Multifunctional conveying device and control method thereof

Abstract

The invention relates to the technical field of workpiece conveying devices, in particular to a multifunctional conveying device and a control method thereof.The multifunctional conveying device comprises a main platform, a piece feeding mechanism, a piece grabbing mechanism and a driving mechanism, the piece feeding mechanism is used for receiving workpieces, and the piece grabbing mechanism is used for grabbing the workpieces from the piece feeding mechanism; the sheet grabbing mechanism moves in the first movement direction and the second movement direction relative to the main platform through the driving mechanism so as to convey workpieces from the sheet receiving position to the sheet conveying position. The first movement direction is perpendicular to the second movement direction; the transferring device integrates the sheet feeding mechanism, the sheet grabbing mechanism, the multiple lifting mechanism, the translation mechanism and the like, automatic loading and unloading of workpieces are achieved, the workpieces are accurately installed in target positions, the labor cost is greatly saved, the workpiece transferring step is simplified, the workpiece conveying efficiency is improved, meanwhile, the occupied space of equipment is reduced, and the working efficiency is improved. The production cost and the accident risk are reduced, and the stability of the product quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece conveying devices, and in particular to a multifunctional conveying device and a control method thereof. Background Art

[0002] During the loading and unloading process of heavy workpieces for vacuum coating, manual labor is typically used to assist various transport equipment, such as forklifts, overhead cranes, and electric hoists, in transferring the workpieces to substrate racks for loading. However, due to the heavy weight and large size of the workpieces, manual loading of heavy workpieces presents numerous challenges, including low efficiency, poor safety, and a high risk of product contamination. Furthermore, the workpieces need to be transferred between multiple transport devices, which is time-consuming and labor-intensive, with a high risk of damage and a significant safety hazard to workers.

[0003] The present invention is proposed in view of the deficiencies in the prior art. Summary of the Invention

[0004] The present invention addresses the above-mentioned problem that the existing heavy workpieces are usually manually assisted by forklifts, overhead cranes, electric hoists and other transportation equipment to transfer the workpieces to the substrate rack. Since the workpieces are very thick and large in size, manual loading of heavy workpieces has many problems such as low efficiency, poor safety, and high risk of product contamination. In addition, the workpieces need to be transferred between multiple transportation equipment, which is time-consuming and labor-intensive, with a high risk of damage to the workpieces and a major safety hazard to the personal safety of workers. A multifunctional conveying device and a control method thereof are proposed.

[0005] The technical solution adopted by the present invention to solve the technical problem is: A multifunctional conveying device includes a main platform, a film feeding mechanism arranged on the main platform, a film grabbing mechanism arranged in the main platform and opposite to the film feeding mechanism, and a driving mechanism arranged in the main platform and connected to the film grabbing mechanism. The film feeding mechanism is used to receive the workpiece, and the film grabbing mechanism is used to grab the workpiece from the film feeding mechanism. The film grabbing mechanism moves relative to the main platform along the first movement direction and the second movement direction through the driving mechanism to transport the workpiece from the film receiving position to the film feeding position.

[0006] As described above, the multifunctional conveying device, the driving mechanism includes a first lifting device arranged on the main platform, a lifting platform connected to the first lifting device, a forward and backward moving device arranged on the lifting platform, a sub-platform passed through the lifting platform and connected to the forward and backward moving device, the grabbing mechanism is arranged in the sub-platform and connected to the forward and backward moving device through the sub-platform; the lifting platform is driven to move along the first movement direction relative to the main platform by the first lifting device, and the sub-platform and the grabbing mechanism are driven to move along the first movement direction; the forward and backward moving device is driven to drive the sub-platform to move along the second movement direction relative to the lifting platform, and the grabbing mechanism is driven to move along the second movement direction.

[0007] As described above, the multifunctional conveying device has a connecting seat on the outer side of the sub-platform connected to the forward and backward moving device, and a first detection device on the outer side of the lifting platform connected to the connecting seat, and the first detection device is used to detect the forward and backward translation position of the sub-platform relative to the lifting platform.

[0008] As described above, the multifunctional conveying device further includes a second detection device connected to the main platform on the outside of the lifting platform, and the second detection device is used to detect the lifting position of the lifting platform relative to the main platform.

[0009] As described above, the multifunctional conveying device, the grabbing mechanism includes a second lifting device arranged on the sub-platform, a first clamping jaw assembly and a second clamping jaw assembly arranged relatively to the second lifting device, and the first clamping jaw assembly and the second clamping jaw assembly are driven to move toward or away from each other by the second lifting device to clamp or release the workpiece; the first clamping jaw assembly includes a plurality of first clamping jaws arranged at intervals, and each of the first clamping jaws is provided with a first clamping groove, and the second clamping jaw assembly includes a plurality of second clamping jaws arranged at intervals, and each of the second clamping jaws is provided with a second clamping groove, and a clamping space for fixing the workpiece is formed by enclosing each of the first clamping grooves and each of the second clamping grooves.

[0010] The multifunctional conveying device as described above further includes a third detection device provided between the grabbing mechanism and the sub-platform, and the third detection device is used to detect the moving position of the first clamping jaw assembly and / or the second clamping jaw assembly relative to the sub-platform.

[0011] As described above, the multifunctional conveying device, the film feeding mechanism includes a third lifting device arranged on the main platform, a first film feeding module connected to the third lifting device, and a second film feeding module arranged on the main platform and opposite to the first film feeding module; the first film feeding module includes a plurality of first guide assemblies, each of the first guide assemblies includes a third clamping groove and a universal ball assembly located outside the third clamping groove; the second film feeding module includes a plurality of second guide assemblies, each of the second guide assemblies includes a mounting seat arranged on the main platform, a guide wheel axially rotatably arranged on the mounting seat, and a limiting wheel axially rotatably arranged on the mounting seat and located above the guide wheel, a fourth clamping groove is provided between the limiting wheel and the guide wheel, and a film connection space for fixing the workpiece is formed by enclosing the third clamping groove and the fourth clamping groove; the third lifting device is used to drive the first film feeding module to move closer to or away from the second film feeding module.

[0012] The multifunctional conveying device as described above further includes a fourth detection device provided between the first film feeding module and the main platform, wherein the fourth detection device is used to detect the lifting position of the first film feeding module relative to the main platform.

[0013] The multifunctional conveying device as described above further includes a fifth detection device disposed between the main platform and the film feeding mechanism, the fifth detection device including at least one limiting device for limiting the position of the workpiece entering the film splicing space.

[0014] The present invention also provides a control method for a multifunctional conveying device, which is implemented by the multifunctional conveying device as described above, and the control method at least includes: The workpiece is taken from the splicing position by the sheet feeding mechanism; Grab the workpiece through the grab mechanism; The sheet grabbing mechanism moves relative to the main platform along a first movement direction and a second movement direction to transport the workpiece from the sheet splicing position to the sheet feeding position.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention proposes a multifunctional conveying device and a control method thereof. The multifunctional conveying device includes a sheet feeding mechanism, a sheet grabbing mechanism and a driving mechanism for driving the sheet grabbing mechanism to move. The workpiece can be loaded through the sheet feeding mechanism first, and then the sheet grabbing mechanism is driven by the driving mechanism to perform longitudinal lifting and transverse forward and backward translation relative to the main platform. The sheet feeding mechanism, the sheet grabbing mechanism and the driving mechanism work together to realize the sheet feeding and the automatic transportation of the workpiece to the target position. Compared with the traditional forklift, overhead crane and electric hoist to transport workpieces in coordination, the conveying device in the present invention integrates sheet feeding, sheet grabbing, multiple lifting and translation mechanisms to realize automatic loading and unloading of workpieces, so that the workpieces are accurately installed in the target position, which greatly saves labor costs, simplifies the workpiece transfer steps, and improves the transportation efficiency of the workpiece. At the same time, it reduces the space occupied by equipment, reduces production costs and accident risks, and improves the stability of product quality.

