Automatic carrying device

Abstract

The invention provides an automatic carrying device, and relates to the technical field of logistics automation. The automatic carrying device comprises a base table, the base table comprises a mounting base, and the mounting base is movably arranged on the base table; the clamping mechanism is connected with the mounting base, the clamping mechanism comprises at least two clamping assemblies, one clamping assembly is used for carrying the crankshaft, the other clamping assembly is used for carrying the flywheel shell, and the mounting base is used for driving the clamping mechanism to move so that the clamping mechanism can carry the crankshaft and the flywheel shell; wherein one clamping assembly is provided with a first position for clamping the crankshaft and a second position for carrying the crankshaft to a target position and releasing the crankshaft, and the other clamping assembly is provided with a third position for clamping the flywheel shell and a fourth position for carrying the flywheel shell to the target position and releasing the flywheel shell. According to the scheme, the problem that crankshafts and flywheel shells cannot be automatically carried at the same time in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of logistics automation technology, and more specifically, to an automated handling device. Background Technology

[0002] During engine assembly, the purchased crankshaft and flywheel housing need to be moved to designated pallets for subsequent automated equipment to handle and install. Most production lines use manual pallet turning, where the crankshaft and flywheel housing are manually hoisted to their respective pallets. Some lines use automated equipment for handling, but the automated equipment can only handle one of the crankshaft and flywheel housing at a time, failing to meet the requirement of simultaneously handling both.

[0003] There is currently no effective solution to the aforementioned technical problems. Summary of the Invention

[0004] The main objective of this invention is to provide an automatic handling device to solve the problem that existing technologies cannot simultaneously and automatically handle crankshafts and flywheel housings.

[0005] To achieve the above objectives, according to one aspect of the present invention, an automatic handling device is provided, comprising: a base, the base including a mounting seat movably disposed on the base; a clamping mechanism connected to the mounting seat, the clamping mechanism including at least two clamping components, one clamping component for handling a crankshaft, the other clamping component for handling a flywheel housing, and the mounting seat for driving the clamping mechanism to move so that the clamping mechanism handles the crankshaft and the flywheel housing; wherein, one clamping component has a first position for clamping the crankshaft and a second position for handling the crankshaft to a target position and then releasing the crankshaft, and the other clamping component has a third position for clamping the flywheel housing and a fourth position for handling the flywheel housing to a target position and then releasing the flywheel housing.

[0006] Furthermore, the automated handling device also includes: a vision acquisition mechanism connected to the mounting base, which is used to determine the position of the crankshaft and flywheel housing; and a control mechanism electrically connected to the vision acquisition mechanism, the gripping mechanism, and the mounting base, which is used to control the gripping mechanism to grip and transport the crankshaft and flywheel housing.

[0007] Furthermore, the clamping assembly includes a first clamping assembly, which includes: a first support, which is movably connected to the mounting base, and there are two first supports, which are disposed opposite to each other at both ends of the mounting base along the length direction of the mounting base; and two first jaws, one of which is connected to one of the first supports and the other is connected to the other first support, which are disposed opposite to each other along the length direction of the mounting base, and are used to engage with both ends of the crankshaft; wherein, the first jaw has a first position for engaging with and clamping the crankshaft, and a second position for releasing the crankshaft.

[0008] Furthermore, the first clamping assembly also includes: a first driving member, one end of which is connected to the first support and the other end of which is connected to the mounting base. The first driving member is used to drive the first support to move along the length direction of the mounting base, so as to drive the first gripper to clamp or release the crankshaft; two first detection members, one of which is connected to the first support and the other of which is connected to another first support. The first detection member is used to detect the distance between itself and the other first detection member; and a first locking member, which is connected to the first driving member and is used to restrict the movement of the first driving member.

[0009] Furthermore, the clamping assembly also includes a second clamping assembly, which includes: a support base; a connecting platform, one end of which is connected to the mounting base, and the other end of which is movably connected to the support base; and a second gripper, one end of which is connected to the connecting platform, and the other end of which is used to engage with the flywheel housing. The second gripper has a third position for engaging with and gripping the flywheel housing, and a fourth position for releasing the flywheel housing. The connecting platform and the second gripper are respectively disposed on both sides of the support base, and the support base has a connecting hole through which a portion of the connecting platform passes and connects with the second gripper.

