Carrying device

Abstract

The invention discloses a carrying device, belongs to the technical field of automatic carrying, and mainly aims at improving the station height adaptation flexibility and the horizontal / vertical multi-dimensional positioning precision in the carrying process of a large-mass test piece. According to the main technical scheme, the carrying device comprises a transferring assembly and a transferring mechanism; the transferring assembly comprises a transferring guide rail extending to the target station in the horizontal direction, the height of the transferring guide rail is adjustable, and the height adjusting range of the transferring guide rail covers the projection area of the target station in the vertical direction. The transfer assembly comprises a lifting mechanism and a two-dimensional position adjusting mechanism, the two-dimensional position adjusting mechanism is arranged at the top of the lifting mechanism, the lifting mechanism is used for driving the two-dimensional position adjusting mechanism to ascend and descend, and the two-dimensional position adjusting mechanism is used for bearing the to-be-transported equipment and can move the to-be-transported equipment to the transfer guide rail. And the to-be-transported equipment can be driven to move along the transfer guide rail, so that the to-be-transported equipment forms projection at the target station.

Description

Technical Field

[0001] The present application belongs to the field of automated handling technology, and specifically relates to a handling device. Background Art

[0002] During the installation and testing of engineering equipment, large-mass test pieces often need to be installed or replaced. However, traditional handling methods suffer from insufficient flexibility and multi-dimensional positioning accuracy. Specifically, fixed-track conveying equipment, such as traditional chain conveyors, utilizes a fixed height and fixed path design, making it inflexible to accommodate vertical height differences between different workstations. Consequently, large-mass test pieces must be transferred manually for secondary handling or with the installation of additional lifting devices, increasing labor costs and time losses and reducing production efficiency. While traditional overhead cranes can lift large-mass test pieces, their mechanical design has inherent flaws: limited horizontal and vertical linkage control accuracy makes it difficult to meet precise docking requirements. In actual operations, problems such as material collisions and workstation docking failures caused by positional deviations frequently occur. Furthermore, due to limitations in boom travel and workstation layout, some spatial areas cannot be covered, requiring test pieces to be transferred multiple times, further exacerbating efficiency losses. Summary of the Invention

[0003] In view of this, the present application provides a transport device, the main purpose of which is to improve the workstation height adaptation flexibility and horizontal / vertical multi-dimensional positioning accuracy during the transport of large-mass test pieces.

[0004] To achieve the above objectives, this application mainly provides the following technical solutions:

[0005] The present application provides a transport device, comprising:

[0006] A transfer assembly, the transfer assembly comprising a transfer rail extending horizontally to a target workstation, the transfer rail being height-adjustable, and a height adjustment range of the transfer rail covering a projection area of ​​the target workstation in the vertical direction;

[0007] The transfer assembly includes a lifting mechanism and a two-dimensional position adjustment mechanism, wherein the two-dimensional position adjustment mechanism is arranged on the top of the lifting mechanism; wherein:

[0008] The lifting mechanism is used to drive the two-dimensional position adjustment mechanism to move up and down;

[0009] The two-dimensional position adjustment mechanism is used to carry the equipment to be transported, and can move the equipment to be transported onto the transfer rail, and can drive the equipment to be transported to move along the transfer rail so that the equipment to be transported forms a projection at the target workstation.

[0010] Optionally, the two-dimensional position adjustment mechanism includes:

[0011] Support frame;

[0012] a first moving part, the first moving part being disposed on the top of the support frame, a moving end of the first moving part being connected to the device to be transported, and the first moving part being used to drive the device to be transported to move along a first horizontal direction on the support frame;

[0013] a second moving portion, the second moving portion being disposed at the bottom of the support frame, the moving end of the second moving portion cooperating with the transfer guide rail, the second moving portion being used to drive the support frame and the equipment to be transported to move along a second horizontal direction orthogonal to the first horizontal direction;

[0014] Wherein, the second horizontal direction is the extension direction of the transfer guide rail.

[0015] Optionally, the moving end of the first moving part is a positioning fixture, and the positioning fixture is used to detachably fix the equipment to be transported;

[0016] The first moving part includes:

[0017] a first drive motor, wherein the first drive motor is disposed on the positioning fixture;

[0018] a worm gear transmission pair, wherein the worm of the worm gear transmission pair is connected to the output shaft of the first drive motor;

[0019] A ball screw, the screw of which is rotatably mounted on the support frame and coaxially connected to the worm gear of the worm gear transmission pair, and the nut of which is fixedly connected to the positioning fixture;

[0020] The first moving part further includes:

[0021] a first laser emitter mounted on the support frame;

[0022] A first target is arranged opposite to the first laser emitter along the first horizontal direction, the first target is arranged on the nut, and the laser beam emitted by the first laser emitter can be projected onto the first target along the first horizontal direction.