[0016] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The multifunctional conveying device of the present invention is a three-dimensional Figure 1 ; Figure 2 The multifunctional conveying device of the present invention is a three-dimensional Figure 2 ; Figure 3 Schematic diagram of the connection between the main platform, lifting platform and first lifting device of the present invention Figure 1 ; Figure 4 Schematic diagram of the connection between the main platform, lifting platform and first lifting device of the present invention Figure 2 ; Figure 5 This is a schematic diagram of the connection between the lifting platform, the forward and backward moving device, the auxiliary platform, and the sheet grabbing mechanism of the present invention; Figure 6 A perspective view of the secondary platform of the present invention; Figure 7 A three-dimensional diagram of the grabbing mechanism of the present invention; Figure 8 This is a schematic diagram of the connection between the main platform and the film feeding mechanism of the present invention; Figure 9 is a perspective view of the first guide assembly of the film feeding mechanism of the present invention; Figure 10 is a perspective view of the second guide assembly of the film feeding mechanism of the present invention; Figure 11 It is a right side view of the multifunctional conveying device of the present invention; Figure 12 Schematic diagram of the connection between the first detection device and the third detection device of the present invention; Figure 13 is a connection diagram of the second detection device of the present invention; Figure 14 is a connection diagram of a fourth detection device of the present invention; Figure 15 is a schematic diagram of the initial state of the fifth detection device of the present invention; Figure 16 Schematic diagram of the limit state of the fifth detection device of the present invention; Figure 17 It is a front view of the multifunctional conveying device of the present invention; Figure 18 A flow chart of an embodiment of the multifunctional conveying device of the present invention; Figure 19 A flow chart of another embodiment of the multifunctional conveying device of the present invention; Figure 20 This is a flow chart of another embodiment of the multifunctional conveying device of the present invention. DETAILED DESCRIPTION

[0018] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings. The embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship and movement status of various components under a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0020] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0021] like Figure 1As shown in —17, the present invention provides a multifunctional conveying device, including a main platform 1, a film feeding mechanism 2, a driving mechanism 3 and a film grabbing mechanism 4, the film feeding mechanism 2 is arranged on one side of the main platform 1, the film feeding mechanism 2 includes a film splicing space for fixing the workpiece, the film grabbing mechanism 4 is arranged in the main platform 1 and is opposite to the film feeding mechanism 2, the driving mechanism 3 is arranged in the main platform 1 and is connected to the film grabbing mechanism 4, and the film grabbing mechanism 4 is between the driving mechanism 3 and the film feeding mechanism 2, the driving mechanism 3 can drive the film grabbing mechanism 4 to move relative to the main platform 1 along the first movement direction and the second movement direction, so that the film grabbing mechanism 4 can at least partially extend into the film splicing space and grab the workpiece, and transport the workpiece from the film splicing position to the film feeding position; the first movement direction and the second movement direction are perpendicular; Figure 1 As shown, Figure 1 The Z axis is the first movement direction axis, and the Y axis is the second movement direction axis. In this embodiment, the driving mechanism 3 can drive the grabbing mechanism 4 to perform longitudinal lifting and horizontal forward and backward translation relative to the main platform 1. The sheet feeding mechanism 2, the grabbing mechanism 4 and the driving mechanism 3 work together to realize the feeding of the workpiece and the automatic transportation of the workpiece to the target position. In actual application, the workpiece can be loaded into the sheet feeding mechanism 2 manually or by other conveying equipment, and the grabbing mechanism 4 can be driven by the driving mechanism 3 to perform longitudinal lifting and horizontal forward and backward translation relative to the main platform 1. The movement enables the grabbing mechanism 4 to grab the workpiece in the splicing space and transport the workpiece to the substrate rack, which can realize the transfer of workpieces during the vacuum coating production process; compared with the traditional forklift, overhead crane and electric hoist to transport workpieces in a coordinated manner, the conveying device in this embodiment integrates the feeding, grabbing, multiple lifting and translation mechanisms to realize automatic loading and unloading of workpieces, so that the workpieces can be accurately installed in the substrate rack, which greatly saves labor costs, simplifies the transfer steps of the workpieces, improves the transportation efficiency of the workpieces, and at the same time reduces the space occupied by equipment, reduces production costs and accident risks, and improves the stability of product quality.

[0022] In this embodiment, the conveying device can be used for transporting heavy workpieces in different fields. The conveying device can be installed in the corresponding production line for use, or can be configured with a separate walking device for independent operation and use. This embodiment does not make specific limitations. For example, the conveying device is used to transport heavy workpieces in a vacuum coating production line. The workpiece can be loaded through the film feeding mechanism 2 first, and then the driving mechanism 3 drives the film grabbing mechanism 4 to perform longitudinal lifting and lateral forward and backward translation relative to the main platform 1. The film feeding mechanism 2, the film grabbing mechanism 4 and the driving mechanism 3 work together to realize the workpiece feeding and automatic transportation of the workpiece to the substrate rack.

[0023] In this embodiment, the main platform 1 can be set as a rectangular frame made by welding carbon steel profiles and CNC processing to ensure the stability and precision of the main platform 1 as the main frame of the equipment. The main platform 1 is provided with a movement space for the driving mechanism 3 and the grabbing mechanism 4 to move. The driving mechanism 3 is connected to the main platform 1 and is located in the movement space. The movement space provides sufficient movement space for the lifting and backward movement of the driving mechanism 3 and the grabbing mechanism 4, so as to reduce the volume of the equipment and thus reduce the space occupied by the equipment.

[0024] like Figure 1 and Figure 2As shown, in this embodiment, the driving mechanism 3 includes a first lifting device 31 provided on the main platform 1, a lifting platform 32 connected to the first lifting device 31, a front-and-rear moving device 33 provided on the lifting platform 32, and a sub-platform 34 passed through the lifting platform 32 and connected to the front-and-rear moving device 33. The grabbing mechanism 4 is provided in the sub-platform 34 and connected to the front-and-rear moving device 33 through the sub-platform 34. The lifting platform 32 is driven to move relative to the main platform 1 along the first movement direction by the first lifting device 31, and drives the sub-platform 34 and the grabbing mechanism 4. The mechanism 4 moves along the first movement direction; the front and rear moving device 33 drives the sub-platform 34 to move relative to the lifting platform 32 along the second movement direction, and drives the grabbing mechanism 4 to move along the second movement direction; in this embodiment, the sub-platform 34 is configured as a rectangular parallelepiped frame similar to the main platform 1. It should be noted that the volume of the sub-platform 34 is smaller than that of the main platform 1, and the lifting platform 32 is configured as a flat rectangular frame similar to the main platform 1; the first lifting device 31 is provided on the left and right side frames of the main platform 1, and the lifting platform 32 is sleeved on The outer side of the auxiliary platform 34 is connected to the first lifting device 31, and the short sides of the left and right sides of the lifting platform 32 are provided with the front and rear moving devices 33 to facilitate ensuring the movement balance of the lifting platform 32 and the auxiliary platform 34, thereby ensuring the normal movement of the grabbing mechanism 4; in this embodiment, the lifting platform 32 is connected to the first lifting device 31, and the auxiliary platform 34 is passed through the lifting platform 32, and the auxiliary platform 34 is slidably connected to the lifting platform 32 through the front and rear moving devices 33, so that the lifting platform 32, the auxiliary platform 34 and the grabbing mechanism 4 are realized through the first lifting device 31. The entire piece mechanism 4 moves longitudinally up and down in the main platform 1, and the auxiliary platform 34 and the piece-grabbing mechanism 4 move laterally forward and backward in the main platform 1 through the forward and backward moving device 33, thereby realizing the translation of the piece-grabbing mechanism 4 in different directions. The movement rules are simple, which is conducive to reducing the difficulty of transporting heavy workpieces to protect the transportation safety of heavy workpieces. In the process of transporting workpieces, no additional lifting platform or translation mechanism is required, which can shorten the process cycle. In addition, the coordinated movement of longitudinal lifting and horizontal translation can enable the piece-grabbing mechanism 4 to realize the continuous action of "taking-transporting-putting", reduce idle waiting, and further improve the transportation efficiency of workpieces.