[0010] Furthermore, the connecting platform includes: a floating seat, which is movably connected to the support seat via an elastic element along the height direction of the support seat; a second support, one end of which is connected to the floating seat and the other end of which is connected to the mounting seat; and a second drive member, one end of which is connected to the floating seat and the other end of which passes through a connecting hole and is connected to a second gripper. The second drive member is used to drive the second gripper to move along the height direction of the support seat so as to drive the second gripper to extend into the characteristic hole of the flywheel housing.

[0011] Furthermore, the second clamping assembly further includes: a second detection element disposed on the floating seat and connected to at least one of the floating seat and the second driving element, the second detection element being used to detect the position of the second driving element; and a second locking element connected to the second driving element, the second locking element being used to restrict the movement of the second driving element.

[0012] Furthermore, the second clamping assembly also includes: a third driving member, one end of which is connected to the support base and the other end of which is connected to the second gripper, the third driving member being used to drive the second gripper to move along the radial direction of the support base, so as to drive the second gripper to clamp or release the flywheel housing; a third detection member, which is connected to the second gripper and is disposed at the bottom end of the second gripper, the third detection member being used to detect the position of the second gripper; and a third locking member, which is connected to the third driving member, the third locking member being used to restrict the movement of the third driving member.

[0013] Furthermore, the automatic handling device also includes a suction cup mechanism connected to the mounting base. The suction cup mechanism includes: a third support connected to one end of the mounting base; and a suction cup having a suction end and a connecting end, the connecting end being connected to the third support, and the suction end being used to suction the crankshaft's blister pack.

[0014] Furthermore, the automated conveying device also includes a buffer mechanism connected to the first support, and / or, the buffer mechanism connected to the second support, the buffer mechanism being used to mitigate the impact of the gripping mechanism.

[0015] By applying the technical solution of this invention, at least two clamping components are set on the automatic handling device. One clamping component is used to clamp and transport the crankshaft, and the other clamping component is used to clamp and transport the flywheel housing. This allows for the simultaneous clamping and transport of the crankshaft and flywheel housing. Compared with the traditional handling method that uses two sets of clamps, this reduces the need for clamp changes and increases efficiency. At the same time, compared with the solution of using separate crankshaft handling clamps and flywheel housing handling clamps, this reduces the time and cost of changing the clamping components. It also allows for more convenient handling of the crankshaft and flywheel housing, reduces manual turning and other tasks, and effectively reduces the intensity of manual labor. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 A schematic diagram of the structure of a first embodiment of the automated handling device according to the present invention is shown;

[0018] Figure 2A schematic diagram of a second embodiment of the automated handling device according to the present invention is shown;

[0019] Figure 3 A schematic diagram of a third embodiment of the automated handling device according to the present invention is shown;

[0020] Figure 4 A schematic diagram of the structure of a first embodiment of the second clamping assembly according to the present invention is shown;

[0021] Figure 5 A schematic diagram of a second embodiment of the second clamping assembly according to the present invention is shown.

[0022] The above figures include the following reference numerals:

[0023] 10. Abutment;

[0024] 11. Mounting base;

[0025] 20. Clamping mechanism;

[0026] 200. Clamping assembly;

[0027] 21. First clamping assembly;

[0028] 211. The First Support;

[0029] 212. First gripper;

[0030] 213. First driving component;

[0031] 214. First inspection piece;

[0032] 215. First locking element;

[0033] 22. Second clamping assembly;

[0034] 221. Support base;

[0035] 222, Connecting platform; 2221, Floating seat; 2222, Elastic element; 2223, Second support; 2224, Second driving element;

[0036] 223. Second gripper;

[0037] 224. Second inspection item;

[0038] 225. Second locking element;

[0039] 226. Third driving component;

[0040] 227. Third inspection item;

[0041] 228. Third locking component;

[0042] 30. Visual acquisition mechanism;

[0043] 40. Suction cup mechanism; 41. Third support; 42. Suction cup;

[0044] 50. Buffer mechanism. Detailed Implementation

[0045] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0046] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0048] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0049] Combination Figures 1 to 5 As shown, according to a specific embodiment of this application, an automatic handling device is provided.