[0023] Optionally, the first moving part further includes:

[0024] a guide rod extending along the first horizontal direction, with both ends of the guide rod fixed to the support frame;

[0025] The positioning tool has a guide sleeve that is slidably matched with the guide rod, and the guide sleeve is sleeved on the outside of the guide rod and fixedly connected to the positioning tool;

[0026] The guide rod is arranged in parallel with the ball screw, and the guide rod is used to constrain the moving trajectory of the positioning tool so that the positioning tool performs linear motion along the first horizontal direction.

[0027] Optionally, the moving end of the second moving part is a roller, and the roller is used to roll with the track surface of the transfer guide rail; the second moving part includes:

[0028] a second drive motor, the second drive motor being disposed on the support frame;

[0029] A bevel gear transmission pair, the bevel gear transmission pair comprising a driving bevel gear and a driven bevel gear meshing with each other, the driving bevel gear being connected to the output shaft of the second drive motor, and the driven bevel gear being coaxially connected to the axle of the roller;

[0030] The second moving part further includes:

[0031] a second laser emitter mounted on the lifting mechanism;

[0032] A second target is arranged opposite to the second laser emitter along the second horizontal direction, the second target is arranged at the bottom of the support frame, and the laser beam emitted by the second laser emitter can be projected onto the second target along the second horizontal direction, so as to detect the position of the support frame in the second horizontal direction.

[0033] Optionally, a transfer guide rail is provided on the top of the lifting mechanism, and the transfer guide rail extends in the same direction as the transfer guide rail;

[0034] The two-dimensional position adjustment mechanism can move the equipment to be transported along the transfer guide rail to the transfer guide rail when the lifting mechanism drives the transfer guide rail to rise to be flush with the transfer guide rail.

[0035] Optionally, the transport component further comprises:

[0036] A walking mechanism is provided at the bottom of the lifting mechanism, and is used to drive the lifting mechanism and the two-dimensional position adjustment mechanism on the top of the lifting mechanism to move.

[0037] Optionally, the transfer component further includes:

[0038] The support mechanism is connected to the transfer guide rail in a detachable manner via a locking structure.

[0039] Optionally, the transfer component further includes:

[0040] An adjusting mechanism is provided at the bottom of the supporting mechanism, and is used for driving the supporting mechanism to rise and fall so as to adjust the height of the transfer guide rail.

[0041] Optionally, the transfer component further includes:

[0042] The reinforcing beam comprises at least two parallel tracks, and the reinforcing beam is arranged between the at least two parallel tracks.

[0043] By means of the above technical solution, this application has at least the following beneficial effects:

[0044] The transport device provided in the embodiment of the present application can directly match target stations of different heights by setting a height-adjustable transfer rail, and its height adjustment range covers the projection area of ​​the target station in the vertical direction, without the need for manual secondary transport or the installation of additional lifting devices, thereby avoiding the problem of transfer interruption caused by the fixed height of traditional fixed track equipment, greatly reducing human intervention and time loss, and improving the efficiency of station docking. By setting the transfer rail to extend to the target station in the horizontal direction, a continuous and uninterrupted transfer path can be formed, avoiding the transfer blind spot problem caused by the arm stroke limitation of traditional overhead crane equipment, thereby covering complex station layouts or narrow and long working areas, avoiding multiple retransfers of the equipment to be transported, expanding the spatial coverage of the transport device, and improving the consistency and efficiency of the transfer process. By setting a two-dimensional position adjustment mechanism, the equipment to be transported can be driven to translate in the horizontal plane, and the horizontal relative position of the equipment to be transported and the target station can be accurately calibrated to ensure that the equipment to be transported is accurately moved to the projection position of the target station along the transfer rail. On this basis, combined with the adjustable height characteristics of the transfer rail, the height of the equipment to be transported can be fine-tuned in the vertical direction to achieve precise vertical alignment between the equipment to be transported and the target workstation, avoiding collisions or docking failures caused by position misalignment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic structural diagram of a transport device according to an optional embodiment of the present application;

[0046] Figure 2 This is a schematic structural diagram of a two-dimensional position adjustment mechanism according to an optional embodiment of the present application;

[0047] Figure 3 This is a schematic structural diagram of a transfer guide rail according to an optional embodiment of the present application;

[0048] Figure 4 This is a schematic structural diagram of a transfer assembly of an optional embodiment of the present application.

[0049] The reference numerals indicate:

[0050] 100. Transfer assembly; 101. Transfer rail; 102. Support mechanism; 103. Locking structure; 104. Adjustment mechanism; 105. Reinforcement beam; 200. Transfer assembly; 201. Lifting mechanism; 202. Two-dimensional position adjustment mechanism; 2021. Support frame; 2022. First moving part; 20221. Positioning tooling; 20222. First laser emitter; 20223. First target; 2023. Second moving part; 20231. Second laser emitter; 20232. Second target; 203. Transfer rail; 204. Walking mechanism. DETAILED DESCRIPTION

[0051] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0053] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0054] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application.