[0025] In some optional embodiments, such as Figure 3As shown, the first lifting device 31 includes a first active lifting module 311, the first active lifting module 311 includes a first motor 3111, a first guide rail 3112 connected to the first motor 3111, and a first transmission slider 3113 movably connected to the first guide rail 3112. The first motor 3111 is set on the top of the main platform 1, and the first guide rail 3112 is set in the left and right side frames of the main platform 1. The lifting platform 32 is fixedly connected to the first transmission slider 3113, and the first motor 3111 drives the first guide rail 3112 and the first transmission slider 3113 to move upward. 13 operate in coordination, so that the first transmission slider 3113 moves up and down along the first guide rail 3112, and the lifting platform 32 is driven to move up and down through the first transmission slider 3113; optionally, the first motor 3111 can adopt a servo motor or a hydraulic motor, and the first guide rail 3112 and the first transmission slider 3113 can adopt a roller slider module or a screw slider module, etc., which are not specifically limited in this embodiment; preferably, the first motor 3111 adopts a servo motor, which improves the lifting efficiency and lifting accuracy of the lifting platform 32 through servo control, and is conducive to reducing electrical connections, thereby simplifying the equipment structure.

[0026] In other optional embodiments, such as Figure 3 As shown, the first lifting device 31 also includes a first auxiliary lifting module 312, which includes at least one second guide rail 3121 provided on one side of the first guide rail 3112, and a first driven slider 3122 movably connected to the second guide rail 3121. The second guide rail 3121 is provided within the left and right side frames of the main platform 1. The lifting platform 32 is connected to the first driven slider 3122. When the lifting platform 32 is lifted and moved along the first guide rail 3112 via the first transmission slider 3113, the lifting platform 32 simultaneously drives the first driven slider 3122 to move along the second guide rail 3121, thereby improving the movement stability of the lifting platform 32 and meeting the driving requirements for lifting heavy workpieces. In addition, the second guide rail 3121 and the second transmission slider 3313 can optionally adopt a roller slider module or a screw slider module, etc., which is not specifically limited in this embodiment.

[0027] In some optional embodiments, such as Figure 4As shown, the forward and backward moving device 33 includes an active translation module 331, the active translation module 331 includes a second motor 3311, a third guide rail 3312 transmission-connected to the second motor 3311, and a second transmission slider 3313 movably connected to the third guide rail 3312, the third guide rail 3312 is arranged at the lower part of the left and right short sides of the lifting platform 32, the second motor 3311 is arranged on the back long side of the lifting platform 32, that is, the second motor 3311 is away from the film feeding mechanism 2 to avoid interfering with the normal operation of the film feeding mechanism 2 and the film grabbing mechanism 4; the sub-platform 34 is fixedly connected to the second transmission slider 3313, and the third guide rail 3312 and the second transmission slider 3313 are driven by the second motor 3311. The movable slider 3313 operates in coordination to move the second transmission slider 3313 forward and backward along the third guide rail 3312, and the sub-platform 34 is driven to move forward and backward along the third guide rail 3312 through the second transmission slider 3313; optionally, the active translation module 331 may adopt a structure similar to the first active lifting module 311, the second motor 3311 may adopt a servo motor or a hydraulic motor, the third guide rail 3312 and the second transmission slider 3313 may adopt a roller slider module or a screw slider module, etc., which is not specifically limited in this embodiment; preferably, the second motor 3311 adopts a servo motor, which improves the lifting efficiency and lifting accuracy of the lifting platform 32 through servo control, and is conducive to reducing electrical connections, thereby simplifying the equipment structure.

[0028] In other optional embodiments, such as Figure 4 As shown, a belt drive module 332 is provided between the second motor 3311 and the third guide rail 3312. The belt drive module 332 is used to transfer the kinetic energy of the second motor 3311 to the third guide rail 3312 to drive the third guide rail 3312 to transmit axial transmission, and drive the second transmission slider 3313 to move through the third guide rail 3312, thereby realizing the forward and backward movement of the sub-platform 34 relative to the lifting platform 32; the belt drive module 332 can absorb impact loads, realize buffering and shock absorption, and achieve the purpose of protecting the conveying device.

[0029] In some other optional embodiments, the forward and backward movement device 33 further includes an auxiliary translation module 333, which includes a fourth guide rail 3331 provided on the upper part of the lifting platform 32 and a second driven slider 3332 movably provided on the fourth guide rail 3331. The fourth guide rail 3331 is provided on the upper part of the left and right short sides of the lifting platform 32. The auxiliary platform 34 is connected to the second driven slider 3332. When the auxiliary platform 34 moves forward and backward along the third guide rail 3312 through the second transmission slider 3313, the second driven slider 3332 is simultaneously driven to move forward and backward along the fourth guide rail 3331, which is conducive to improving the stability and movement accuracy of the forward and backward movement of the auxiliary platform 34. In addition, by installing the second motor 3311 on the long side of the back side of the lifting platform 32, it is beneficial to increase the movable distance of the third guide rail 3312 and the fourth guide rail 3331, thereby increasing the forward and backward movement stroke of the sub-platform 34 and the grabbing mechanism 4; optionally, the fourth guide rail 3331 and the second driven slider 3332 can adopt a roller slider module or a screw slider module, etc., which is not specifically limited in this embodiment; in addition, the number of the second driven sliders 3332 can be selected according to the bottom length of the connecting seat 341 to further improve the stability and reliability of the auxiliary translation module 333 driving the sub-platform 34 to move forward and backward. This embodiment does not specifically limit the number of the second driven sliders 3332.

[0030] In other optional embodiments, such as Figure 6 As shown, a connecting seat 341 connected to the front-rear moving device 33 is provided on the outer side of the sub-platform 34, that is, the left and right sides of the sub-platform 34 are fixedly connected to the second driven slider 3332 through the connecting seat 341, so as to eliminate assembly problems caused by processing errors and reduce assembly difficulty.

[0031] In order to improve the operating accuracy of the conveying device, Figure 11As shown in FIG13 , a first detection device 5 connected to the connecting seat 341 is provided on the outside of the lifting platform 32, and the first detection device 5 is used to detect the forward and backward translation position of the sub-platform 34 relative to the lifting platform 32; optionally, the first detection device 5 can adopt a photoelectric detection module, specifically, the first detection device 5 includes a first detection contact piece 51 provided on the connecting seat 341 and a first sensor 52 provided on the lifting platform 32, and the first sensor 52 is provided with a first coupling area 53 for the first detection contact piece 51 to pass through. The first detection contact piece 51 can be moved relative to the first sensor 52 through the forward and backward moving device 33, and when the first detection contact piece 51 moves into the first coupling area 53 through the connecting seat 341, the first detection contact piece 51 is coupled with the first sensor 52 to detect the forward and backward movement position of the sub-platform 34 relative to the lifting platform 32, thereby indirectly detecting the forward and backward movement position of the grabbing mechanism 4, which is conducive to accurately controlling the forward and backward movement of the grabbing mechanism 4.

[0032] In order to further improve the operating accuracy of the conveying device, Figure 11 As shown in FIG13 , a second detection device 6 connected to the main platform 1 is further provided on the outside of the lifting platform 32, and the second detection device 6 is used to detect the lifting position of the lifting platform 32 relative to the main platform 1; the second detection device 6 can adopt a structure similar to the first detection device 5. Specifically, the second detection device 6 includes a second detection contact piece 61 provided on the lifting platform 32 and a second sensor 62 provided on the main platform 1. The second sensor 62 is provided with a second coupling area 63 for the second detection contact piece 61 to pass through. When the second detection contact piece 61 moves into the second coupling area 63 through the lifting platform 32, the second detection contact piece 61 is coupled with the second sensor 62 to detect the lifting position of the lifting platform 32 relative to the main platform 1. The lifting position of the sub-platform 34 and the grabbing mechanism 4 relative to the main platform 1 can be indirectly detected, which is conducive to accurately controlling the lifting and lowering movement of the grabbing mechanism 4.