[0050] Specifically, such as Figures 1 to 3As shown, the automatic handling device includes a base 10 and a clamping mechanism 20. The base 10 includes a mounting base 11, which is movably disposed on the base 10. The clamping mechanism 20 is connected to the mounting base 11 and includes at least two clamping components 200. One clamping component 200 is used to handle the crankshaft, and the other clamping component 200 is used to handle the flywheel housing. The mounting base 11 is used to drive the clamping mechanism 20 to move so that the clamping mechanism 20 handles the crankshaft and the flywheel housing. Among them, one clamping component 200 has a first position for clamping the crankshaft and a second position for handling the crankshaft to the target position and then releasing the crankshaft. The other clamping component 200 has a third position for clamping the flywheel housing and a fourth position for handling the flywheel housing to the target position and then releasing the flywheel housing.

[0051] By applying the technical solution of this embodiment, at least two clamping components 200 are set on the automatic handling device. One clamping component 200 is used to clamp and transport the crankshaft, and the other clamping component 200 is used to clamp and transport the flywheel housing. This allows for the simultaneous clamping and transport of the crankshaft and the flywheel housing. Compared with the traditional handling method that uses two sets of clamps, this reduces the need for clamp changes and increases efficiency. At the same time, compared with the solution of using separate crankshaft handling clamps and flywheel housing handling clamps, this reduces the replacement time and cost of the clamping components 200. It also allows for more convenient transport of the crankshaft and flywheel housing, reduces manual turning and other work, and effectively reduces the intensity of manual labor.

[0052] It should be noted that multiple clamping components 200 are used to transport the crankshaft and flywheel housing from the loading line to the target position, which is the workpiece position for the crankshaft and flywheel housing assembly operation. One clamping component 200 has a first position for clamping the crankshaft. After this clamping component 200 moves to the target position via the mounting base 11, it switches to a second position to release the crankshaft, thus realizing the transport of the crankshaft. Similarly, another clamping component 200 first switches to a third position for clamping the flywheel housing. After being transported to the target position, it switches to a fourth position to release the flywheel housing, thus realizing the transport of the flywheel housing. At the same time, the clamping components 200 for transporting the crankshaft and flywheel housing are integrated into a single clamping mechanism 20, which can simultaneously meet the transport operation of the crankshaft and flywheel housing, facilitating subsequent assembly operations of the crankshaft and flywheel housing and greatly improving work efficiency.

[0053] Specifically, such as Figure 1 , Figure 2As shown, the automatic handling device also includes a vision acquisition mechanism 30 and a control mechanism. The vision acquisition mechanism 30 is connected to the mounting base 11 and is used to determine the position of the crankshaft and flywheel housing. The control mechanism is electrically connected to the vision acquisition mechanism 30, the clamping mechanism 20, and the mounting base 11 and is used to control the clamping mechanism 20 to clamp and transport the crankshaft and flywheel housing. The visual acquisition mechanism 30 is mounted on the mounting base 11. When the mounting base 11 moves on the base 10, it can drive the visual acquisition mechanism 30 to move. The visual acquisition mechanism 30 can acquire image information of the crankshaft and flywheel housing from multiple angles and directions, and send the image information to the control mechanism. The control mechanism integrates advanced control algorithms and motion planning algorithms. Through the electrical connection between the control mechanism, the visual acquisition mechanism 30, the mounting base 11, and the clamping mechanism 20, the movement of the mounting base 11 can be adjusted in a timely manner according to the position information of the crankshaft and flywheel housing transmitted by the visual acquisition mechanism 30, and the posture and motion path of the clamping mechanism 20 can be planned to ensure that the clamping mechanism 20 clamps the crankshaft and flywheel housing according to the preset path and transports them to the target position. Through the coordinated operation of the vision acquisition mechanism 30, the mounting base 11, the clamping mechanism 20 and the control mechanism, fully automatic handling of crankshafts and flywheel housings can be achieved. The vision acquisition mechanism 30 can also identify crankshafts and flywheel housings of different models and sizes, and can adapt to parts of different sizes and shapes, enhancing the versatility and adaptability of the device and reflecting the overall intelligence of the automatic handling device.

[0054] Furthermore, such as Figures 1 to 3 As shown, the clamping assembly 200 includes a first clamping assembly 21, which includes a first support 211 and a first gripper 212. The first support 211 is movably connected to the mounting base 11. There are two first supports 211, which are arranged opposite to each other at both ends of the mounting base 11 along the length direction of the mounting base 11. There are two first grippers 212, one of which is connected to one first support 211 and the other is connected to the other first support 211. The two first grippers 212 are arranged opposite to each other along the length direction of the mounting base 11 and are used to engage with both ends of the crankshaft. The first gripper 212 has a first position for engaging with and gripping the crankshaft, and a second position for releasing the crankshaft. Two first supports 211 can move relative to each other along the length of the mounting base 11. Two first jaws 212 are connected to one of the first supports 211 respectively. During the process of clamping the crankshaft, the two ends of the crankshaft can be aligned with the two first supports 211 respectively along the length of the mounting base 11. The first supports 211 are movably set on the mounting base 11, which can drive the first jaws 212 to contract and expand, so as to adjust the clamping of different crankshafts by the first jaws 212 and ensure the stability of the crankshaft clamping when the first jaws 212 are in the first position.