[0055] See also Figures 1 to 4As shown, according to an embodiment of the present application, a handling device is provided, including a transfer component 100 and a transfer component 200; the transfer component 100 includes a transfer rail 101 extending horizontally to a target workstation, the height of the transfer rail 101 is adjustable, and the height adjustment range of the transfer rail 101 covers the projection area of ​​the target workstation in the vertical direction; the transfer component 200 includes a lifting mechanism 201 and a two-dimensional position adjustment mechanism 202, the two-dimensional position adjustment mechanism 202 is arranged on the top of the lifting mechanism 201, the lifting mechanism 201 is used to drive the two-dimensional position adjustment mechanism 202 to rise and fall, the two-dimensional position adjustment mechanism 202 is used to carry the equipment to be transported, and can move the equipment to be transported onto the transfer rail 101, and can drive the equipment to be transported to move along the transfer rail 101, so that the equipment to be transported forms a projection at the target workstation.

[0056] The transport device provided in this embodiment can directly match target workstations of different heights by setting a height-adjustable transfer rail 101, and its height adjustment range covers the projection area of ​​the target workstation in the vertical direction. There is no need for manual secondary transport or installation of additional lifting devices, avoiding the problem of transfer interruption caused by the fixed height of traditional fixed track equipment, greatly reducing manpower intervention and time loss, and improving the efficiency of workstation docking.

[0057] The handling device provided in this embodiment can form a continuous and uninterrupted transfer path by setting a transfer guide rail 101 extending horizontally to the target workstation, avoiding the transfer blind spot problem caused by the arm stroke limitation of traditional overhead crane equipment. It can thereby cover complex workstation layouts or narrow and long working areas, avoid multiple transfers of equipment to be transported, expand the spatial coverage of the handling device, and improve the continuity and efficiency of the transfer process.

[0058] The transport device provided in this embodiment, by providing a two-dimensional position adjustment mechanism 202, can drive the transported equipment to translate within a horizontal plane, precisely calibrating the horizontal relative position of the transported equipment and the target workstation, ensuring that the transported equipment moves precisely to the projected position of the target workstation along the transport guide rail 101. Furthermore, combined with the adjustable height feature of the transport guide rail 101, the vertical height of the transported equipment can be fine-tuned, achieving precise vertical alignment between the transported equipment and the target workstation, thus avoiding collisions or docking failures caused by misalignment.

[0059] The transfer assembly 100 serves as a horizontally movable carrier for the equipment to be transported, and is used to construct a horizontal transfer channel with adjustable height.

[0060] Specifically, the transfer rail 101 is laid in the horizontal direction, with one end connected to the starting position and the other end extending to the target station, so as to form a clear and continuous transfer path. In actual application scenarios, the transfer rail 101 is equipped with a lifting structure, which can realize vertical height adjustment, and its height adjustment range completely covers the projection area of ​​the target station in the vertical direction. It can be understood that if the height range of the target station is 1.5 meters to 3 meters, the minimum height of the transfer rail 101 can be reduced to 1.5 meters and can be raised to 3 meters, ensuring that the transfer rail 101 can be directly aligned with any target station within the height range, and docking can be completed without the aid of manual handling or additional lifting devices. In this embodiment, the transfer rail 101 improves the adaptability of the handling device to different station layouts and height differences through the continuity of the transfer path and the adjustability of the vertical height.

[0061] The transfer component 200 is used to realize the lifting and horizontal position adjustment of the equipment to be transported.

[0062] Specifically, the lifting mechanism 201 is located at the bottom of the transfer assembly 200, and is used to support the two-dimensional position adjustment mechanism 202 above, and drive the two-dimensional position adjustment mechanism 202 to rise and fall vertically to achieve vertical height adjustment of the equipment to be transported. For example, the equipment to be transported is lifted from the ground to the height of the transfer rail 101. The two-dimensional position adjustment mechanism 202 is located at the top of the lifting mechanism 201, directly carrying the equipment to be transported, and can drive the equipment to be transported to move in the horizontal plane to achieve left-right and front-back position fine-tuning. For example, the equipment to be transported can be translated from one end of the transfer rail 101 to the other, or the lateral alignment of the equipment to be transported with the target workstation can be adjusted. In actual application scenarios, the two-dimensional position adjustment mechanism 202 moves the carried equipment to be transported onto the transfer rail 101, and drives the equipment to be transported to move along the transfer rail 101 toward the target workstation, ultimately forming a projection of the equipment to be transported directly above the target workstation, that is, the position of the equipment to be transported is completely aligned with the position of the target workstation in the horizontal plane. In this embodiment, the lifting mechanism 201 is linked with the two-dimensional position adjustment mechanism 202. The lifting mechanism 201 is first used to adjust the height of the equipment to be transported to a height close to or flush with the transfer rail 101, and then the two-dimensional position adjustment mechanism 202 is used to accurately move the equipment to be transported onto the transfer rail 101. Finally, the equipment to be transported is transferred to the target workstation along the transfer rail 101.