[0033] like Figure 5As shown in -7, in this embodiment, the grabbing mechanism 4 includes a second lifting device 41 provided on the sub-platform 34, a first clamping jaw assembly 42 and a second clamping jaw assembly 43 relatively provided on the second lifting device 41, and the second lifting device 41 drives the first clamping jaw assembly 42 and the second clamping jaw assembly 43 to move toward or away from each other to clamp or release the workpiece; the first clamping jaw assembly 42 includes a plurality of first clamping jaws 422 arranged at intervals, each of the first clamping jaws is provided with a first clamping groove 420, and the second clamping jaw assembly 43 includes a plurality of second clamping jaws 432 arranged at intervals, each of the second clamping jaws is provided with a second clamping groove 430, and a clamping space for fixing the workpiece is formed by each first clamping groove 420 and each second clamping groove 430; specifically, the first clamping jaw assembly 42 also includes a first clamping jaw frame 421 provided between the first clamping jaw 422 and the second lifting device 41, each of the first clamping jaws 422 is arranged at intervals along the length direction of the first clamping jaw frame 421, and each of the first clamping jaws 422 is provided with a first clamping groove 430 facing the first clamping jaw The first clamping groove 420 of the second clamping jaw assembly 43; the second clamping jaw assembly 43 also includes a second clamping jaw frame 431 arranged between the second clamping jaw 432 and the second lifting device 41, and each second clamping jaw 432 is arranged at intervals along the length direction of the second clamping jaw frame 431, and each second clamping jaw 432 is provided with a second clamping groove 430 facing the first clamping jaw assembly 42; each first clamping groove 420 and each second clamping groove 430 are arranged in a one-to-one correspondence. When each first clamping jaw 422 and each second clamping jaw 432 move toward each other through the second lifting device 41, the clamping space can be formed by each first clamping groove 420 and each second clamping groove 430. The structure is simple and can reduce the contact area between each first clamping jaw 422 and each second clamping jaw 432 and the workpiece, which is beneficial to protecting the workpiece; in addition, by providing multiple first clamping jaws 422 and second clamping jaws 432, it is beneficial to improve the grasping stability and transportation stability of the grabbing mechanism 4 for heavy workpieces, thereby ensuring the transportation safety of heavy workpieces.

[0034] Further optional, such as Figure 7As shown, the second lifting device 41 is arranged between the first clamping claw frame 421, the second clamping claw frame 431 and the sub-platform 34, and the second lifting device 41 is provided on both the front and rear sides of the sub-platform 34 to facilitate improving the movement stability of the grabbing mechanism 4; specifically, the second lifting device 41 includes a second active lifting module 411, the second active lifting module 411 includes a third motor 4111, a fifth guide rail 4112 connected to the third motor 4111, a third transmission slider 4113 movably provided on the fifth guide rail 4112 and a third transmission slider 4113 The fourth transmission slider 4114, the third motor 4111 is arranged on the top of the sub-platform 34, the first clamping jaw frame 421 is fixedly connected to the third transmission slider 4113, the second clamping jaw frame 431 is fixedly connected to the fourth transmission slider 4114, and the third motor 4111 drives the fifth guide rail 4112, the third transmission slider 4113 and the fourth transmission slider 4114 to operate in coordination, so that the third transmission slider 4113 and the fourth transmission slider 4114 move up and down along the fifth guide rail 4112, thereby The movable slider 4113 drives the first clamping jaw frame 421 to move up and down along the fifth guide rail 4112, and drives the second clamping jaw frame 431 to move up and down along the fifth guide rail 4112 through the fourth transmission slider 4114, wherein the movement directions of the third transmission slider 4113 and the fourth transmission slider 4114 are opposite, so as to realize the movement of the first clamping jaw frame 421 and the second clamping jaw frame 431 towards or away from each other, and then the first clamping jaw frame 421 and the second clamping jaw frame 431 drive each first clamping jaw 422 and each second clamping jaw 432 The first and second clamping jaw assemblies 42 and 43 move toward or away from each other, thereby clamping or releasing the workpiece. Optionally, the third motor 4111 may be a servo motor or a hydraulic motor, and the fifth guide rail 4112, the third transmission slider 4113, and the fourth transmission slider 4114 may be a roller slider module or a screw slider module, etc., which are not specifically limited in this embodiment. Preferably, the third motor 4111 is a servo motor, which improves the lifting efficiency and lifting accuracy of the lifting platform 32 through servo control, and helps to reduce electrical connections, thereby simplifying the equipment structure. In addition, since the main platform 1 is configured as a rectangular frame, when the sub-platform 34 is lifted and moved within the main platform 1 through the first lifting device 31, the top frame of the main platform 1 can make way for the third motor 4111.

[0035] In other optional embodiments, such as Figure 7As shown, the second lifting device 41 also includes a second auxiliary lifting module 412, which includes at least one sixth guide rail 4121 provided on the main platform 1 and located on one side of the fifth guide rail 4112, a third driven slider 4122 and a fourth driven slider 4123 movably connected to the sixth guide rail 4121, the third driven slider 4122 is fixedly connected to the first clamping frame 421, and the fourth driven slider 4123 is fixedly connected to the second clamping frame 431. When the first clamping frame 421 and the second clamping frame 431 are lifted and lowered along the fifth guide rail 4112 respectively through the third transmission slider 4113 and the fourth transmission slider 4114, the third driven slider 4122 is fixedly connected to the first clamping frame 421, and the fourth driven slider 4123 is fixedly connected to the second clamping frame 431. The driven slider 4122 and the fourth driven slider 4123 drive the first clamping frame 421 and the second clamping frame 431 to move up and down along the sixth guide rail 4121, wherein the movement directions of the third driven slider 4122 and the fourth driven slider 4123 are opposite to ensure the first clamping assembly 42 and the second clamping assembly 43 to move toward and away from each other; by setting the second auxiliary lifting module 412, the stability and movement accuracy of the first clamping assembly 42 and the second clamping assembly 43 to move toward or away from each other are improved; optionally, the sixth guide rail 4121 and the third driven slider 4122, the fourth driven slider 4123 can adopt a roller slider module or a screw slider module, etc., which is not specifically limited in this embodiment.

[0036] In other optional embodiments, such as Figure 5 As shown, the front and rear sides of the first clamping frame 421 and the second clamping frame 431 are connected to the sub-platform 34 through the second active lifting module 411 and the second auxiliary lifting module 412, so as to further improve the stability and movement accuracy of the first clamping assembly 42 and the second clamping assembly 43 moving toward or away from each other.

[0037] In order to further improve the operating accuracy of the conveying device, Figure 11 and Figure 12As shown, the conveying device also includes a third detection device 7 provided between the grabbing mechanism 4 and the sub-platform 34, and the third detection device 7 is used to detect the lifting position of the first clamping jaw assembly 42 and / or the second clamping jaw assembly 43 relative to the sub-platform 34. The third detection device 7 can be provided between the first clamping jaw assembly 42 and the main platform 1, or between the second clamping jaw assembly 43 and the main platform 1, or two third detection devices 7 are provided, and the third detection device 7 is provided between the first clamping jaw assembly 42, the second clamping jaw assembly 43 and the main platform 1. This embodiment is not specifically limited; the following is based on the third detection device provided between the first clamping jaw assembly 42 and the main platform 1 Device 7 is introduced. The third detection device 7 can adopt a structure similar to that of the first detection device 5. Specifically, the third detection device 7 includes a third detection contact piece 71 arranged on the first clamping jaw frame 421 and a third sensor 72 arranged on the sub-platform 34. The third sensor 72 is provided with a third coupling area 73 for the third detection contact piece 71 to pass through. When the third detection contact piece 71 moves into the third coupling area 73 through the first clamping jaw assembly 42, the third detection contact piece 71 is coupled with the third sensor 72 to detect the position of the first clamping jaw assembly 42 relative to the sub-platform 34, which is conducive to further precise control of the lifting and lowering movement of the grabbing mechanism 4. It should be noted that when the conveying device is only equipped with a third detection device 7 to detect the lifting and lowering of the first clamping jaw assembly 42 or the second clamping jaw assembly 43 relative to the sub-platform 34, the second lifting device 41 can be set through the existing technology so that the second lifting device 41 can jointly control the first clamping jaw assembly 42 and the second clamping jaw assembly 43, thereby realizing the first clamping jaw assembly 42 and the second clamping jaw assembly 43 moving the same distance toward or away from each other.