[0055] It should be noted that before the crankshaft is clamped and transported, the first clamping assembly 21 is in the ready position and the two first grippers 212 are in the second position. After the vision acquisition mechanism 30 determines the position of the crankshaft, the first support 211 moves on the mounting base 11 to adjust the position of the first grippers 212 to align with the two ends of the crankshaft. At this time, the first grippers 212 switch to the first position to firmly clamp the crankshaft. Then, according to the preset transport path, the crankshaft is placed in the target position, and the first grippers 212 switch to the second position again to release the crankshaft.

[0056] Specifically, the first clamping assembly 21 further includes a first driving member 213, a first detection member 214, and a first locking member 215. One end of the first driving member 213 is connected to the first support 211, and the other end of the first driving member 213 is connected to the mounting base 11. The first driving member 213 is used to drive the first support 211 to move along the length direction of the mounting base 11, so as to drive the first gripper 212 to clamp or release the crankshaft. There are two first detection members 214, one first detection member 214 is connected to the first support 211, and the other first detection member 214 is connected to another first support 211. The first detection member 214 is used to detect the distance between itself and the other first detection member 214. The first locking member 215 is connected to the first driving member 213 and is used to restrict the movement of the first driving member 213. The first driving component 213, serving as the power source for the first clamping assembly 21, is primarily responsible for driving the first support 211 to move along the length of the mounting base 11. The control mechanism can control the first driving component 213 to retract or extend, thereby driving the two first supports 211 to move, which in turn drives the first gripper 212 to move, thus achieving the clamping and release of the crankshaft. The first detection component 214 can acquire the relative distance between the two first grippers 212 in real time to ensure that the first gripper 212 clamps the crankshaft in place. The first locking component 215 is connected to the first driving component 213. When the first detection component 214 determines that the first gripper 212 is in place, it can lock the state of the first driving component 213. The first driving component 213, the first detection component 214, and the first locking component 215 constitute a closed-loop control system. By precisely controlling the movement of the first gripper 212, the safe handling of the crankshaft is achieved, improving the stability of the handling and increasing the safety of the system.

[0057] Optionally, the first driving component 213 can be a linear drive device such as a cylinder, electric cylinder, or hydraulic cylinder to provide a stable driving force and ensure the stable gripping and release of the first gripper 212; the first detection component 214 can be a device such as a distance sensor or photoelectric sensor, which can send a signal to the control mechanism when it is determined that the distance between the two first supports 211 reaches the length distance of the corresponding model crankshaft, so as to determine that the first gripper 212 has been clamped in place when it is in the second position.

[0058] Furthermore, such as Figure 1 , Figures 3 to 5 As shown, the clamping assembly 200 further includes a second clamping assembly 22, which includes a support base 221, a connecting platform 222, and a second gripper 223. One end of the connecting platform 222 is connected to the mounting base 11, and the other end of the connecting platform 222 is movably connected to the support base 221. One end of the second gripper 223 is connected to the connecting platform 222, and the other end of the second gripper 223 is used to engage with the flywheel housing. The second gripper 223 has a third position for engaging with and gripping the flywheel housing, and a fourth position for releasing the flywheel housing. The connecting platform 222 and the second gripper 223 are respectively disposed on both sides of the support base 221. The support base 221 has a connecting hole, and part of the connecting platform 222 passes through the connecting hole and connects with the second gripper 223. The second clamping assembly 22 is connected to the mounting base 11 via the connecting platform 222. The other end of the connecting platform 222 is connected to the second gripper 223. A support base 221 is provided between the connecting platform 222 and the second gripper 223. The support base 221 can isolate the flywheel housing from the connecting platform 222 during the clamping process, so that the second clamping assembly 22 can only clamp the flywheel housing through the second gripper 223.