[0063] In some possible implementations disclosed in this application, see Figure 2As shown, the two-dimensional position adjustment mechanism 202 includes a support frame 2021, a first moving part 2022 and a second moving part 2023; the first moving part 2022 is arranged at the top of the support frame 2021, and the moving end of the first moving part 2022 is connected to the equipment to be transported, and the first moving part 2022 is used to drive the equipment to be transported to move along the first horizontal direction on the support frame 2021; the second moving part 2023 is arranged at the bottom of the support frame 2021, and the moving end of the second moving part 2023 cooperates with the transfer guide rail 101, and the second moving part 2023 is used to drive the support frame 2021 and the equipment to be transported to move along the second horizontal direction orthogonal to the first horizontal direction; wherein, the second horizontal direction is the extension direction of the transfer guide rail 101.

[0064] In this embodiment, the two-dimensional position adjustment mechanism 202 achieves precise control of the transported equipment in the horizontal two-dimensional plane by orthogonally arranging the dual moving parts and cooperating with the transfer guide rail 101 .

[0065] The support frame 2021 serves as a mounting base for the first movable portion 2022 and the second movable portion 2023, supporting the equipment to be transported and transmitting driving force. In practical applications, the support frame 2021 can be a steel or aluminum alloy frame with sufficient structural strength to support large-mass equipment to be transported.

[0066] Specifically, the bottom of the support frame 2021 is connected to the transfer guide rail 101 through the second moving part 2023 , and the top of the support frame 2021 is installed with the equipment to be transported through the first moving part 2022 .

[0067] The moving end of the first moving part 2022 can be a bracket, which is directly connected to the equipment to be transported. In actual application scenarios, the equipment to be transported can be detachably fixed to the bracket by bolts to ensure that the equipment to be transported moves synchronously during the movement of the bracket.

[0068] Specifically, the first moving part 2022 can be a linear module structure, which is used to drive the bracket to move along the first horizontal direction. The linear module can be composed of a ball screw and a linear guide rail. The servo motor drives the screw to rotate, driving the slider to move linearly along the linear guide rail, thereby driving the bracket connected to the slider and the equipment to be transported. In actual application scenarios, if the extension direction of the transfer guide rail 101 is defined as the Y-axis direction, then the first horizontal direction corresponds to the X-axis direction perpendicular to the transfer guide rail 101, which can realize the movement of the equipment to be transported in the X-axis direction.

[0069] The second moving part 2023 is used to realize the movement of the supporting frame 2021 and the equipment to be transported along the direction of the transfer guide rail 101 (the second horizontal direction, that is, the Y-axis direction).

[0070] Specifically, the second moving part 2023 is also a linear module structure, which can be composed of a guide pair, a transmission assembly and a drive unit. The guide pair cooperates with the transfer guide 101, and provides guidance and support for the movement of the support frame 2021 by rolling or sliding contact, ensuring that no offset or shaking occurs during the movement. The transmission assembly can be a synchronous belt drive or a gear drive. When a synchronous belt drive is adopted, the synchronous belt is installed at the bottom of the support frame 2021, one end of which is connected to the driving wheel, and the driving wheel is connected to the output shaft of the servo motor; the other end is connected to the driven wheel, and the driven wheel is connected to the guide pair. After the servo motor is started, it drives the driving wheel to rotate, and utilizes the meshing characteristics of the tooth shape of the synchronous belt and the pulley to transmit power to the guide pair connected to the driven wheel, driving the track pair to roll and slide along the direction of the transfer guide 101, thereby realizing the translation of the support frame 2021 and the equipment to be transported.

[0071] It is understandable that in actual application scenarios, the second moving part 2023 can be used to drive the support frame 2021 and the equipment to be transported to move along the direction of the transfer guide rail 101 (the second horizontal direction, i.e., the Y-axis direction), so that the equipment to be transported gradually approaches the target station in the Y-axis direction until the position calibration in the Y-axis direction is completed. After the Y-axis direction calibration is completed, the first moving part 2022 is used to drive the bracket and the equipment to be transported to move in the direction perpendicular to the transfer guide rail 101 (the first horizontal direction, i.e., the X-axis direction), and the X-axis direction is fine-tuned for the equipment to be transported to eliminate the deviation in the horizontal direction until the equipment to be transported is completely aligned with the target station in the X-axis direction. Thus, through this step-by-step calibration strategy, the second moving part 2023 cooperates with the first moving part 2022 to ensure that the equipment to be transported is accurately positioned in a two-dimensional plane to meet the docking requirements of the target station.

[0072] In the above embodiment, see Figure 2 As shown, the moving end of the first moving part 2022 is a positioning fixture 20221, which is used to detachably fix the equipment to be transported; the first moving part 2022 includes a first drive motor, a worm gear transmission pair and a ball screw; the first drive motor is arranged on the positioning fixture 20221; the worm of the worm gear transmission pair is connected to the output shaft of the first drive motor; the screw of the ball screw is rotatably arranged on the support frame 2021 and is coaxially connected to the turbine of the worm gear transmission pair, and the nut of the ball screw is fixedly connected to the positioning fixture 20221.

