Transfer device for sheet metal and automatic detection equipment

Abstract

The invention discloses a transfer device for sheet metal and automatic detection equipment, the transfer device comprises a tray and a pick-and-place assembly, the tray is provided with a placing groove for placing the sheet metal, the placing groove is in a quadrangular frustum pyramid shape, and the notch size of the placing groove is configured to be larger than the size of the sheet metal; the size of the bottom wall of the placing groove is configured to be smaller than that of the sheet metal; the taking and placing assembly comprises a connecting frame, an adsorption gripper arranged on the connecting frame and an adjusting mechanism arranged between the connecting frame and the adsorption gripper. The adjusting mechanism is used for adjusting the angle value of the adsorption end face of the adsorption gripper relative to the connecting frame. According to the invention, the contact between the bottom surface of the sheet metal and the bottom wall of the placing groove can be avoided, and the bottom surface of the sheet metal is prevented from being scratched. And meanwhile, the inclination angle of the adsorption gripper can be adjusted through the adjusting mechanism, and it is ensured that the adsorption gripper can be attached to the upper surface of the sheet metal to achieve tight adsorption.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sheet metal production, in particular to a transfer device for sheet metal and an automatic detection equipment. BACKGROUND

[0002] Sheet metal is a kind of metal plate with a thickness of several microns to several millimeters, which is made by rolling, extrusion and other processes. It is widely used in industrial manufacturing, daily life, new energy, aerospace and other fields. With the development of automation technology, the production of sheet metal is gradually shifting to full-process automation, which requires the realization of automatic transfer of sheet metal. In the existing scheme, the Tray (tray) is generally used to carry, store and transfer sheet metal, and the vacuum suction gripper is used to grab the sheet metal placed on the Tray. However, some sheet metal products have high requirements for surface precision and hope to minimize contact with the outside during transfer. However, the existing Tray is provided with a groove slightly larger than the size of the sheet metal, and the sheet metal is placed on the bottom of the groove in the Tray. This causes the bottom surface of the sheet metal to be in full contact with the bottom wall of the groove in the Tray, increasing the risk of scratching the bottom surface of the sheet metal.

[0003] In addition, some sheet metal products (such as electrolytic copper foil, thin aluminum foil, etc.) need to be detected for surface defects. The existing scheme generally uses manual detection instruments to detect sheet metal on the production line, which has low detection efficiency. SUMMARY

[0004] The present application aims to solve one of the technical problems in the related art to some extent. To this end, the present application provides a transfer device for sheet metal and an automatic detection equipment.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme: a transfer device for sheet metal, the transfer device comprising a Tray and a pick-and-place assembly, the Tray being provided with a placing groove for placing sheet metal, the placing groove being in the shape of a quadrangular frustum of a pyramid, and the size of the groove opening of the placing groove being configured to be larger than the size of the sheet metal, and the size of the bottom wall of the placing groove being configured to be smaller than the size of the sheet metal; the pick-and-place assembly comprising a connecting frame, a suction gripper provided on the connecting frame, and an adjusting mechanism provided between the connecting frame and the suction gripper, the adjusting mechanism being used to adjust the angle value of the suction end face of the suction gripper relative to the connecting frame, so that the suction end face can be in close contact with the surface of the sheet metal when the suction gripper grabs the sheet metal.

[0006] The application has the following beneficial effects: through the improved design of the structure of the tray, the placing groove on the tray is in the shape of a quadrangular prism, the size of the groove of the placing groove is configured to be larger than the size of the sheet metal, and the size of the bottom wall of the placing groove is configured to be smaller than the size of the sheet metal, so that the side edge of the sheet metal is in supporting contact with the side wall of the placing groove, thereby avoiding the bottom surface of the sheet metal from being in contact with the bottom wall of the placing groove and preventing the bottom surface of the sheet metal from being scratched. Meanwhile, the taking and placing assembly matched with the tray is arranged, and the inclination angle of the adsorbing gripper can be adjusted through the adjusting mechanism, so that the adsorbing gripper can be closely adsorbed to the upper surface of the sheet metal.