[0038] like Figure 1 and Figure 8As shown, the film feeding mechanism 2 includes a third lifting device 21 provided on the main platform 1, a first film feeding module 22 connected to the third lifting device 21, and a second film feeding module 23 provided on the main platform 1 and opposite to the first film feeding module 22; the first film feeding module 22 includes a plurality of first guide assemblies 222, each of which includes a third clamping groove 221 and a universal ball assembly 2222 located outside the third clamping groove 221; the second film feeding module 23 includes a plurality of second guide assemblies 232, each of which includes a third clamping groove 221 and a universal ball assembly 2222 located outside the third clamping groove 221; The second guide assembly 232 includes a mounting seat 2321 provided on the main platform 1, a guide wheel 2322 axially rotatably provided on the mounting seat 2321, and a limiting wheel 2323 axially rotatably provided on the mounting seat 2321 and located above the guide wheel 2322. A fourth clamping groove 231 is provided between the limiting wheel 2323 and the guide wheel 2322. The third clamping groove 221 and the fourth clamping groove 231 enclose a sheet-joining space for fixing the workpiece. The third lifting device 21 is used to drive the first sheet-feeding module 2 2 moves closer to or away from the second film feeding module 23; in this embodiment, the third lifting device 21 is provided on the main platform 1, and the second film feeding module 23 is fixedly connected to the bottom of the main platform 1 and is located below the first film feeding module 22, that is, the first film feeding module 22 is provided with a third clamping groove 221 facing the second film feeding module 23, and the second film feeding module 23 is provided with a fourth clamping groove 231 facing the first film feeding module 22; in actual application, the workpiece can be placed in the fourth clamping groove 231 by other conveying equipment. In the process, the first film feeding module 22 is driven by the third lifting device 21 to move close to the second film feeding module 23, so that the first film feeding module 22 clamps the workpiece through the third clamping groove 221, so that the workpiece is fixed in the film connection space, thereby realizing the film feeding action of the film feeding mechanism 2, which is conducive to the film grabbing mechanism 4 grabbing the workpiece; when the film grabbing mechanism 4 grabs the workpiece, the third lifting device 21 drives the first film feeding module 22 to move away from the second film feeding module 23, so that the film feeding mechanism 2 releases the workpiece, which is conducive to the film grabbing mechanism 4 further transporting the workpiece.

[0039] Optional, such as Figure 1 and Figure 8As shown, the third lifting device 21 is provided on both sides of the left and right sides of the main platform 1 to improve the movement stability of the first film feeding module 22, thereby improving the transportation safety of heavy workpieces. Specifically, the third lifting device 21 includes a fourth motor 211 provided on the top of the main platform 1, a seventh guide rail 212 connected to the fourth motor 211, and a fifth transmission slider 213 movably connected to the seventh guide rail 212. The fifth transmission sliders 213 on both sides are respectively connected to the first film feeding module 22, and the seventh guide rail 212 and the fifth transmission slider 213 are driven by the fourth motor 211 to cooperate to make the fifth transmission slider 213 move up and down along the seventh guide rail 212, and the first film feeding module 22 is driven to move up and down along the seventh guide rail 212 by the fifth transmission slider 213, so that the first film feeding module 22 moves toward or away from the second film feeding module 23, thereby realizing the first film feeding module 22 and the second film feeding module 23 clamping or releasing the workpiece.

[0040] In this embodiment, Figure 1 、 8As shown in FIG9 , the first film feeding module 22 is connected to the third lifting device 21 via a first mounting bracket 24. Optionally, the first mounting bracket 24 can be configured as a long strip profile. The first guide assemblies 222 are spaced apart along the length direction of the first mounting bracket 24. Each first guide assembly 222 includes a first connecting bracket 2221 connected to the first mounting bracket 24. The third clamping groove 221 is provided in the first connecting bracket 2221. The universal ball assembly 2222 is provided on the inner side of the first connecting bracket 2221, that is, the universal ball assembly 2222 is provided on both sides of the third clamping groove 221. In this embodiment, the first connecting bracket 2221 is provided at the lower part of the first mounting bracket 24, the third clamping groove 221 is provided in the first connecting bracket 2221 and extends downward, and at least one universal ball assembly 2222 is provided on the front and rear sides of the third clamping groove 221, and the universal ball assembly 2222 includes a fixing member 22221 connected to the first connecting bracket 2221, and a sphere 22222 rotatably provided on the fixing member 22221, and a rotating groove for mounting the sphere 22222 is provided in the fixing member 22221, and the sphere 22222 at least partially extends into the third clamping groove 221; In actual application, when the workpiece is in the fourth clamping groove 231, the workpiece is supported by the second film feeding module 23, and the first film feeding module 22 is driven by the third lifting device 21 to move close to the second film feeding module 23, and the top of the workpiece is clamped by the third clamping groove 221 to fix the workpiece in the film connection space. At the same time, rolling contact is generated between the spheres 22222 located at the front and rear sides of the third clamping groove 221 and the workpiece; after the grabbing mechanism 4 grabs the workpiece from the film connection space, the first film feeding module 22 is driven by the third lifting assembly to move away from the second film feeding module 23 to release the workpiece, so that the grabbing mechanism 4 can be further moved. Feeding the workpiece; wherein, in the process of the first guide assembly 222 moving up and down relative to the workpiece to clamp or release the workpiece, the first film feeding module 22 as a whole generates a relative movement in the vertical direction with the workpiece, and the spheres 22222 on the front and rear sides of the third clamping groove 221 always maintain rolling contact with the workpiece. Compared with the first film feeding module 22 using a single horizontal rolling direction guide wheel, which is easy to scratch the workpiece when moving in the vertical direction, the first film feeding module 22 with a universal ball assembly 2222 in this embodiment can effectively avoid scratches on the surface of the workpiece, thereby achieving the purpose of protecting the workpiece and helping to improve the quality of vacuum coating products.

[0041] In other optional embodiments, in order to accurately control the moving distance of the first film feeding module 22, such as Figure 14As shown, the conveying device also includes a fourth detection device 8 provided between the first film feeding module 22 and the main platform 1, and the fourth detection device 8 is used to detect the lifting position of the first film feeding module 22 relative to the main platform 1; in this embodiment, the fourth detection device 8 is similar in structure to the first detection device 5, so as to reduce equipment costs. Specifically, the fourth detection device 8 includes a fourth detection contact piece 81 provided on the third lifting device 21 or the first film feeding module 22, and a fourth sensor 82 provided on the main platform 1, and the fourth sensor 82 is provided with a fourth coupling area 83 for the fourth detection contact piece 81 to pass through; optionally, the fourth detection contact piece 81 can be installed at one of the fifth transmission sliders 213 of the third lifting device 21, and can also be installed The fourth sensor 82 is installed at the first mounting bracket 24 of the first film feeding module 22, and the fourth detection contact piece 81 is installed correspondingly. This embodiment does not make specific limitations. When the first film feeding module 22 moves away from the second film feeding module 23 through the third lifting device 21 to release the workpiece, the fourth detection contact piece 81 is driven by the third lifting device 21 to move to the fourth coupling area 83, so that the fourth detection contact piece 81 is coupled with the fourth sensor 82 to detect the position of the first film feeding module 22 relative to the main platform 1. This is beneficial to accurately control the lifting distance of the first film feeding module 22, thereby improving the transportation efficiency of the workpiece, and is beneficial to make way for the grabbing mechanism 4 to further transport the workpiece, avoiding interference between the first film feeding module 22 and the grabbing mechanism 4.