[0073] Here, the positioning fixture 20221 serves as a bracket for the equipment to be transported, and the first drive motor, the worm gear transmission pair and the ball screw serve as linear modules that drive the positioning fixture 20221 and the equipment to be transported to move along the first horizontal direction. In actual application scenarios, when the position of the equipment to be transported in the X-axis direction is adjusted, the first drive motor starts and outputs torque, and transmits power to the worm of the worm gear transmission pair through the coupling. Since the worm wheel and the screw of the ball screw are coaxially connected, the rotational motion of the worm is converted into the rotation of the screw through the turbine. According to the transmission principle of the ball screw, the rotation of the screw will drive the nut that matches it to move linearly along the axial direction, and the nut is fixedly connected to the positioning fixture 20221, thereby driving the positioning fixture 20221 and the equipment to be transported to move along the first horizontal direction (X-axis direction).

[0074] Furthermore, the first movable part 2022 also includes a first laser emitter 20222 installed on the support frame and a first target 20223 arranged opposite to the first laser emitter 20222 along the first horizontal direction. The first target 20223 is arranged on the nut, and the laser beam emitted by the first laser emitter 20222 can be projected onto the first target 20223 along the first horizontal direction.

[0075] Here, when the position of the equipment to be transported in the X-axis direction is adjusted, the first laser emitter 20222 continues to emit a laser beam to the first target 20223. As the positioning tool 20221 and the equipment to be transported move, the propagation time or phase of the laser beam between the first laser emitter 20222 and the first target will change. The control system calculates the position of the equipment to be transported in the X-axis direction based on the propagation time or phase between the first laser emitter 20222 and the first target. If there is a deviation in the position, the speed and direction of the first drive motor are dynamically adjusted to ensure that the equipment to be transported can accurately reach the first target position. It can be understood that when the equipment to be transported reaches the first target position, the calibration of the equipment to be transported and the target station in the X-axis direction is completed. Among them, the control system serves as the core computing unit for the handling device to realize automated handling, and can specifically be a programmable logic controller (PLC) or a motion controller (PAC).

[0076] In the above embodiment, see Figure 2 As shown, the first movable part 2022 also includes a guide rod, which extends along the first horizontal direction, and both ends of the guide rod are fixed on the support frame 2021; the positioning tooling 20221 has a guide sleeve that slides with the guide rod, and the guide sleeve is arranged on the outside of the guide rod and fixedly connected to the positioning tooling 20221; the guide rod is arranged parallel to the ball screw, and the guide rod is used to constrain the moving trajectory of the positioning tooling 20221, so that the positioning tooling 20221 moves linearly along the first horizontal direction.

[0077] Here, the guide rod is a linear guide rail of a linear module that drives the positioning tooling 20221 and the equipment to be transported to move along the first horizontal direction. In actual application scenarios, at least two guide rods are provided, and the support frame 2021 is a structure of two vertical plates arranged opposite to each other. The two guide rods are installed parallel to the first horizontal direction on both sides or in the middle of the two vertical plates that constitute the support frame 2021, and their two ends are firmly fixed to the two vertical plates that constitute the support frame 2021 by bolts or welding, forming a stable support structure. The positioning tooling 20221 is arranged horizontally, and the positioning tooling 20221 is equipped with a guide sleeve that is adapted to the guide rod. The guide sleeve can be made of wear-resistant materials such as copper alloy or engineering plastics, and is fixedly connected to the positioning tooling 20221 by screws or embedded installation. The inner wall of the guide sleeve and the guide rod are used to form a sliding fit to ensure that it can slide flexibly and effectively limit the shaking of the positioning tooling 20221.

[0078] It's understandable that when the first drive motor drives positioning fixture 20221 through the worm gear and ball screw, the guide rod plays an indispensable restraining role. The ball screw converts rotational motion into linear drive force, while the guide rod, through its sliding fit with the guide sleeve, restricts linear motion of positioning fixture 20221 to the first horizontal direction, effectively preventing deviation or swing caused by lateral forces or errors in transmission components. Together, the two, with the ball screw providing power and the guide rod ensuring direction, form a stable and reliable linear motion system.

[0079] In the above embodiment, see Figure 2 As shown, the moving end of the second moving part 2023 is a roller, which is used to roll with the track surface of the transfer guide rail 101; the second moving part 2023 includes a second drive motor and a bevel gear transmission pair; the second drive motor is arranged on the support frame 2021; the bevel gear transmission pair includes a driving bevel gear and a driven bevel gear that are meshed with each other, the driving bevel gear is connected to the output shaft of the second drive motor, and the driven bevel gear is coaxially connected to the wheel axle of the roller.