[0059] Specifically, the connecting platform 222 includes a floating seat 2221, a second support 2223, and a second driving member 2224. Along the height direction of the support 221, the floating seat 2221 is movably connected to the support 221 via an elastic member 2222. One end of the second support 2223 is connected to the floating seat 2221, and the other end of the second support 2223 is connected to the mounting base 11. One end of the second driving member 2224 is connected to the floating seat 2221, and the other end of the second driving member 2224 passes through a connecting hole and is connected to the second gripper 223. The second driving member 2224 is used to drive the second gripper 223 to move along the height direction of the support 221, so as to drive the second gripper 223 to extend into the characteristic hole of the flywheel housing. The floating seat 2221 is located above the support seat 221 and is movably connected to the support seat 221 through the elastic element 2222. The elastic element 2222 is disposed between the floating seat 2221 and the support seat 221, so that the floating seat 2221 can float up and down relative to the support seat 221, thereby driving the second gripper 223 to move up and down. The floating seat 2221 can provide the second gripper 223 with a certain degree of freedom of movement in the height direction of the support seat 221 through the elastic element 2222, so that the second gripper 223 can extend into or withdraw from the characteristic hole of the flywheel shell along the direction of gripping, which facilitates the stable gripping of the flywheel shell by the second gripper 223. At the same time, the elastic element 2222 can absorb vibration during the gripping process, reduce the impact force caused by contact or collision, and protect the flywheel shell from damage. The second support 2223 is disposed on the floating seat 2221 and is used to connect with the second gripper 223. The second drive member 2224 serves as the power source for the second clamping assembly 22. One end is connected to the floating seat 2221, and the other end passes through the connecting hole on the support 221 to directly establish a transmission connection with the second gripper 223. The second drive member 2224 can drive the floating seat 2221 to move, thereby controlling the extension and retraction of the second gripper 223 to ensure that the second gripper 223 can accurately extend into the feature hole of the flywheel housing.

[0060] Furthermore, the second clamping assembly 22 also includes a second detection element 224 and a second locking element 225. The second detection element 224 is disposed on the floating seat 2221 and is connected to at least one of the floating seat 2221 and the second driving element 2224. The second detection element 224 is used to detect the position of the second driving element 2224. The second locking element 225 is connected to the second driving element 2224 and is used to restrict the movement of the second driving element 2224. The second detection element 224 is disposed on the floating seat 2221 or the second driving element 2224. By detecting the relative distance between the second driving element 2224 and the floating seat 2221, the insertion distance of the second gripper 223 can be determined, thereby determining the state of the second gripper 223 and whether it extends into the feature hole of the flywheel housing, which facilitates the subsequent stable clamping of the flywheel housing. The second locking member 225 is connected to the second driving member 2224. After the second detection member 224 determines that the second gripper 223 has extended into the feature hole of the flywheel housing, the second driving member 2224 locks the second gripper 223, thereby ensuring that the flywheel housing will not be accidentally extended or retracted during the clamping process and will not be able to exit the feature hole, thus preventing clamping and handling.

[0061] In this embodiment, the second detection element 224 can continuously collect and feedback the current position of the second drive element 2224, providing real-time data input to the control mechanism to ensure that the second gripper 223 can accurately extend into the feature hole of the flywheel housing. In addition, when the flywheel housing is placed, the second detection element 224 can detect the return position of the second drive element 2224 to ensure that the second gripper 223 completely retracts.

[0062] Specifically, the second clamping assembly 22 further includes a third driving member 226, a third detection member 227, and a third locking member 228. One end of the third driving member 226 is connected to the support base 221, and the other end of the third driving member 226 is connected to the second gripper 223. The third driving member 226 is used to drive the second gripper 223 to move in the radial direction of the support base 221, so as to drive the second gripper 223 to clamp or release the flywheel housing. The third detection member 227 is connected to the second gripper 223 and is disposed at the bottom end of the second gripper 223. The third detection member 227 is used to detect the position of the second gripper 223. The third locking member 228 is connected to the third driving member 226 and is used to restrict the movement of the third driving member 226. A third driving member 226, a third detection member 227, and a third locking member 228 are provided on the side of the support base 221 near the second gripper 223. This allows the second gripper 223 to be driven to move radially along the characteristic hole after it is determined that the second gripper 223 extends into the characteristic hole, until the second gripper 223 abuts against the edge of the characteristic hole. Once the edge of the characteristic hole is stably clamped, the flywheel housing can be transported. The third driving member 226 drives the second gripper 223 to move radially along the characteristic hole. The third detection member 227 is located at the bottom of the second gripper 223 or can also be located on the third driving member 226. The third detection member 227 detects the radial movement distance of the second gripper 223 to determine whether the second gripper 223 has properly clamped the edge of the characteristic hole. The third locking member 228 then locks the movement of the third driving member 226, thereby locking the position of the second gripper 223 and preventing positional displacement of the second gripper 223 during flywheel housing transport, which could damage the flywheel housing.