[0042] In some other optional embodiments, in order to improve the film feeding efficiency of the film feeding mechanism 2, the film feeding mechanism 2 is provided with a driving surface for driving the workpiece to move in the film splicing space, such as Figure 1 、 8As shown in Figure 10, the second film feeding module 23 is connected to the main platform 1 through a second mounting bracket 25. Optionally, the second mounting bracket 25 can be set as a long strip profile, and each second guide component 232 is arranged at intervals along the length direction of the second mounting bracket 25. Each second guide component 232 includes a mounting seat 2321 connected to the second mounting bracket 25, a guide wheel 2322 axially rotatably arranged in the mounting seat 2321, and a limiting wheel 2323 axially rotatably arranged on the mounting seat 2321 and located above the guide wheel 2322. The fourth clamping groove 231 is provided on the guide In the guide wheel 2322, the limiting wheels 2323 are provided on both sides of the fourth clamping groove 231; in this embodiment, the workpiece can be pushed into the sheet-joining space from the side of the sheet-feeding mechanism 2 by human or mechanical force. During this period, the guide wheel 2322 is subjected to the moving friction force of the workpiece to produce axial rotation, thereby forming the driving surface that can drive the workpiece to move on the top of the guide wheel 2322, and the driving surface assists the workpiece to move in the sheet-joining space, which is beneficial to improving the sheet-feeding efficiency of the workpiece, and the horizontal rolling friction generated between the guide wheel 2322 and the workpiece can avoid damage to the workpiece and improve the quality of the workpiece; further, Figure 10 As shown, in order to prevent the workpiece from swinging when feeding, the guide wheel 2322 is further provided with the limiting wheels 2323 on both sides that are in contact with the front and rear sides of the workpiece. The workpiece is positioned by the limiting wheels 2323 on both sides, which effectively prevents the workpiece from swinging and keeps the workpiece on the same horizontal moving path, thereby ensuring the smooth feeding of the workpiece. At the same time, the limiting wheels 2323 on both sides are subjected to the friction force of the workpiece to produce axial rotation, which can further drive the workpiece to move in the splicing space, thereby further improving the feeding efficiency of the workpiece. It should be noted that the rotation axis of the limiting wheel 2323 is perpendicular to the rotation axis of the guide wheel 2322.

[0043] Further optional, such as Figure 10 As shown, the limiting wheel 2323 is connected to the top of the mounting seat 2321 through a second connecting bracket 2324, and the second connecting bracket 2324 and the mounting seat 2321 are connected through a positioning member 2325, and the positioning member 2325 includes a tightening screw, a tightening bolt, etc., which is not specifically limited in this embodiment; in actual application, there is at least one positioning member 2325, and the spacing between the limiting wheels 2323 on both sides can be adjusted by the positioning member 2325, so that the limiting wheels 2323 on both sides limit the swing of the workpiece.

[0044] Further optional, such as Figure 10As shown, the guide wheel 2322 is provided with extension portions 23221 located on both sides of the driving surface. The extension portions 23221 extend along the circumference of the guide wheel 2322. The extension portions 23221 can limit the workpiece from deviating from the driving surface, thereby ensuring smooth feeding of the workpiece.

[0045] In addition, in some optional embodiments, each of the first guide components 222 is evenly spaced along the first mounting bracket 24, and each of the second guide components 232 is evenly spaced along the length direction of the second mounting bracket 25, so that each of the first clamping jaws 422 can be inserted into the spacing space between two adjacent first guide components 222, and each of the second clamping jaws 432 can be inserted into the spacing space between two adjacent second guide components 232, so as to facilitate the first clamping jaw assembly 42 and the second clamping jaw assembly 43 to grasp the workpiece, avoid interference between the sheet feeding mechanism 2 and the sheet grabbing mechanism 4, improve the transportation efficiency of the workpiece, and help to improve the structural compactness between the sheet feeding mechanism 2 and the sheet grabbing mechanism 4, thereby reducing the volume of the conveying device.

[0046] In other optional embodiments, such as Figure 15 —17, Figure 17 The direction of the arrow in the figure indicates the film feeding direction. A film feeding port 201 is provided on one side of the film splicing space. The conveying device also includes a fifth detection device provided between the main platform 1 and the film feeding mechanism 2. The fifth detection device includes at least one limiting device 9. The limiting device 9 is used to limit the position where the workpiece enters the film splicing space. Further, the limiting device 9 includes a limiting member 92 provided on a rotating device 91 and connected to the rotating device 91. The limiting member 92 is driven to rotate around the rotating device 91 by the rotating device 91 so that the limiting member 92 switches between an initial state and a limiting state. When the limiting member 92 is in a position as shown in FIG. Figure 15 In the initial state shown, the limiting member 92 is outside the splice space; when the limiting member 92 is in the Figure 16When in the limiting state shown, the limiting member 92 rotates to the film splicing space and is opposite to the film feeding port 201; in this embodiment, the fifth detection device is connected to the main platform 1 through the third mounting bracket 11, and the fifth detection device is located between the first film feeding module 22 and the second film feeding module 23. Optionally, the third mounting bracket 11 can be a long strip profile, which is not specifically limited in this embodiment; the rotating device 91 can be set to a rotating cylinder or a rotating motor, etc., which is not specifically limited in this embodiment; in actual application, the limiting member 92 is driven by the rotating device 91 to switch from the initial state to the limiting state, so that the limiting member 92 extends into the film splicing space The workpiece is pushed into the splicing space from the film inlet 201, and the workpiece moves through the second film feeding module 23 until it contacts the limit member 92. The position of the workpiece in the splicing space is accurately limited by the limit member 92, which is conducive to the accurate grasping of the workpiece by the grabbing mechanism 4, thereby improving the transportation efficiency of the workpiece; in addition, the limit member 92 can be rotated to the outside of the splicing space by the rotating device 91, even if the limit member 92 is switched from the limit state to the initial state; it should be noted that the limit member 92 can be rotated 90° by the rotating device 91 to switch between the initial state and the limit state.

[0047] In other optional embodiments, such as Figure 1 、 15As shown in , 16, the limit device 9 is provided with two, namely the fifth detection device includes an end limit device 9a arranged away from the film inlet 201, and an intermediate limit device 9b arranged between the end limit device 9a and the film inlet 201. It should be noted that the specific installation positions of the two limit devices 9 can be specifically set according to the width of the workpiece, and the present invention does not make specific restrictions; in the production process, one or two limit devices 9 can be selected to be started according to the width of the workpiece. When the width of the workpiece is large, the intermediate limit device 9b can be kept in the initial state, and the end limit device 9a can be started to the limiting state to accurately position the workpiece in the film splicing space, which is conducive to the accurate film grabbing mechanism 4; when the width of the workpiece is small, the intermediate limit device 9b can be kept in the initial state, and the end limit device 9a can be started to the limiting state, so that the first workpiece is advanced and positioned in the film splicing space through the end limit device 9a, and then the intermediate limit device 9b can be started to the limiting state, so that the second workpiece The film is fed and positioned in the film splicing space through the intermediate limit device 9b, so that the film feeding mechanism 2 can feed two workpieces at a time, thereby enabling the film grabbing mechanism 4 to transport two workpieces with smaller widths at a time, so as to further improve the workpiece transporting device. It should be noted that since the first film feeding module 22 and the second film feeding module 23 are both equipped with a plurality of first guide components 222 and second guide components 232 corresponding to each other, and the first clamping jaw component 42 and the second clamping jaw component 43 are both equipped with a plurality of first clamping jaws 422 and second clamping jaws 432 corresponding to each other, for example, the first guide component 222 and the second guide component 232 corresponding to the left side of the main platform 1 can clamp the workpiece located on the left side of the film splicing space, and the first guide component 222 and the second guide component 232 corresponding to the right side of the main platform 1 can clamp the workpiece located on the right side of the film splicing space. The same applies to the first clamping jaw component 42 and the second clamping jaw component 43, which will not be repeated here. Therefore, the film grabbing mechanism 4 can simultaneously grasp and transport two workpieces at a time.

[0048] On the other hand, Figure 18 As shown in FIG. 20 , the present invention further provides a control method for a multifunctional conveying device, wherein the control method is implemented by the multifunctional conveying device in any of the above embodiments, such as Figure 1 、 2 , 18, Figure 1 Indicates that the multifunctional conveying device is in the splicing state. Figure 2 Indicates that the multifunctional conveying device is in a sheet feeding state corresponding to the target position, and the control method includes at least steps S200 to S500, wherein: S200, the workpiece is received at the sheet-joining position by the sheet-feeding mechanism; the sheet-joining position corresponds to the lower part of the main platform to reduce the difficulty of sheet-feeding; when the sheet is fed, the conveying device is in the following position: Figure 1In the sheet splicing state shown, the sheet feeding mechanism and the sheet grabbing mechanism are in the sheet splicing position, and the longitudinal distance between the first sheet feeding module and the second sheet feeding module is greater than the height of the workpiece.