[0080] Here, the roller serves as the guide pair of the second moving component, and the roller, bevel gear transmission pair and the second drive motor together constitute the second moving component. In actual application scenarios, when the position of the equipment to be transported in the Y-axis direction is adjusted, the second drive motor is started, and its output shaft drives the active bevel gear to rotate at high speed. Since the active bevel gear and the driven bevel gear are engaged with each other, the rotational motion of the active bevel gear is transmitted to the driven bevel gear through the force between the tooth surfaces, and the driven bevel gear rotates accordingly, and drives the roller axle coaxially connected thereto to rotate. Driven by the axle, the roller generates rolling friction with the track surface of the transfer guide rail 101, and moves forward or backward along the direction of the transfer guide rail 101, thereby pushing the support frame 2021 and the equipment to be transported to move.

[0081] Furthermore, the second movable part 2023 also includes a second laser emitter 20231 installed on the lifting mechanism 201 and a second target 20232 arranged opposite to the second laser emitter 20231 along the second horizontal direction. The second target 20232 is arranged at the bottom of the support frame 2021, and the laser beam emitted by the second laser emitter 20231 can be projected onto the second target 20232 along the second horizontal direction for detecting the position of the support frame 2021 in the second horizontal direction.

[0082] Here, when the Y-axis position of the equipment to be transported is adjusted, the second laser emitter 20231 continuously emits a laser beam toward the second target 20232. As the support frame 2021 and the equipment to be transported move, the propagation time or phase of the laser beam between the second laser emitter 20231 and the second target changes. The control system calculates the Y-axis position of the equipment to be transported based on the propagation time or phase between the second laser emitter 20231 and the second target. If there is a position deviation, the control system adjusts the speed and direction of the second drive motor, dynamically correcting the movement of the support frame 2021 through the bevel gear transmission pair and rollers until the support frame 2021 and the equipment to be transported reach the second target position. It can be understood that when the equipment to be transported reaches the second target position, the Y-axis alignment between the equipment to be transported and the target workstation is complete. It should be noted that the equipment to be transported is calibrated with the target workstation in the X-axis and Y-axis directions by successively reaching the two target positions. Specifically, if the equipment to be transported reaches the first target position first, then when it reaches the second target position, the calibration of the equipment to be transported with the target workstation in the X-axis and Y-axis directions is completed; if the equipment to be transported reaches the second target position first, then when it reaches the first target position, the calibration of the equipment to be transported with the target workstation in the X-axis and Y-axis directions is completed.

[0083] In some possible implementations disclosed in this application, see Figure 1 and Figure 3 As shown, a transfer guide rail 203 is provided on the top of the lifting mechanism 201, and the transfer guide rail 203 extends in the same direction as the transfer guide rail 101; the two-dimensional position adjustment mechanism 202 can move the equipment to be transported along the transfer guide rail 203 to the transfer guide rail 101 when the lifting mechanism 201 drives the transfer guide rail 203 to rise to be flush with the transfer guide rail 101.

[0084] In this embodiment, the lifting mechanism 201 drives the transfer guide rail 203 to rise to be flush with the transfer guide rail 101, which can eliminate the height difference between the two, ensure a smooth transition of the equipment to be transported during the transfer process, and avoid impact, jamming or positioning deviation caused by sudden changes in height.

[0085] The lifting mechanism 201 may be a scissor-type hydraulic lifting platform, and a transfer guide rail 203 is installed on the supporting platform of the scissor-type hydraulic lifting platform.

[0086] Specifically, the transfer rail 203 extends in the same direction as the transfer rail 101. When the lifting mechanism 201 lifts the transfer rail 203 from a low position to a height flush with the transfer rail 101, the two-dimensional position adjustment mechanism 202 carrying the equipment to be transported on the transfer rail 203 can transition from the transfer rail 203 to the transfer rail 101 along a straight line.

[0087] In some possible implementations disclosed in this application, see Figure 1 and Figure 3 As shown, the transfer assembly 200 further includes a walking mechanism 204 , which is disposed at the bottom of the lifting mechanism 201 . The walking mechanism 204 is used to drive the lifting mechanism 201 and the two-dimensional position adjustment mechanism 202 at the top of the lifting mechanism 201 to move.

[0088] In this embodiment, by integrating the walking mechanism 204 at the bottom of the lifting mechanism 201, the transfer component 200 can be given the ability to move, driving the lifting mechanism 201 to move quickly to the vicinity of the transfer component 100.

[0089] The walking mechanism 204 may be wheeled (such as AGV drive wheels), tracked, or rail-type, etc., to support the autonomous movement of the lifting mechanism 201 within a plane.

[0090] Specifically, when the equipment to be transported needs to be moved from its starting location to its target workstation, the traveling mechanism 204 first drives the lifting mechanism 201 to move near the transfer assembly 100 (transfer rail 101). For example, in a large factory, the transfer rail 101 may be laid along a fixed path, and the initial location of the equipment to be transported may be in a remote area. The traveling mechanism 204 can enable the transfer assembly 200 to autonomously navigate to the starting end of the transfer rail 101 and dock with the transfer assembly 100.