[0007] Optionally, the connecting frame comprises a first frame body for mounting with an external mechanical arm and a second frame body swing-connected with the first frame body through a first rotating shaft, the adsorbing gripper is swing-connected with the second frame body through a second rotating shaft, and the adjusting mechanism is arranged between the adsorbing gripper and the second frame body and between the second frame body and the first frame body, and the first rotating shaft and the second rotating shaft are perpendicular to each other.

[0008] Optionally, the adjusting mechanism comprises a driving motor, and the first rotating shaft and the second rotating shaft rotate under the driving of the driving motor.

[0009] Optionally, the adjusting mechanism further comprises a belt transmission structure or a gear transmission structure, and the belt transmission structure or the gear transmission structure is connected with the driving motor and is used for transmitting the output torque of the driving motor to the first rotating shaft and the second rotating shaft.

[0010] Optionally, the transfer device further comprises an angle detection module, the angle detection module is arranged on the connecting frame, and the angle detection module is used for detecting the angle information of the sheet metal in the placing groove relative to the horizontal plane, the driving motor is connected with the angle detection module and drives the first rotating shaft and the second rotating shaft to rotate through the obtained angle information.

[0011] Optionally, the adjusting mechanism comprises an elastic member, the adjusting structure arranged between the adsorbing gripper and the second frame body is used for pressing the adsorbing end surface of the adsorbing gripper to have a tendency to keep horizontal, and the adjusting structure arranged between the second frame body and the first frame body is used for pressing the second frame body to have a tendency to keep horizontal.

[0012] In addition, the application further provides an automatic detection equipment for sheet metal, the automatic detection equipment comprises the transfer device according to any one of the above technical solutions, and the automatic detection equipment further comprises:

[0013] a feeding unit comprising a feeding conveying table and a feeding conveying vehicle used for taking and placing a feeding tray relative to the feeding conveying table;

[0014] The feeding unit comprises a feeding conveying table and a feeding conveying vehicle for taking and placing the feeding tray relative to the feeding conveying table.

[0015] The detection unit comprises a detection platform and a detection sensor, the detection platform is provided with a bearing position for bearing the sheet metal, and the detection sensor is used for detecting the sheet metal located on the bearing position.

[0016] The driving unit is connected to the connecting frame in the transfer device at the output end.

[0017] The feeding tray and the discharging tray are both the trays in the transfer device, and the driving unit is used for transferring the sheet metal between the feeding tray, the discharging tray and the detection platform by driving the taking and placing assembly in the transfer device to act.

[0018] The application has the following beneficial effects: the feeding tray and the discharging tray are automatically close to and away from the detection unit by setting the feeding unit and the discharging unit, the sheet metal is taken and placed relative to the feeding tray, the discharging tray and the detection platform by setting the driving unit to drive the taking and placing assembly in the transfer device to act, and the position of the sheet metal between the feeding unit, the detection platform and the discharging unit can be switched. Therefore, the automatic transfer and detection of the sheet metal can be realized, and the detection efficiency is improved.

[0019] Optionally, the feeding conveying table and the discharging conveying table convey the trays along the first direction and the reverse direction thereof, and the feeding conveying table and the discharging conveying table are located on the left and right sides of the detection unit along the first direction, and the driving unit is located above the feeding conveying table, the discharging conveying table and the detection platform.

[0020] Optionally, the detection unit further comprises a first driving assembly and a second driving assembly, the detection platform is circular, and a plurality of bearing positions are uniformly arranged along the circumference of the detection platform, the first driving assembly is used for driving the detection platform to rotate around its own axis, and the second driving assembly is used for driving the detection sensor to act relative to the detection platform.

[0021] Optionally, the driving unit comprises a feeding electric sliding table and a discharging electric sliding table, the feeding electric sliding table is arranged between the feeding conveying table and the detection platform and is used for moving the sheet metal along the first direction, the second direction and the third direction by the taking and placing assembly, the discharging electric sliding table is arranged between the discharging conveying table and the detection platform and is used for moving the sheet metal along the first direction, the second direction and the third direction by the taking and placing assembly, the first direction and the second direction are both horizontal directions and perpendicular to each other, and the third direction is a vertical direction.

