arm. The first driving member is connected to the telescopic arm in a transmission manner, and is used to drive the two telescopic arms to move synchronously to pass through the notch to extend toward the first surface or retract toward the second surface.

[0037] When the clamping assembly is needed to clamp the transfer box, the first driving member drives the clamping assembly through the gap to extend to the first surface via the telescopic arm, and then the clamping assembly can clamp the transfer box. When the suction cup assembly is needed to adsorb the tray, wine box or the lid of the transfer box, the first driving member drives the clamping assembly through the gap to retract to the first surface via the telescopic arm. The setting of the telescopic arm can quickly and flexibly adjust the height position of the clamping assembly.

[0038] 5. The material transfer device provided by the present invention comprises a clamping assembly comprising: a second driving member and a clamping finger. The second driving member is arranged at the end of the telescopic arm. The clamping finger is transmission-connected to the output end of the second driving member. Two groups of second driving members and clamping fingers are respectively arranged on the corresponding telescopic arms, and the two groups of clamping fingers are suitable for rotating in a direction of approaching or moving away from each other under the drive of the second driving member.

[0039] When the transfer box needs to be clamped, the telescopic arm of the telescopic mechanism can drive the clamping fingers to move to the position corresponding to the transfer box, and then the two second driving members drive the two clamping fingers to move in a direction close to each other, and the two clamping fingers clamp the transfer box. Then the motion assembly drives the base to move and transport the transfer box to the conveyor line. After transporting to the right place, the two second driving members drive the two clamping fingers to move in a direction away from each other, and the two clamping fingers separate from the transfer box to release the transfer box. The clamping fingers can achieve fast clamping or release, which is conducive to improving the efficiency of picking and placing, and the structure is simple and easy to operate.

[0040] 6. In the material transfer device provided by the present invention, the telescopic mechanism is arranged on the second surface of the base through a transverse movement structure, and the transverse movement structure is used to drive the two telescopic arms to move toward or away from each other, thereby changing the spacing between the two groups of gripping fingers to adapt to transfer boxes of different sizes, thereby improving applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 It is a structural schematic diagram of a material transfer device according to an embodiment of the present invention;

[0043] Figure 2 for Figure 1 A local enlarged schematic diagram of the middle A;

[0044] Figure 3 It is a schematic diagram of the structure of the adsorption component and the clamping component of an embodiment of the present invention;

[0045] Figure 4 This is a schematic structural diagram of a first adsorption member and a second adsorption member according to an embodiment of the present invention;

[0046] Figure 5 is a schematic structural diagram of a base according to an embodiment of the present invention;

[0047] Figure 6Schematic diagram of the lateral movement structure of the embodiment of the present invention.

[0048] Explanation of reference numerals:

[0049] 1. Movement component; 2. Base; 21. First surface; 22. Second surface; 23. Notch; 3. Adsorption component; 31. First adsorbent; 32. Second adsorbent; 4. Clamping component; 41. Finger; 42. Second driving member; 43. Mounting seat; 5. Telescopic mechanism; 51. Telescopic arm; 52. First driving member; 53. Mounting plate; 6. Lateral movement structure; 61. Slide rail; 62. Slide block; 63. Third driving member; 71. Support block; 72. Support groove; 73. Microswitch; 8. Acquisition device. Detailed implementation manners

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] As Figure 1 and Figure 2 shown, in this embodiment, a material transfer device is provided, including: a movement component 1 and a picking and placing mechanism.

[0052] The picking and placing mechanism is arranged on the movement component 1. The movement component 1 is used to drive the picking and placing mechanism to move between operating spaces. For example, the movement component 1 can drive the picking and placing mechanism to complete actions such as lifting, translation, and flipping, so that the position and pose of the picking and placing mechanism have high control flexibility and alignment accuracy.

[0053] The picking and placing mechanism includes: a base 2, an adsorption component 3, and a clamping component 4. The base 2 is arranged on the movement component 1. The adsorption component 3 is arranged on the first surface 21 of the base 2. The adsorption component 3 can be a vacuum suction cup, which is connected to an external negative pressure device through a gas pipeline, and uses negative pressure to adsorb the wine box and the tray, or uses air pressure to release the wine box and the tray. The clamping component 4 is arranged on the second surface 22 of the base 2 opposite to the first surface 21 through a telescopic mechanism 5. The telescopic mechanism 5 is used to drive the clamping component 4 to extend towards the first surface 21 or drive the clamping component 4 to retract towards the second surface 22. The clamping component 4 is used to clamp the transfer box. The first surface 21 refers to the side of the base 2 facing away from the movement component 1. During use, the first surface 21 faces the item to be picked and placed or the conveyor line. The second surface 22 refers to the side of the base 2 facing the movement component 1.