[0091] In some possible implementations disclosed in this application, see Figure 1 and Figure 4 As shown, the transfer assembly 100 further includes a support mechanism 102 , and the transfer guide rail 101 is detachably connected to the support mechanism 102 via a locking structure 103 .

[0092] In this embodiment, the transfer rail 101 can be height-adjusted on the support mechanism 102 via a detachable locking structure 103. This allows the operator to flexibly adjust the transfer rail 101 to the appropriate Z-axis position based on the actual height of the target workstation, thereby achieving preliminary positioning of the equipment to be transported in the Z-axis direction.

[0093] The supporting mechanism 102 may be a structure of multiple supporting columns. In this embodiment, two transfer rails 101 are provided, and each transfer rail 101 is mounted on two supporting columns, so that the transfer rails 101 are stably supported by the supporting columns.

[0094] The locking structure 103 can be a clamp, one end of which is fixedly connected to the transfer guide rail 101, and the other end is provided with a bolt hole, which is fastened by a bolt and nut assembly. In this embodiment, the clamp is composed of two clamping bodies arranged opposite to each other. The parts of the two clamping bodies that contact the support column are arc-shaped and can be tightly attached to the outer surface of the support column. In actual application scenarios, the clamp can be removed by loosening the bolts, so that the transfer guide rail 101 can slide along the vertical direction of the support column. After adjusting to the target height, the bolts are tightened again to lock it, thereby achieving rapid positioning and fixation in the Z-axis direction.

[0095] In some possible implementations disclosed in this application, see Figure 1 and Figure 4 As shown, the transfer assembly 100 further includes an adjustment mechanism 104 , which is disposed at the bottom of the support mechanism 102 . The adjustment mechanism 104 is used to drive the support mechanism 102 to move up and down to adjust the height of the transfer guide rail 101 .

[0096] In this embodiment, the adjustment mechanism 104 enables precise height adjustment of the transfer rail 101. Once the two-dimensional position adjustment mechanism 202 aligns the position of the device to be transported with the target workstation in the X- and Y-axes, the adjustment mechanism 104 drives the support mechanism 102 to precisely raise or lower the Z-axis based on the target workstation's actual height. This allows the transfer rail 101 to flexibly adjust its height, achieving precise Z-axis alignment between the device to be transported and the target workstation.

[0097] The adjustment mechanism 104 may be an electric lifting mechanism, a hydraulic / pneumatic lifting mechanism, or a manual adjustment mechanism 104, etc. In this embodiment, the adjustment mechanism 104 is a manual adjustment mechanism 104, which is composed of a screw and nut pair, and fine adjustment is achieved by manually rotating the screw.

[0098] Specifically, the working principle of the handling device provided in this embodiment is: first, according to the actual height of the target workstation, the height of the transfer guide rail 101 on the support mechanism 102 is adjusted by the locking structure 103 to achieve the preliminary positioning of the equipment to be transported in the Z-axis direction; then the two-dimensional position adjustment mechanism 202 carrying the equipment to be transported is lifted by the lifting mechanism 201 to the transfer guide rail 203 and flush with the transfer guide rail 101, and then the second moving part 2023 of the two-dimensional position adjustment mechanism 202 is used to drive the equipment to be transported from the transfer guide rail 203 to the transfer guide rail 101, and move along the transfer guide rail 101 to complete the Y-axis position calibration; then the first moving part 2022 of the two-dimensional position adjustment mechanism 202 is used to perform the X-axis position calibration; finally, the adjustment mechanism 104 drives the support mechanism 102 to rise and fall, and fine-tunes the height of the transfer guide rail 101 to complete the precise docking of the equipment to be transported and the target workstation in the Z-axis direction.

[0099] In some possible implementations disclosed in this application, see Figure 1 and Figure 4 As shown, the transfer assembly 100 further includes a reinforcement beam 105 , the transfer guide rail 101 includes at least two parallel rails, and the reinforcement beam 105 is disposed between the at least two parallel rails.

[0100] In this embodiment, by providing the reinforcement beam 105, the load borne by the transfer guide rail 101 during the transfer process can be effectively dispersed, the deformation or shaking of the transfer guide rail 101 caused by uneven force can be reduced, and the transfer component 100 can be ensured to maintain structural reliability during high-frequency operation.

[0101] In this embodiment, the transfer guide rail 101 is composed of two parallel tracks. As the basic structure for carrying and transferring the equipment to be transported, the parallel tracks can ensure the linearity and stability of the transfer process.

[0102] Specifically, the reinforcement beam 105 is disposed between two parallel rails, and the reinforcement beam 105 is perpendicular to the rails.