[0063] In this embodiment, the various components of the second clamping assembly 22 work closely together to form a highly intelligent system. The control mechanism can precisely control the movement of the second clamping assembly 22 based on the position information provided by the vision acquisition mechanism 30, thereby achieving precise gripping, stable handling and safe release of the flywheel housing.

[0064] Furthermore, such as Figures 1 to 3As shown, the automatic handling device also includes a suction cup mechanism 40, which is connected to the mounting base 11. The suction cup mechanism 40 includes a third support 41 and a suction cup 42. The third support 41 is connected to one end of the mounting base 11. The suction cup 42 has a suction end and a connecting end. The connecting end is connected to the third support 41, and the suction end is used to pick up the blister pack on the crankshaft. The suction cup 42 is positioned towards the crankshaft through its suction end. The suction cup 42 is used to pick up the blister pack on the outer surface of the crankshaft and remove it so that the clamping mechanism 20 can clamp the crankshaft. By picking up the blister pack with the suction cup 42, the preparation work before handling is simplified, and the overall level of automation is improved. The suction cup 42 generates negative pressure through a vacuum generator to adhere to the blister pack. Then, through the movement of the third support 41, the blister pack is removed from the crankshaft, which improves handling efficiency and avoids the waste of human resources caused by manual removal of the blister pack.

[0065] Optionally, the suction cup 42 can use a mechanical gripper, electromagnet, or other gripping mechanism to grip the blister tray.

[0066] Furthermore, such as Figure 1 As shown, the automated conveying device also includes a buffer mechanism 50, which is connected to the first support 211 and / or to the second support 2223. The buffer mechanism 50 is used to mitigate the impact of the gripping mechanism 20. The buffer mechanism 50 absorbs the mechanical impact or vibration generated when gripping the crankshaft or flywheel housing, protecting it from damage by the grippers. By mitigating impact, the buffer mechanism 50 indirectly improves the operational accuracy of the gripping mechanism 20 during the gripping and releasing process, ensuring the stability and accuracy of the crankshaft and flywheel housing during positioning, reducing positioning errors caused by impact, thereby improving conveying efficiency and the automation level of the production line.

[0067] This application also provides a preferred embodiment of an automatic transport device, which can simultaneously meet the automatic transport of engine crankshaft and flywheel housing, and is integrated on the automatic transport device.

[0068] Specifically, the main body of the automatic handling device consists of a base 10, a mounting base 11, a first clamping component 21, a second clamping component 22, a vision acquisition mechanism 30, and a suction cup mechanism 40.

[0069] The first clamping assembly 21 consists of two first grippers 212, a first driving member 213, and a first locking member 215. The first grippers 212 are composed of two integrally welded first supports 211. The first driving member 213 consists of a cylinder, a cylinder connecting seat, a buffer mechanism 50, a guide rail, a slider, and a first detection member 214. The cylinder is connected to the mounting base 11 via the cylinder connecting seat. The buffer mechanism 50 is mounted on the first supports 211 to absorb and mitigate impact forces on the first grippers 212. A slider is mounted below the first supports 211, which, in conjunction with the guide rail mounted on the mounting base 11, enables the first supports 211 to move on the mounting base 11. The first detection member 214 is used to detect whether the crankshaft clamping position is correct. The suction cup mechanism 40 consists of a third support 41 and a suction cup 42.

[0070] The visual acquisition mechanism 30 consists of a 3D camera and a camera bracket. The 3D camera is mounted on the camera bracket, and the camera bracket is mounted on the mounting base 11.