[0054] When responding to the order requirements for palletizing and storing wine boxes, the telescopic mechanism 5 can drive the clamping assembly 4 to retract towards the second surface 22 and maintain the retracted state, so that the adsorption assembly 3 located on the first surface 21 can move unobstructed to contact the wine box or the pallet. The moving assembly 1 drives the base 2 to move, and the adsorption assembly 3 moves synchronously, so that the adsorption assembly 3 is aligned with the pallet. After the adsorption assembly 3 adsorbs the pallet, the moving assembly 1 drives the pallet to move to be aligned with the conveyor line. Then the adsorption assembly 3 releases the adsorption, so as to place the pallet on the conveyor line. After completing the placement of the pallet, the wine box can be adsorbed and transferred to the pallet by the adsorption assembly 3. After the wine boxes are stacked on the pallet, the adsorption assembly 3 can stack another pallet on top of the wine boxes on the original pallet, and continue to stack the wine boxes on this pallet in the same way. Repeat the above steps until the quantity requirement of the wine box palletizing is met, and the conveyor line drives the pallet to move for subsequent storage.

[0055] When responding to the order requirements for the outbound of wine boxes, the telescopic mechanism 5 can drive the clamping assembly 4 to extend towards the first surface 21 to a predetermined position. The moving assembly 1 drives the base 2 to move, and the clamping assembly 4 moves synchronously, so that the clamping assembly 4 is aligned with the transfer box. After the clamping assembly 4 clamps the transfer box, the moving assembly 1 drives the clamping assembly 4 to move to be aligned with the conveyor line. Then the clamping assembly 4 releases the clamping, so as to place the transfer box on the conveyor line. After completing the placement operation of the transfer box, the telescopic mechanism 5 can drive the clamping assembly 4 to retract towards the second surface 22, and the lid of the transfer box is removed with the cooperation of the moving assembly 1 and the adsorption assembly 3. Then continue to use the adsorption assembly 3 to transfer the wine boxes into the transfer box for stacking until the stacking quantity requirement is met. Once again, use the moving assembly 1 and the adsorption assembly 3 to cover the lid on the transfer box, and the conveyor line drives the transfer box to move for subsequent outbound.

[0056] It can be seen that through the cooperation of the base 2, the adsorption assembly 3 and the clamping assembly 4 on the picking and placing mechanism, the work of palletizing and storing wine boxes and the outbound of wine boxes can be completed according to the order requirements. Compared with manual transfer and handling, using automated equipment can greatly improve work efficiency, and the picking and placing mechanism can be applied to the transfer work of wine boxes, pallets and transfer boxes, improving the applicability of the picking and placing mechanism. At the same time, there is no need for manual transfer and handling, reducing the manual participation and saving transportation costs.

[0057] As Figure 3 and Figure 4 shown, in this embodiment, the adsorption assembly 3 includes: a first adsorbent 31 and a second adsorbent 32. Both the first adsorbent 31 and the second adsorbent 32 are vacuum suction cups and are connected to an external negative pressure device through a gas pipeline. The negative pressure device can provide negative pressure or air pressure to the first adsorbent 31 and the second adsorbent 32.

[0058] A plurality of first suction members 31 are respectively arranged at the corners of the first surface 21. For example, the shape of the first surface 21 can be rectangular, and the four first suction members 31 are respectively arranged at the four corners of the first surface 21. Since the middle part of the tray has a depression for accommodating the wine box, the first suction members 31 are arranged at the corner positions of the first surface 21, so that they can be docked with the edge of the tray to facilitate the adsorption of the tray.

[0059] A plurality of second suction members 32 are arranged in a matrix in the central area of the first surface 21. The plurality of second suction members 32 located in the central area of the first surface 21 can adsorb a plurality of wine boxes at the same time. Then, the wine boxes are stacked on the tray according to the stacking order, reducing the stacking difficulty and improving the stacking efficiency.