[0022] The features and advantages of the present application will be more apparent from the following detailed description in conjunction with the accompanying drawings. The best mode or means for carrying out the present application will be described in detail with reference to the accompanying drawings, but the present application is not limited thereto. In addition, the features, elements and components appearing in each of the following description and drawings are multiple, and different symbols or numbers are marked for the convenience of representation, but all represent the same or similar structure or function components. BRIEF DESCRIPTION OF DRAWINGS

[0023] The present application will be further described in conjunction with the accompanying drawings:

[0024] Figure 1 A structural schematic diagram of a sheet metal transfer device provided by an embodiment of the present application;

[0025] Figure 2 A structural schematic diagram of a tray in the transfer device;

[0026] Figure 3 A sectional view of the tray;

[0027] Figure 4 A schematic diagram of the placement state of the sheet metal relative to the tray;

[0028] Figure 5 A structural schematic diagram of a pick-and-place assembly in the transfer device;

[0029] Figure 6 An exploded view of the pick-and-place assembly;

[0030] Figure 7 A structural schematic diagram of an automated detection equipment applying the transfer device provided by the embodiment;

[0031] Figure 8 A structural schematic diagram of the internal structure of the automated detection equipment;

[0032] Figure 9 A structural schematic diagram of the internal structure of the automated detection equipment from another perspective;

[0033] Figure 10 A top view of the automated detection equipment.

[0034] Wherein, 1, tray; 10, placing groove; 2, taking and placing assembly; 20, connecting frame; 200, first frame body; 201, second frame body; 2010, first rotating hole; 2011, second rotating hole; 21, adsorbing gripper; 22, adjusting mechanism; 220, first driving motor; 221, second driving motor; 222, gear transmission structure; 223, belt transmission structure; 23, first rotating shaft; 24, second rotating shaft; 3, angle detection module; 4, feeding conveying table; 5, discharging conveying table; 6, detection unit; 60, detection platform; 600, bearing position; 61, detection sensor; 62, second driving assembly; 7, driving unit; 70, feeding electric sliding table; 71, discharging electric sliding table; 8, rack; 80, guard plate; 9, sheet metal. DETAILED DESCRIPTION

[0035] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the present application, and cannot be understood as a limitation of the present application.

[0036] In the present specification, "one embodiment" or "an example" or "an example" means that the specific features, structures or characteristics described in connection with the embodiment itself can be included in at least one embodiment of the present disclosure. The appearance of the phrase "in one embodiment" at various locations in the specification does not necessarily refer to the same embodiment.

[0037] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the 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 particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically specified and limited.

[0038] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "communicated", "connected" should be understood broadly, for example, it can be fixedly connected, or connected through an intermediate medium, or the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] The present embodiment provides a kind of for sheet metal transport device, as shown in Figure 1 、 Figure 2 ,Figure 3 and Figure 4 As shown, the transfer device includes a tray 1 and a pick-and-place assembly 2. The tray 1 has a placement groove 10 for placing a sheet of metal 9. The placement groove 10 is frustum-shaped, and the opening size of the placement groove 10 is configured to be larger than the size of the sheet of metal 9, while the bottom wall size of the placement groove 10 is configured to be smaller than the size of the sheet of metal 9. Specifically, in this embodiment, the opening of the placement groove 10 is square, the bottom wall of the placement groove 10 is also square, and the center of the opening of the placement groove 10 and the center of the bottom wall of the placement groove 10 are located on the same axis. The side length of the opening of the placement groove 10 is greater than the side length of the bottom wall of the placement groove 10. By improving the structure of tray 1, the placement slot 10 on tray 1 is made into a frustum shape, and the opening size of the placement slot 10 is configured to be larger than the size of the thin metal sheet 9, while the bottom wall size of the placement slot 10 is configured to be smaller than the size of the thin metal sheet 9. This ensures that the side of the thin metal sheet 9 is in support contact with the side wall of the placement slot 10, thereby preventing the bottom surface of the thin metal sheet 9 from contacting the bottom wall of the placement slot 10 and preventing scratches on the bottom surface of the thin metal sheet 9. Figure 4 As shown, the sheet metal 9 may be supported and placed on the side wall of the placement groove 10 in an attitude parallel to the bottom wall of the placement groove 10, or it may be supported and placed on the side wall of the placement groove 10 in an attitude inclined to the bottom wall of the placement groove 10.