[0049] In actual application, if the conveying device is not in the film splicing position when it needs to feed the film, the first film feeding module can be driven downward relative to the main platform by the third lifting device, so that the film feeding mechanism runs to the film splicing position, and the lifting platform is driven downward relative to the main platform by the first lifting device, and the sub-platform and the film grabbing mechanism are driven downward, so that the film grabbing mechanism runs to the film splicing position, and finally the conveying device is in the position as described above when feeding the film. Figure 1 The splicing state shown; it should be noted that the first lifting device and the third lifting device can operate simultaneously or separately. The present invention does not specifically limit the operating order of the third lifting device and the first lifting device. During the no-load operation of the conveying device, the first film feeding module can be kept always above the film grabbing mechanism to avoid interference and collision between the film feeding mechanism and the film grabbing mechanism, which is beneficial to protecting the conveying device; in addition, before feeding the film, the film feeding mechanism and the film grabbing mechanism are first run no-load to the splicing position, which is beneficial to shorten the idle waiting time during the film feeding process and improve the film feeding efficiency and the film grabbing efficiency.

[0050] Furthermore, the workpiece can be pushed into the film splicing space from the film inlet 201, and supported by the guide wheel 2322 of the second film feeding module 23. At the same time, the guide wheel 2322 is subjected to the friction force of the workpiece to produce axial rotation and form a driving surface, and the workpiece is further driven into the film splicing space through the driving surface. At the same time, the swing of the workpiece is restricted by the limiting wheels 2323 on the front and rear sides, and the limiting wheels 2323 on both sides are subjected to the friction force of the workpiece to produce axial rotation, further driving the workpiece into the film splicing space to improve the film feeding efficiency of the workpiece; the workpiece moves until it contacts the limiting member 92 of the fifth detection device and stops, and then the first film feeding module 22 moves downward through the third lifting device 21, and clamps the top of the workpiece through the third clamping groove 221, so that the workpiece is fixed in the film splicing space, thereby completing the film feeding.

[0051] S300, grabbing the workpiece through the grabbing mechanism; Specifically, the grabbing mechanism 4 corresponds to the piece-joining position, and drives the first clamping jaw assembly 42 and the second clamping jaw assembly 43 to move in opposite directions through the second lifting device 41, so that the first clamping jaw assembly 42 and the second clamping jaw assembly 43 are opened, so that the longitudinal distance between the first clamping jaw assembly 42 and the second clamping jaw assembly 43 is greater than the height of the workpiece, and the first clamping jaw assembly 42 and the second clamping jaw assembly 43 move in opposite directions until the third detection contact piece 71 is coupled with the third sensor 72 and stops. At this time, the distance between the first clamping jaw assembly 42 and the second clamping jaw assembly 43 is greater than the height of the workpiece; then, the forward and backward moving device 33 drives the auxiliary platform 34 to move forward along the second movement direction relative to the lifting platform 32, and the auxiliary platform 34 is moved forward along the second movement direction relative to the lifting platform 32 through the auxiliary platform 3 4 drives the grabbing mechanism 4 to extend forward, so that each first clamping jaw 422 is correspondingly inserted into the space between two adjacent first guide assemblies 222, and each second clamping jaw 432 is correspondingly inserted into the space between two adjacent second guide assemblies 232, so that the first clamping groove 420 of each first clamping jaw 422 and the second clamping groove 430 of each second clamping jaw 432 are aligned with the top and bottom of the workpiece, respectively. Subsequently, the first clamping jaw assembly 42 and the second clamping jaw assembly 43 are driven toward each other by the second lifting device 41, and the workpiece is clamped by the first clamping groove 420 and the second clamping groove 430, so that the workpiece is fixed in the clamping space, thereby completing the action of the grabbing mechanism 4 to grasp the workpiece.

[0052] In another optional embodiment, the delivery device is in a Figure 1 The film splicing state shown is that the film feeding mechanism 2 and the film grabbing mechanism 4 are in the film splicing position, and the workpiece can be pushed into the film splicing space from the film feeding port 201, and the workpiece is supported by the guide wheel 2322 of the second film feeding module 23. At the same time, the guide wheel 2322 is axially rotated by the friction force of the workpiece and forms the driving surface, and further drives the workpiece into the film splicing space through the driving surface. At the same time, the swing of the workpiece is restricted by the limiting wheels 2323 on the front and rear sides, and the limiting wheels 2323 on both sides are axially rotated by the friction force of the workpiece, further driving the workpiece into the film splicing space to improve the film feeding efficiency of the workpiece; the workpiece moves until it contacts the limiting member 92 of the fifth detection device and stops, and then the first film feeding module 22 moves down through the third lifting device 21, and clamps the top of the workpiece through the third clamping groove 221, so that the workpiece is fixed in the film splicing space, thereby completing the film feeding.

[0053] S400, the sheet grabbing mechanism 4 moves relative to the main platform 1 along the first movement direction and the second movement direction to transport the workpiece from the sheet splicing position to the sheet feeding position; specifically, Figure 20 As shown, it also includes steps S410 to S420, wherein: S410, the sheet grabbing mechanism 4 moves along the first movement direction to lift the workpiece to the sheet feeding position, so that the workpiece is separated from the sheet feeding mechanism 2; Specifically, after the grabbing mechanism 4 grasps the workpiece, the third lifting device 21 drives the first film feeding module 22 to move upward, so that the first film feeding module 22 releases the workpiece, and the first film feeding module 22 moves up to the fourth detection contact piece 81 and the fourth sensor 82 and stops, so as to provide space for the grabbing mechanism 4 to further transport the workpiece; then, the first lifting device 31 drives the lifting platform 32 to move upward relative to the main platform 1 along the first movement direction, so that the workpiece is lifted to disengage from the fourth clamping groove 231, thereby making the workpiece disengage from the film feeding mechanism 2. During this upward movement process, the lifting platform 32 moves up to the second detection contact piece 61 and the second sensor 62 and stops, so that the grabbing mechanism 4 runs to the film feeding position. At this time, the workpiece is aligned with the target position (such as the workpiece placement position of the substrate rack in the vacuum coating production line); it should be noted that the first film feeding module 22 and the grabbing mechanism 4 can be controlled to move upward at the same time by the corresponding control system, or the first film feeding module 22 and the grabbing mechanism 4 can be controlled to move upward in sequence separately, which is not specifically limited in the present invention.

[0054] S420, the workpiece is further transported to the target position by moving the grabbing mechanism 4 along the second movement direction; Specifically, the forward and backward moving device 33 drives the sub-platform 34 to continue to move forward along the second movement direction relative to the lifting platform 32, and the sub-platform 34 drives the grabbing mechanism 4 to move further forward, and the sub-platform 34 stops when it moves forward to the first detection contact piece 51 and the first sensor 52, so that the workpiece is sent to the target position (such as the workpiece placement position of the substrate rack in the vacuum coating production line); then, the second lifting device 41 drives the first clamping jaw assembly 42 and the second clamping jaw assembly 43 to move away from each other, so that the first clamping jaw assembly 42 and the second clamping jaw assembly 43 are opened to release the workpiece, and the first clamping jaw assembly 42 and the second clamping jaw assembly 43 move away from each other to the third detection contact piece 71 and the third sensor 72, so that the conveying device runs to the film feeding state corresponding to the target position, thereby completing the transfer of the workpiece from the conveying device to the target position; it should be noted that the clamping and releasing actions of the workpiece at the target position (such as the substrate rack) can refer to the film feeding mechanism 2, or can be achieved through existing technology, and the present invention is not specifically limited thereto.

[0055] After completing a workpiece transport, the conveying device is reset when running at no load; specifically, the forward and backward moving device 33 drives the sub-platform 34 to move backward relative to the lifting platform 32 along the second movement direction, so that the first clamping jaw assembly 42 and the second clamping jaw assembly 43 move backward away from the film feeding mechanism relative to the main platform 1 to reset, and then, the first lifting device 31 can be used to drive the lifting platform 32 to move downward relative to the main platform 1 along the first movement direction to the film splicing position to realize the reset of the conveying device, so that the conveying device is reset from the film feeding state to the film splicing state, so that the conveying device can repeat steps S200 to S400 to facilitate the transfer of workpieces again.