[0060] For example, when responding to the order requirement of wine box palletizing storage, the moving component 1 can drive the base 2 to move so that the first suction member 31 is aligned with the corner of the tray. The first suction member 31 is adsorbed and fixed to the tray. The moving component 1 drives the base 2 to move to align with the conveyor line. During this process, the moving component 1 can drive the base 2 to lift and translate until the tray is placed on the conveyor line. Then, the first suction member 31 releases the adsorption. The moving component 1 continues to drive the base 2 to move so that the plurality of second suction members 32 are respectively aligned with the plurality of wine boxes. The plurality of second suction members 32 are adsorbed and fixed to the corresponding wine boxes. Then, the moving component 1 drives the base 2 to move to place the wine boxes at the corresponding stacking positions on the tray, and the second suction members 32 release the adsorption. The stacking method of the wine boxes and the stacking method of the trays have been described above and will not be repeated here. In addition, the second suction member 32 can also be used to adsorb the lid of the transfer box to move the lid away from the transfer box or buckle the lid on the transfer box.

[0061] As Figure 3 and Figure 4 shown, in this embodiment, a notch 23 is provided on the base 2. The notch 23 is located between the first suction member 31 and the second suction member 32. That is to say, the first suction member 31 is arranged at the four corners of the first surface 21, and the second suction member 32 is arranged at the central position of the first surface 21. The notch 23 can be arranged in the area between the first suction member 31 and the second suction member 32. The shape of the notch 23 can be rectangular, and the notch 23 penetrates through the first surface 21 and the second surface 22.

[0062] The clamping assembly 4 is adapted to extend or retract through the notch 23 driven by the telescopic mechanism 5, that is, the clamping assembly 4 can extend through the notch 23 to the first surface 21 or retract to the second surface 22. When it is necessary to use the clamping assembly 4 to clamp the transfer box, the telescopic mechanism 5 can drive the clamping assembly 4 to extend from the notch 23 to the first surface 21. When it is necessary for the suction assembly 3 to adsorb the tray, wine box or the lid of the transfer box, the telescopic mechanism 5 can drive the clamping assembly 4 to retract from the notch 23 to the second surface 22. Such a setting can make the structure compact and reduce the volume of the picking and placing mechanism.

[0063] In addition, in actual production and use, the tray also has the function of supporting the transfer box. Therefore, the size of the supporting surface of the tray is generally larger than that of the transfer box. The above-mentioned notch 23 is provided to facilitate the alignment of the clamping assembly 4 with the transfer box.

[0064] As Figure 3 and Figure 4 shown, in this embodiment, the telescopic mechanism 5 includes: a telescopic arm 51 and a first driving member 52.

[0065] The two notches 23 are symmetrically opened on the end face of the base 2. For example, with the center line of the base 2 as the center of symmetry, the two notches 23 are symmetrically opened. The two telescopic arms 51 are respectively arranged close to the corresponding notches 23, and the clamping assembly 4 is arranged at the end of the telescopic arm 51. The first driving member 52 is in transmission connection with the telescopic arm 51 and is used to drive the two telescopic arms 51 to move synchronously through the notch 23 to extend to the first surface 21 or retract to the second surface 22. For example, a mounting plate 53 is provided on the base 2, and the first driving member 52 is arranged on the mounting plate 53. The first driving member 52 can be a driving device such as a linear motor, a cylinder or an electric cylinder. The output end of the first driving member 52 is connected to the telescopic arm 51 and drives the telescopic arm 51 to perform a linear movement of extending through the notch 23 to the first surface 21 or retracting to the second surface 22. The clamping assembly 4 is located at the end of the telescopic arm 51 and moves synchronously with the telescopic arm 51 through the notch 23 to extend to the first surface 21 or retract to the second surface 22. Moreover, the two telescopic arms 51 can be respectively aligned with the two side walls of the transfer box, which is beneficial to the alignment of the clamping assembly 4 with the two side walls of the transfer box so as to firmly clamp the transfer box.