[0040] The pick-and-place assembly 2 in this embodiment includes a connecting frame 20, an adsorption gripper 21, and an adjustment mechanism 22. The adsorption gripper 21 is disposed on the connecting frame 20, and the adjustment mechanism 22 is disposed between the connecting frame 20 and the adsorption gripper 21. The adjustment mechanism 22 is used to adjust the angle between the adsorption end face of the adsorption gripper 21 and the connecting frame 20, so that the adsorption end face can adhere to the surface of the thin metal sheet 9 when the adsorption gripper 21 grasps it. By providing a pick-and-place assembly 2 adapted to the tray 1 and adjusting the tilt angle of the adsorption gripper 21 by the adjustment mechanism 22, it is ensured that the adsorption gripper 21 can adhere to the upper surface of the thin metal sheet 9 to achieve tight adsorption.

[0041] like Figure 5 and Figure 6 As shown, the connecting frame 20 in this embodiment includes a first frame 200 and a second frame 201. The first frame 200 is used for mounting to an external robotic arm, and the second frame 201 is oscillatingly connected to the first frame 200 via a first rotating shaft 23. An adsorption gripper 21 is oscillatingly connected to the second frame 201 via a second rotating shaft 24, and an adjustment mechanism 22 is provided between the adsorption gripper 21 and the second frame 201. An adjustment mechanism 22 is also provided between the second frame 201 and the first frame 200. The first rotating shaft 23 and the second rotating shaft 24 are perpendicular to each other. Specifically, as shown... Figure 6As shown, a first rotating hole 2010 and a second rotating hole 2011 are respectively provided on the second frame 201. The two ends of the first rotating shaft 23 pass through the first frame 200 and extend into the first rotating hole 2010 on the second frame 201, thereby achieving a rotatable connection with the second frame 201. The two ends of the second rotating shaft 24 pass through the adsorption gripper 21 and extend into the second rotating hole 2011 on the second frame 201, thereby achieving a rotatable connection with the adsorption gripper 21.

[0042] Combination Figure 1 As shown, through the above structural design, when the adsorption gripper 21 rotates around the central axis of the second rotating shaft 24, the tilt angle of the adsorption gripper 21 relative to the tray 1 (horizontal plane) can be adjusted in the X direction. When the second frame 201 rotates around the central axis of the first rotating shaft 23, the tilt angle of the adsorption gripper 21 relative to the tray 1 (horizontal plane) can be adjusted in the Y direction. In this way, regardless of whether the sheet metal 9 is tilted relative to the bottom wall of the placement groove 10 on the tray 1 in the X direction or in the Y direction, the adsorption gripper 21 can be rotated relative to the first frame 200 by the adjustment mechanism 22, so that the end face of the adsorption gripper 21 fits and adheres to the upper surface of the sheet metal 9.

[0043] like Figure 6 As shown, the adjustment mechanism 22 in this embodiment includes a drive motor, and the first rotating shaft 23 and the second rotating shaft 24 rotate under the drive of the drive motor. Specifically, the drive motor includes a first drive motor 220 and a second drive motor 221 disposed on the second frame 201, and the output shafts of the first drive motor 220 and the second drive motor 221 are perpendicular to each other. The first drive motor 220 is used to drive the second frame 201 to swing relative to the first frame 200, and the second drive motor 221 is used to drive the suction gripper 21 to swing relative to the second frame 201.

[0044] Furthermore, to facilitate the partial adjustment of the first drive motor 220 and the second drive motor 221, the adjustment mechanism 22 in this embodiment also includes a belt drive structure 223 and a gear drive structure 222. The belt drive structure 223 and the gear drive structure 222 are connected to the drive motors and are used to transmit the output torque of the drive motors to the first rotating shaft 23 and the second rotating shaft 24. Specifically, in this embodiment, a gear drive structure 222 is provided between the first drive motor 220 and the first rotating shaft 23. The gear drive structure 222 includes a drive gear fixedly disposed at the output end of the first drive motor 220 and a transmission gear fixedly disposed at one end of the first rotating shaft 23. The drive gear and the transmission gear mesh with each other. Similarly, in this embodiment, a belt drive structure 223 is provided between the second drive motor 221 and the second rotating shaft 24. The belt drive structure 223 includes a drive pulley fixedly disposed at the output end of the second drive motor 221, a driven pulley fixedly disposed at one end of the second rotating shaft 24, and a transmission belt disposed between the drive pulley and the driven pulley.