[0056] It should be noted that, based on the above control method, the specific installation positions and specific detection positions of the first detection device 5, the second detection device 6, the third detection device 7 and the fourth detection device 8 can be set according to the specific application of the conveying device, and the present invention does not make specific limitations.

[0057] like Figure 19 As shown, in other optional embodiments, based on Figure 18 In the control method shown above, the step of receiving the workpiece at the sheet-joining position by the sheet-feeding mechanism further includes step S100, wherein: S100, starting the limiting device 9 to the limiting state to limit the position where the workpiece enters the splicing space; Specifically, the limiting member 92 is driven to rotate 90° toward the sheet splicing space by the rotating device 91, so that the limiting member 92 is opposite to the sheet feed port 201, so that the limiting member 92 switches from the initial state to the limiting state; in addition, the limiting member 92 is driven to rotate 90° toward the outside of the sheet splicing space by the rotating device 91, so that the limiting member 92 can switch from the limiting state to the initial state.

[0058] In other optional embodiments, the conveying device may be simultaneously configured with an end limit device 9a and an intermediate limit device 9b. If the width of the workpiece is large, the end limit device 9a can be activated to the limit state; if the width of the workpiece is small, the end limit device 9a and the intermediate limit device 9b can be activated in sequence according to the order of feeding the sheets to the limit state.

[0059] In addition, after the grabbing mechanism 4 grabs the workpiece, it can trigger the limiting device 9 to switch to the initial state, so that the limiting member 92 rotates to the outside of the splicing space.

[0060] In this embodiment, the conveying device can be used for transporting heavy workpieces in the field of vacuum coating or other fields. Compared with the traditional method of transporting workpieces by forklifts, overhead cranes and electric hoists, the conveying device in the present invention integrates mechanisms such as sheet feeding, sheet grabbing, multiple lifting and translation to realize automatic loading and unloading of workpieces, so that the workpieces can be accurately installed in the target position, which greatly saves labor costs, simplifies the workpiece transfer steps, improves the transportation efficiency of workpieces, and at the same time reduces the space occupied by equipment, reduces production costs and accident risks, and improves the stability of product quality.

[0061] The above examples are merely provided to further illustrate the technical content of the present invention for easier understanding by the reader, but do not limit the embodiments of the present invention to these examples. Any extension or re-creation of the technology based on the present invention is protected by the present invention. The scope of protection of the present invention shall be determined by the claims.

Claims

1. Multifunctional conveying device, characterized in that, The invention comprises a main platform (1), a film feeding mechanism (2) arranged on the main platform (1), a film grabbing mechanism (4) arranged in the main platform (1) and opposite to the film feeding mechanism (2), and a driving mechanism (3) arranged in the main platform (1) and connected to the film grabbing mechanism (4), wherein the film feeding mechanism (2) is used to receive a workpiece, the film grabbing mechanism (4) is used to grab a workpiece from the film feeding mechanism (2), and the film grabbing mechanism (4) moves relative to the main platform (1) along a first movement direction and a second movement direction through the driving mechanism (3) to transport the workpiece from a film receiving position to a film feeding position; the first movement direction and the second movement direction are perpendicular to each other.

2. The multifunctional conveying device according to claim 1, characterized in that: The driving mechanism (3) comprises a first lifting device (31) provided on the main platform (1), a lifting platform (32) connected to the first lifting device (31), a front-rear moving device (33) provided on the lifting platform (32), and a sub-platform (34) passing through the lifting platform (32) and connected to the front-rear moving device (33); the grabbing mechanism (4) is provided in the sub-platform (34) and connected to the front-rear moving device (33) through the sub-platform (34); the lifting platform (32) is driven to move relative to the main platform (1) along the first movement direction by the first lifting device (31), and the sub-platform (34) and the grabbing mechanism (4) are driven to move along the first movement direction; the front-rear moving device (33) is driven to drive the sub-platform (34) to move relative to the lifting platform (32) along the second movement direction, and the grabbing mechanism (4) is driven to move along the second movement direction by the sub-platform (34) 3. The multifunctional conveying device according to claim 2, characterized in that: A connecting seat (341) connected to the forward and backward moving device (33) is provided on the outside of the auxiliary platform (34), and a first detection device (5) connected to the connecting seat (341) is provided on the outside of the lifting platform (32). The first detection device (5) is used to detect the forward and backward translation position of the auxiliary platform (34) relative to the lifting platform (32).

4. The multifunctional conveying device according to claim 2, characterized in that: A second detection device (6) connected to the main platform (1) is also provided on the outside of the lifting platform (32). The second detection device (6) is used to detect the lifting position of the lifting platform (32) relative to the main platform (1).

5. The multifunctional conveying device according to claim 2, characterized in that: The grabbing mechanism (4) includes a second lifting device (41) provided on the auxiliary platform (34), a first clamping jaw assembly (42) and a second clamping jaw assembly (43) provided relative to the second lifting device (41), and the first clamping jaw assembly (42) and the second clamping jaw assembly (43) are driven by the second lifting device (41) to move toward or away from each other to clamp or release the workpiece; The first clamping jaw assembly (42) includes a plurality of first clamping jaws (422) arranged at intervals, each of the first clamping jaws (422) is provided with a first clamping groove (420), and the second clamping jaw assembly (43) includes a plurality of second clamping jaws (432) arranged at intervals, each of the second clamping jaws (432) is provided with a second clamping groove (430), and a clamping space for fixing a workpiece is formed by enclosing each of the first clamping grooves (420) and each of the second clamping grooves (430).

6. The multifunctional conveying device according to claim 5, characterized in that: It also includes a third detection device (7) disposed between the grabbing mechanism (4) and the auxiliary platform (34), wherein the third detection device (7) is used to detect the moving position of the first clamping jaw assembly (42) and / or the second clamping jaw assembly (43) relative to the auxiliary platform (34).

7. The multifunctional conveying device according to claim 1, characterized in that: The film feeding mechanism (2) comprises a third lifting device (21) provided on the main platform (1), a first film feeding module (22) connected to the third lifting device (21), and a second film feeding module (23) provided on the main platform (1) and opposite to the first film feeding module (22); The first film feeding module (22) includes a plurality of first guide assemblies (222), each of which includes a third clamping groove (221) and a universal ball assembly (2222) located outside the third clamping groove (221); the second film feeding module (23) includes a plurality of second guide assemblies (232), each of which includes a mounting seat (2321) provided on the main platform (1), a guide wheel (2321) axially rotatably provided on the mounting seat (2321), and a guide wheel (2322) provided on the mounting seat (2321). 322), a limiting wheel (2323) axially rotatably arranged on the mounting seat (2321) and located above the guide wheel (2322), a fourth clamping groove (231) is provided between the limiting wheel (2323) and the guide wheel (2322), and a sheet-joining space for fixing a workpiece is formed by enclosing the third clamping groove (221) and the fourth clamping groove (231); the third lifting device (21) is used to drive the first sheet-feeding module (22) to move closer to or away from the second sheet-feeding module (23).

8. The multifunctional conveying device according to claim 7, characterized in that: It also includes a fourth detection device (8) disposed between the first film feed module (22) and the main platform (1), the fourth detection device (8) being used to detect the lifting position of the first film feed module (22) relative to the main platform (1).

9. The multifunctional conveying device according to claim 7, characterized in that: It also includes a fifth detection device disposed between the main platform (1) and the film feeding mechanism (2), the fifth detection device including at least one limiting device (9), the limiting device (9) being used to limit the position of the workpiece entering the film splicing space.

10. A control method for a multifunctional conveying device, characterized in that: The control method is implemented by the multifunctional conveying device according to any one of claims 1 to 9, and the control method at least includes: The workpiece is received from the sheet-joining position by a sheet-feeding mechanism (2); Grasping the workpiece through the grabbing mechanism (4); The sheet grabbing mechanism (4) moves relative to the main platform (1) along a first movement direction and a second movement direction to transport the workpiece from the sheet splicing position to the sheet feeding position.

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