[0066] When it is necessary to use the clamping assembly 4 to clamp the transfer box, the first driving member 52 drives the clamping assembly 4 to extend through the notch 23 to the first surface 21 through the telescopic arm 51. Then the clamping assembly 4 can clamp the transfer box. When it is necessary to use the suction cup assembly to adsorb the tray, wine box or the lid of the transfer box, the first driving member 52 drives the clamping assembly 4 to retract through the notch 23 to the first surface 21 through the telescopic arm 51. The setting of the telescopic arm 51 can enable the height position of the clamping assembly 4 to be adjusted quickly and flexibly.

[0067] AsFigure 2 and Figure 4 As shown in Figure 4 , in this embodiment, the clamping assembly 4 includes: a second driving member 42 and clamping fingers 41. The second driving member 42 is disposed at the end of the telescopic arm 51, and the clamping fingers 41 are in transmission connection with the output end of the second driving member 42. For example, a mounting seat 43 may be provided at the end of the telescopic arm 51. The mounting seat 43 is composed of a first mounting plate and two second mounting plates. The first mounting plate is vertically connected to the end surface of the telescopic arm 51, and the two second mounting plates are vertically connected to the first mounting plate and are spaced apart, forming a space for mounting the second driving member 42 on the mounting seat 43. Through holes may be provided on the second mounting plates. The second driving member 42 is fixedly mounted on the first mounting plate, and its output shaft extends out through the through holes. The clamping fingers 41 are fixedly connected to the output shaft of the second driving member 42. The second driving member 42 is a servo motor, and the output end of the second driving member 42 can drive the clamping fingers 41 to rotate.

[0068] Two sets of second driving members 42 and clamping fingers 41 are respectively disposed on the corresponding telescopic arms 51. The clamping fingers 41 on the two telescopic arms 51 are also symmetrically arranged. The two sets of clamping fingers 41 are adapted to rotate in directions approaching or separating from each other under the drive of the second driving member 42. In the non-clamping state, the clamping fingers 41 rotate to a position where the extending direction is parallel to the telescopic arm 51. In the clamping state, the clamping fingers 41 rotate to a position where the extending direction is perpendicular to the telescopic arm 51.

[0069] When it is necessary to clamp the transfer box, the telescopic arm 51 of the telescopic mechanism can drive the clamping fingers 41 to move to a position corresponding to the transfer box. At this time, the clamping fingers 41 are parallel to the telescopic arm 51. Then, the two second driving members 42 drive the two clamping fingers 41 to move in a direction approaching each other. At this time, the clamping fingers 41 are perpendicular to the telescopic arm 51, and the two clamping fingers 41 clamp the transfer box. Then, the moving assembly 1 drives the base 2 to move and transports the transfer box to the conveyor line. After the transportation is in place, the two second driving members 42 drive the two clamping fingers 41 to move in a direction away from each other, and the two clamping fingers 41 are separated from the transfer box to release the transfer box. The use of the clamping fingers 41 can achieve rapid clamping or release, which is beneficial to improving the picking and placing efficiency, and has a simple structure and is easy to operate.

[0070] As Figure 4 shown, in this embodiment, two second driving members 42 may be symmetrically provided on the mounting seat 43, and clamping fingers 41 are provided at the output end of each second driving member 42. The two clamping fingers 41 on the same mounting seat 43 move synchronously. When clamping the transfer box, the opposite two side walls of the transfer box are respectively clamped in alignment by the two clamping fingers 41, thereby improving the clamping stability.

[0071] As Figure 2 shown, in this embodiment, the shape of the clamping finger 41 is elongated, and the surface of the clamping finger 41 for clamping the transfer box is a plane.

[0072] As Figure 5 and Figure 6 shown, in this embodiment, the telescopic mechanism is arranged on the second surface 22 of the base 2 through the transverse movement structure 6, and the transverse movement structure 6 is used to drive the two telescopic arms 51 to move in the directions of approaching or separating from each other, so as to change the distance between the two groups of fingers 41, so as to adapt to transfer boxes of different sizes and improve the applicability.

[0073] For example, in response to different order requirements, the sizes of the transfer boxes may be different. Then, the distance between the two telescopic arms 51 can be adjusted through the transverse movement structure 6 to correspond to the distance between the opposite two side walls of different transfer boxes. During the working process, the moving assembly 1 can drive the base 2 to move to be aligned with the transfer box in the height direction. The two telescopic arms 51 are respectively located on the opposite sides of the transfer box. Then, the transverse movement structure 6 drives the two telescopic arms 51 to move in the directions of approaching or separating from each other, so that the telescopic arms 51 are aligned with the opposite two side walls of the transfer box, ensuring that when the fingers 41 rotate to be perpendicular to the telescopic arms 51, they can firmly hold the transfer box. Then, the moving assembly 1 drives the base 2 to move to the conveyor line and places the transfer box in place.