[0103] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0104] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application. The above are merely preferred embodiments of the present application. It should be noted that those skilled in the art may make various improvements and variations without departing from the technical principles of the present application, and such improvements and variations shall also be considered within the scope of protection of the present application.

Claims

1. A transport device, characterized in that: include: A transfer assembly, the transfer assembly comprising a transfer rail extending horizontally to a target workstation, the transfer rail being height-adjustable, and a height adjustment range of the transfer rail covering a projection area of ​​the target workstation in the vertical direction; The transfer assembly includes a lifting mechanism and a two-dimensional position adjustment mechanism, wherein the two-dimensional position adjustment mechanism is arranged on the top of the lifting mechanism; wherein: The lifting mechanism is used to drive the two-dimensional position adjustment mechanism to move up and down; The two-dimensional position adjustment mechanism is used to carry the equipment to be transported, and can move the equipment to be transported onto the transfer rail, and can drive the equipment to be transported to move along the transfer rail so that the equipment to be transported forms a projection at the target workstation.

2. The transport device according to claim 1, wherein: The two-dimensional position adjustment mechanism includes: Support frame; a first moving part, the first moving part being disposed on the top of the support frame, a moving end of the first moving part being connected to the device to be transported, and the first moving part being used to drive the device to be transported to move along a first horizontal direction on the support frame; a second moving portion, the second moving portion being disposed at the bottom of the support frame, the moving end of the second moving portion cooperating with the transfer guide rail, the second moving portion being used to drive the support frame and the equipment to be transported to move along a second horizontal direction orthogonal to the first horizontal direction; Wherein, the second horizontal direction is the extension direction of the transfer guide rail.

3. The transport device according to claim 2, wherein: The moving end of the first moving part is a positioning fixture, and the positioning fixture is used to detachably fix the equipment to be transported; The first moving part includes: a first drive motor, wherein the first drive motor is disposed on the positioning fixture; a worm gear transmission pair, wherein the worm of the worm gear transmission pair is connected to the output shaft of the first drive motor; A ball screw, the screw of which is rotatably mounted on the support frame and coaxially connected to the worm gear of the worm gear transmission pair, and the nut of which is fixedly connected to the positioning fixture; The first moving part further includes: a first laser emitter mounted on the support frame; A first target is arranged opposite to the first laser emitter along the first horizontal direction, the first target is arranged on the nut, and the laser beam emitted by the first laser emitter can be projected onto the first target along the first horizontal direction.

4. The transport device according to claim 3, wherein: The first moving part further includes: a guide rod extending along the first horizontal direction, with both ends of the guide rod fixed to the support frame; The positioning tool has a guide sleeve that is slidably matched with the guide rod, and the guide sleeve is sleeved on the outside of the guide rod and fixedly connected to the positioning tool; The guide rod is arranged in parallel with the ball screw, and the guide rod is used to constrain the moving trajectory of the positioning tool so that the positioning tool performs linear motion along the first horizontal direction.

5. The transport device according to claim 2, wherein: The moving end of the second moving part is a roller, and the roller is used to roll with the track surface of the transfer guide rail; the second moving part includes: a second drive motor, the second drive motor being disposed on the support frame; A bevel gear transmission pair, the bevel gear transmission pair comprising a driving bevel gear and a driven bevel gear meshing with each other, the driving bevel gear being connected to the output shaft of the second drive motor, and the driven bevel gear being coaxially connected to the axle of the roller; The second moving part further includes: a second laser emitter mounted on the lifting mechanism; A second target is arranged opposite to the second laser emitter along the second horizontal direction, the second target is arranged at the bottom of the support frame, and the laser beam emitted by the second laser emitter can be projected onto the second target along the second horizontal direction, so as to detect the position of the support frame in the second horizontal direction.

6. The transport device according to claim 5, characterized in that A transfer guide rail is provided on the top of the lifting mechanism, and the transfer guide rail extends in the same direction as the transfer guide rail; The two-dimensional position adjustment mechanism can move the equipment to be transported along the transfer guide rail to the transfer guide rail when the lifting mechanism drives the transfer guide rail to rise to be flush with the transfer guide rail.

7. The transport device according to claim 1, wherein: The transport assembly further comprises: A walking mechanism is provided at the bottom of the lifting mechanism, and is used to drive the lifting mechanism and the two-dimensional position adjustment mechanism on the top of the lifting mechanism to move.

8. The transport device according to claim 1, wherein: The transfer assembly further comprises: The support mechanism is connected to the transfer guide rail in a detachable manner via a locking structure.

9. The transport device according to claim 8, characterized in that The transfer assembly further comprises: An adjusting mechanism is provided at the bottom of the supporting mechanism, and is used for driving the supporting mechanism to rise and fall so as to adjust the height of the transfer guide rail.

10. The transport device according to claim 1, wherein: The transfer assembly further comprises: The reinforcing beam comprises at least two parallel tracks, and the reinforcing beam is arranged between the at least two parallel tracks.

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