[0045] As Figure 5 shown, the transport device also includes an angle detection module 3, which is arranged on the connecting frame 20. The angle detection module 3 is configured to detect the angle information of the sheet metal 9 relative to the horizontal plane. The driving motor is connected to the angle detection module 3 and drives the first rotating shaft 23 and the second rotating shaft 24 to rotate based on the obtained angle information. Specifically, the angle detection module 3 is electrically connected to the first driving motor 220 and the second driving motor 221. The first driving motor 220 and the second driving motor 221 drive the first rotating shaft 23 and the second rotating shaft 24 to rotate based on the angle information obtained from the angle detection module 3. The angle detection module 3 in the present embodiment is an optical tilt angle meter. Its structure and working principle are known in the art, and thus will not be described here.

[0046] In addition, the transport device adopts a scheme in which the driving motor is arranged to actively drive the adsorption gripper 21 to swing to adjust the inclination angle. In other alternative embodiments, the adsorption gripper 21 can also be designed to adaptively adjust the inclination angle according to the inclination state of the sheet metal 9. Specifically, in the alternative embodiment, the adjusting mechanism 22 includes an elastic member (not shown in the figure). The adjusting structure arranged between the adsorption gripper 21 and the second frame body 201 is configured to press the adsorption end face to have a tendency to keep horizontal. The adjusting structure arranged between the second frame body 201 and the first frame body 200 is configured to press the second frame body 201 to have a tendency to keep horizontal.

[0047] The elastic member can be a torsion spring. That is, without other external forces, the adsorption gripper 21 will keep the adsorption end face horizontal under the action of the torsion spring. In this case, the sheet metal 9 can be supported on the side wall of the placing groove 10 in a horizontal state. When the sheet metal 9 is inclined relative to the bottom wall of the placing groove 10, the adsorption gripper 21 can adaptively adjust the inclination angle to adapt to the sheet metal 9 under the abutting pressure of the sheet metal 9 on the adsorption gripper 21.

[0048] As Figure 7 , Figure 8 and Figure 9As shown, the transfer device provided in the embodiment can be applied to an automatic detection equipment, which comprises a feeding unit, a discharging unit, a detection unit 6, a driving unit 7 and the transfer device provided in the embodiment. The feeding unit comprises a feeding conveying table 4 and a feeding conveying vehicle for taking and placing a feeding tray relative to the feeding conveying table 4, and the discharging unit comprises a discharging conveying table 5 and a discharging conveying vehicle for taking and placing a discharging tray relative to the discharging conveying table 5. It is easy to understand that the feeding conveying vehicle and the discharging conveying vehicle can adopt an existing automatic guided vehicle (AGV), and the feeding conveying table 4 and the discharging conveying table 5 can adopt an existing roller type conveying table or a belt sliding table. The detection unit 6 comprises a detection platform 60 and a detection sensor 61, the detection platform 60 is provided with a bearing position 600 for bearing the sheet metal 9, and the detection sensor 61 is used for detecting the sheet metal 9 located at the bearing position 600. The detection sensor 61 in the embodiment is an image acquisition device, which automatically judges whether there is a surface defect by automatically acquiring the image of the sheet metal 9. The detection technology is prior art, and will not be described here.

[0049] The output end of the driving unit 7 in the embodiment is connected with the connecting frame 20 in the transfer device, specifically, the output end of the driving unit 7 is connected with the first frame body 200 in the connecting frame 20. The feeding tray and the discharging tray in the embodiment are both the tray 1 in the transfer device, and the driving unit 7 is used for transferring the sheet metal 9 between the feeding tray, the discharging tray and the detection platform 60 by driving the taking and placing assembly 2 in the transfer device to act.