[0074] As Figure 5 and Figure 6 shown, in this embodiment, the transverse movement structure 6 includes: a slide rail 61, a slider 62 and a third driving member 63. The slide rail 61 is arranged on the second surface 22, and the extending direction is parallel to the connection line between the two telescopic arms 51. The slider 62 is slidably arranged on the slide rail 61. For example, the slide rail 61 is an I-shaped slide rail, and the slider 62 has a protrusion that can be embedded in the groove of the I-shaped slide rail, so as to prevent the slider 62 from shaking relative to the slide rail 61. The telescopic mechanism 5 is arranged on the slider 62, that is, the mounting plate 53 of the telescopic mechanism 5 is arranged on the slider 62. The third driving member 63 is arranged on the second surface 22, and the output end is connected to the telescopic mechanism 5 or the slider 62. That is, the output end of the third driving member 63 can be connected to the mounting plate 53. Then, the third driving member 63 can drive the mounting plate 53 or the slider 62 to drive the telescopic arm 51 to move.

[0075] In this embodiment, two slide rails 61 and two sliders 62 are provided on the second surface 22. The two slide rails 61 are respectively located on opposite sides of the notch 23 and extend from the central position of the second surface 22 towards the edge position. When the shape of the notch 23 is rectangular, the extending direction of the slide rail 61 is parallel to the extending direction of the edge of the notch 23. The opposite ends of the bottom surface of the mounting plate 53 are respectively mounted on the corresponding sliders 62, and the mounting plate 53 moves synchronously with the sliders 62. The third driving member 63 can be a device capable of outputting linear driving force such as a linear motor, an electric cylinder or a cylinder. The third driving member 63 is arranged at a position near the middle or near the edge on the second surface 22. The output end of the third driving member 63 is connected to the mounting plate 53 or to the two sliders 62 through a connecting rod, as long as it can drive the mounting plate 53 and the two sliders 62 to move synchronously. Slide rails 61, sliders 62 and third driving members 63 are provided in both notches 23, so as to drive the two mounting plates 53 to move synchronously towards each other or away from each other.

[0076] As Figure 2 shown, in this embodiment, a supporting block 71 is provided on the telescopic arm 51. A supporting groove 72 is provided on the upper surface of the supporting block 71. The supporting blocks 71 on the two telescopic arms 51 are arranged oppositely, and the supporting block 71 can be fitted and connected to the mounting seat 43. The side wall of the transfer box is provided with a groove and / or a through hole. The clamping fingers 41 are adapted to extend into the groove for clamping, and the supporting block 71 is adapted to extend into the through hole for lifting. The supporting groove 72 can cooperate with the edge of the through hole for limiting.

[0077] For example, when using the supporting block 71 to carry the transfer box, the first driving member 52 first drives the telescopic arm 51 to move until the two supporting blocks 71 are respectively aligned with the two opposite through holes of the transfer box. Then the third driving member 63 is started to drive the two telescopic arms 51 to move towards each other until the two supporting blocks 71 respectively extend into the corresponding through holes. A micro switch 73 can be provided at the end of the supporting block 71. When the micro switch 73 is triggered to indicate that the supporting block 71 has moved in place, then the moving assembly 1 drives the base 2 to move.

[0078] In this embodiment, the material transfer device further includes a collecting device 8. The collecting device 8 is provided on the first surface 21 of the base 2. There can also be multiple collecting devices, for example, they are respectively provided on the moving assembly 1 or other positions of the base 2 to achieve multi-angle collection and avoid the occurrence of collection blind spots. The collecting device 8 can be a camera, and the camera can collect images in real time, which is convenient for the master control unit to judge the positions of the wine boxes, trays or transfer boxes to be picked and placed, so as to perform picking, placing and stacking actions through the moving assembly 1, the adsorption assembly 3 and the clamping assembly 4.