[0071] The second clamping assembly 22 consists of a connecting platform 222, a second locking member 225, a support base 221, and a second gripper 223. The connecting platform 222 includes a floating base 2221, which is composed of a limiting post, a floating connecting plate, and an elastic member 2222, and is fixed to the support base 221. One end of the connecting platform 222 is mounted on the support base 221, and the other end is connected to the mounting base 11. The second gripper 223 consists of a second locking member 225 and a second detection member 224. The second locking member 225 is mounted on the second driving member 2224, and the second detection member 224 detects whether the second gripper 223 is locked. The third locking member 228 consists of a cylinder seat, a third driving member 226, a third detection member 227, a slider, a guide rail, a stop, and a stop screw. The third drive component 226 is mounted on the cylinder seat at one end and on the second gripper 223 at the other end. A slider and guide rail are installed below the second gripper 223 to move the second gripper 223. The position of the second gripper 223 is detected by the third detection component 227 to confirm whether the flywheel housing is gripped in place. At the same time, the second gripper 223 is limited by the stop and the stop screw.

[0072] The automatic gripping device grips the crankshaft and flywheel housing as shown below:

[0073] After the crankshaft arrives, the suction cup mechanism 40 is activated. Driven by the mounting base 11, the suction cup 42 first removes the blister pack above the crankshaft. Then, the 3D camera identifies and positions the crankshaft. The mounting base 11 then activates the first support 211 of the first clamping assembly 21. After the first gripper 212 reaches the gripping position, the first drive component 213 drives the first gripper 212 to clamp the inside of the crankshaft. After the first detection component 214 detects that the clamping is in place, the first locking component 215 is activated to lock the first drive component 213. After the crankshaft is placed on the designated tray by the automatic clamping device, the first drive component 213 drives the first gripper 212 to release. After the first detection component 214 detects that the crankshaft has been released, the first locking component 215 releases the first drive component 213, and the automatic transport device returns to its origin, completing the entire crankshaft transport process.

[0074] After the flywheel housing arrives, the second clamping assembly 22 is activated. Driven by the mounting base 11, the 3D camera identifies and positions the flywheel housing. The mounting base 11 drives the second gripper 223 to the flywheel housing gripping position. After detecting that the flywheel housing is gripped, the third drive component 226 is activated, driving the second gripper 223 to move closer to the center of the flywheel housing. The second gripper 223 will reach the stop position. After the second detection component 224 detects that the second gripper 223 is in position, the second locking component 225 is activated, fixing the floating seat 2221 to the support base 221. After the third detection component 227 detects that the gripping is in place, the second clamping assembly 22 drives the flywheel housing to be placed on the designated tray. Subsequently, the third drive component 226 drives the second gripper 223 to release the flywheel housing, and then the second locking component 225 releases the floating seat 2221. After the second detection component 224 detects that the release is in place, the automatic transport device returns to the origin, completing the entire flywheel housing transport process.

[0075] As can be seen from the above description, the automatic handling device in the above embodiments has the following beneficial effects:

[0076] 1) The device integrates the flywheel housing and crankshaft gripper, which can simultaneously grip and transport the flywheel housing and crankshaft. Compared with the traditional two sets of grippers, it reduces the need for fixture changes and is more efficient. At the same time, compared with using separate crankshaft transport fixtures and flywheel housing transport fixtures, it reduces the replacement time and cost of the device's end effector (fixture).

[0077] 2) Both the crankshaft and flywheel housing are relatively heavy parts. Automated handling by the equipment can reduce manual work such as turning over the trays, effectively reducing the labor intensity of workers.

[0078] 3) The crankshaft clamping assembly integrates a suction cup mechanism 40, which can automatically remove the blister pack from the crankshaft, realizing the automatic removal of the crankshaft blister pack without manual intervention, further improving the automation level and the goal of reducing manpower in the production line.

[0079] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0080] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this invention.

[0081] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0082] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic conveying device, characterized in that, include: The base (10) includes a mounting base (11) which is movably disposed on the base (10); A clamping mechanism (20) is connected to the mounting base (11). The clamping mechanism (20) includes at least two clamping components (200), one of which is used to move the crankshaft and the other is used to move the flywheel housing. The mounting base (11) is used to drive the clamping mechanism (20) to move so that the clamping mechanism (20) moves the crankshaft and the flywheel housing. One of the clamping components (200) has a first position for clamping the crankshaft and a second position for moving the crankshaft to a target position and releasing the crankshaft. The other clamping component (200) has a third position for clamping the flywheel housing and a fourth position for moving the flywheel housing to the target position and releasing the flywheel housing.

2. The automatic conveying device according to claim 1, characterized in that, The automated handling device also includes: A visual acquisition mechanism (30) is connected to the mounting base (11) and is used to determine the position of the crankshaft and the flywheel housing. The control mechanism is electrically connected to the vision acquisition mechanism (30), the clamping mechanism (20), and the mounting base (11). The control mechanism is used to control the clamping mechanism (20) to clamp and transport the crankshaft and the flywheel housing.