[0079] In this embodiment, the motion component 1 is a multi-axis robot, and the base 2 is installed on the free end of the multi-axis robot. The multi-axis robot can be a four-axis robot, a five-axis robot or a six-axis robot. The multi-axis robot can drive the base 2 to complete actions such as lifting, translation and flipping through its free end within the operating space, so as to facilitate the alignment of the adsorption component 3 and the clamping component 4 with the material to be picked and placed.

[0080] In this embodiment, a material transfer system is provided, which includes the above-mentioned material transfer device, and further includes: a conveyor line, and the motion component 1 is used to drive the picking and placing mechanism to transfer the material to the conveyor line.

[0081] There can be multiple conveyor lines provided. Different conveyor lines can be respectively used to convey pallets and transfer boxes. The transfer methods of the material transfer device for pallets, wine boxes and transfer boxes have been described in detail above and will not be repeated here.

[0082] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A material transfer device, characterized in that, Comprising: A motion component (1); A picking and placing mechanism, arranged on the motion component (1), the motion component (1) being used to drive the picking and placing mechanism to move between operating spaces, and the picking and placing mechanism comprising: A base (2), arranged on the motion component (1); An adsorption component (3), arranged on the first surface (21) of the base (2), for adsorbing or releasing wine boxes and trays; A clamping component (4), arranged on the second surface (22) of the base (2) opposite to the first surface (21) through a telescopic mechanism (5), the telescopic mechanism (5) being used to drive the clamping component (4) to extend towards the first surface (21), or drive the clamping component (4) to retract towards the second surface (22), and the clamping component (4) being used to clamp a transfer box.

2. The material transfer device according to claim 1, characterized in that, The adsorption component (3) comprises: A first adsorbing member (31), a plurality of first adsorbing members (31) are respectively arranged at the corners of the first surface (21); A second adsorbing member (32), a plurality of the second adsorbing members (32) are arranged in a matrix in the central area of the first surface (21).

3. The material transfer device according to claim 2, wherein A notch (23) is arranged on the base (2), the notch (23) is located between the first adsorbing member (31) and the second adsorbing member (32), and the clamping component (4) is adapted to extend or retract through the notch (23) under the drive of the telescopic mechanism (5).

4. The material transfer device according to claim 3, wherein The telescopic mechanism (5) comprises: A telescopic arm (51), two notches (23) are symmetrically arranged on the end face of the base (2), two telescopic arms (51) are respectively arranged close to the corresponding notches (23), and the clamping component (4) is arranged at the end of the telescopic arm (51); A first driving member (52), in transmission connection with the telescopic arm (51), for driving the two telescopic arms (51) to move synchronously to extend through the notch (23) towards the first surface (21) or retract towards the second surface (22).

5. The material transfer device according to claim 4, characterized in that, The clamping component (4) comprises: A second driving member (42), arranged at the end of the telescopic arm (51); A clamping finger (41), in transmission connection with the output end of the second driving member (42); Two groups of second driving members (42) and clamping fingers (41) are respectively arranged on the corresponding telescopic arms (51), and the two groups of clamping fingers (41) are adapted to rotate towards each other or away from each other under the drive of the second driving member (42).

6. The material transfer device according to claim 5, characterized in that, The telescopic mechanism (5) is arranged on the second surface (22) of the base (2) through a transverse movement structure (6), and the transverse movement structure (6) is used to drive the two telescopic arms (51) to move towards each other or away from each other.

7. The material transfer device according to claim 6, characterized in that, The transverse movement structure (6) comprises: A slide rail (61), arranged on the second surface (22), and the extending direction is parallel to the connection line between the two telescopic arms (51); A slider (62), slidably arranged on the slide rail (61), and the telescopic mechanism (5) is arranged on the slider (62); A third driving member (63), arranged on the second surface (22), and the output end is connected to the telescopic mechanism (5) or the slider (62).

8. The material transfer device according to claim 1, characterized in that, It further includes a collection device (8) which is arranged on the first surface (21) of the base (2).

9. The material transfer device according to claim 1, wherein, The motion component (1) is a multi-axis robot, and the base (2) is installed on the free end of the multi-axis robot.

10. A material transfer system, characterized in that, It includes the material transfer device according to any one of claims 1 to 9, and further includes: a conveyor line, and the motion component (1) is used to drive the picking and placing mechanism to transfer wine boxes, trays or transfer boxes onto the conveyor line.

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