3. The automatic conveying device according to claim 1 or 2, characterized in that, The clamping assembly (200) includes a first clamping assembly (21), the first clamping assembly (21) comprising: The first support (211) is movably connected to the mounting base (11). There are two first supports (211), which are arranged opposite to each other at both ends of the mounting base (11) along the length direction of the mounting base (11). The first clamp (212) consists of two clamps, one of which is connected to one of the first supports (211), and the other is connected to the other first support (211). The two clamps (212) are arranged opposite to each other along the length of the mounting base (11). The two clamps (212) are used to engage with both ends of the crankshaft. The first gripper (212) has a first position for engaging with and gripping the crankshaft, and the first gripper (212) has a second position for releasing the crankshaft.

4. The automatic conveying device according to claim 3, characterized in that, The first clamping assembly (21) further includes: The first driving member (213) has one end connected to the first support (211) and the other end connected to the mounting base (11). The first driving member (213) is used to drive the first support (211) to move along the length direction of the mounting base (11) so as to drive the first gripper (212) to grip or release the crankshaft. The first detection element (214) consists of two elements, one of which is connected to the first support (211), and the other is connected to the other first support (211). The first detection element (214) is used to detect the distance between itself and the other first detection element (214). The first locking member (215) is connected to the first driving member (213) and is used to restrict the movement of the first driving member (213).

5. The automatic conveying device according to claim 4, characterized in that, The clamping assembly (200) further includes a second clamping assembly (22), the second clamping assembly (22) comprising: Support base (221); A connecting platform (222) is provided, one end of which is connected to the mounting base (11), and the other end of which is movably connected to the support base (221). The second gripper (223) has one end connected to the connecting platform (222) and the other end used to engage with the flywheel housing. The second gripper (223) has a third position for engaging with and gripping the flywheel housing, and a fourth position for releasing the flywheel housing. The connecting platform (222) and the second gripper (223) are respectively disposed on both sides of the support base (221). The support base (221) has a connecting hole, and part of the connecting platform (222) passes through the connecting hole and connects with the second gripper (223).

6. The automatic conveying device according to claim 5, characterized in that, The connecting station (222) includes: A floating seat (2221) is movably connected to the support seat (221) via an elastic element (2222) along the height direction of the support seat (221). The second support (2223) has one end connected to the floating seat (2221) and the other end connected to the mounting seat (11); The second drive member (2224) has one end connected to the floating seat (2221) and the other end connected to the second gripper (223) through the connecting hole. The second drive member (2224) is used to drive the second gripper (223) to move along the height direction of the support seat (221) so as to drive the second gripper (223) to extend into the feature hole of the flywheel housing.

7. The automatic conveying device according to claim 6, characterized in that, The second clamping assembly (22) further includes: The second detection element (224) is disposed on the floating seat (2221) and is connected to at least one of the floating seat (2221) and the second driving element (2224). The second detection element (224) is used to detect the position of the second driving element (2224). The second locking member (225) is connected to the second driving member (2224) and is used to restrict the movement of the second driving member (2224).

8. The automatic conveying device according to claim 7, characterized in that, The second clamping assembly (22) further includes: The third drive member (226) has one end connected to the support base (221) and the other end connected to the second gripper (223). The third drive member (226) is used to drive the second gripper (223) to move along the radial direction of the support base (221) so as to drive the second gripper (223) to grip or release the flywheel housing. The third detection element (227) is connected to the second gripper (223). The third detection element (227) is disposed at the bottom end of the second gripper (223). The third detection element (227) is used to detect the position of the second gripper (223). The third locking member (228) is connected to the third driving member (226) and is used to restrict the movement of the third driving member (226).

9. The automatic conveying device according to claim 3, characterized in that, The automatic handling device further includes a suction cup mechanism (40), which is connected to the mounting base (11). The suction cup mechanism (40) includes: The third support (41) is connected to one end of the mounting base (11); The suction cup (42) has a suction end and a connecting end. The connecting end is connected to the third support (41). The suction end is used to suction the blister pack of the crankshaft.

10. The automatic conveying device according to claim 6, characterized in that, The automatic handling device further includes a buffer mechanism (50), which is connected to the first support (211) and / or connected to the second support (2223). The buffer mechanism (50) is used to mitigate the impact of the gripping mechanism (20).

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