[0050] By setting the feeding unit and the discharging unit, the feeding tray and the discharging tray can be automatically approached and distanced from the detection unit 6, and by setting the driving unit 7 to drive the taking and placing assembly 2 in the transfer device to act, the sheet metal 9 can be taken and placed relative to the feeding tray, the discharging tray and the detection platform 60, so that the sheet metal 9 can be switched between the feeding unit, the detection platform 60 and the discharging unit. Thus, the automatic transfer and detection of the sheet metal 9 can be realized, and the detection efficiency can be improved.

[0051] It should be noted that the automatic detection equipment in the embodiment further comprises a rack 8, and the feeding unit, the discharging unit, the detection unit 6 and the driving unit 7 are all arranged on the rack 8, and a protective plate 80 is further arranged on the rack 8 to play a protection role.

[0052] Further, the layout of each unit in the automatic detection equipment in the embodiment is designed to optimize the transfer path of the sheet metal 9, shorten the transfer distance of the sheet metal 9, further improve the detection efficiency, and reduce the floor space occupied by the automatic detection equipment. Specifically, as shown in the drawings, Figure 10As shown, the feeding conveying table and the discharging conveying table in the embodiment both convey the tray 1 along the first direction S and its reverse direction, and the feeding conveying table and the discharging conveying table are located at the left and right sides of the detection unit 6 along the first direction S, and the driving unit 7 is located above the feeding conveying table, the discharging conveying table and the detection platform 60. Thus, the driving unit 7 only needs to drive the pick-and-place assembly 2 in the transfer device to act within a shorter distance.

[0053] Further, the detection platform 60 in the embodiment is circular, and the plurality of bearing positions 600 are uniformly arranged along the circumference of the detection platform 60. Meanwhile, the detection unit 6 in the embodiment further includes a first driving assembly and a second driving assembly 62, the first driving assembly is used to drive the detection platform 60 to rotate about its own axis, and the second driving assembly 62 is used to drive the detection sensor 61 to act relative to the detection platform 60. Thus, the bearing position 600 can be aligned with the detection sensor 61 by driving the detection platform 60 to rotate about its own axis by the first driving assembly, and the position of the detection sensor 61 can also be actively adjusted by the second driving assembly 62 to further ensure that the detection sensor 61 can be aligned with the bearing position 600.

[0054] As shown in Figure 8 , Figure 9 and Figure 10 , the driving unit 7 in the embodiment includes a feeding electric sliding table 70 and a discharging electric sliding table 71. The feeding electric sliding table 70 is arranged between the feeding conveying table and the detection platform 60 and is used to drive the sheet metal 9 to move along the first direction S, the second direction P and the third direction by the pick-and-place assembly 2, and the discharging electric sliding table 71 is arranged between the discharging conveying table and the detection platform 60 and is used to drive the sheet metal 9 to move along the first direction S, the second direction P and the third direction by the pick-and-place assembly 2, the first direction and the second direction are both horizontal directions and perpendicular to each other, and the third direction is a vertical direction. The feeding electric sliding table 70 and the discharging electric sliding table 71 both include an electric sliding table extending along the first direction S, an electric sliding table extending along the second direction P and an electric sliding table extending along the third direction.

[0055] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and those skilled in the art should understand that the present application includes but is not limited to the contents described in the above specific embodiment and the accompanying drawings. Any modification that does not deviate from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A transfer device for thin sheet metal, characterized in that, The transfer device includes a tray and a pick-and-place assembly. The tray is provided with a placement slot for placing sheet metal. The placement slot is truncated square in shape, and the opening size of the placement slot is configured to be larger than the size of the sheet metal, while the bottom wall size of the placement slot is configured to be smaller than the size of the sheet metal. The pick-and-place assembly includes a connecting frame, an adsorption gripper disposed on the connecting frame, and an adjustment mechanism disposed between the connecting frame and the adsorption gripper. The adjustment mechanism is used to adjust the angle value of the adsorption end face of the adsorption gripper relative to the connecting frame, so that the adsorption end face can fit against the surface of the thin metal sheet when the adsorption gripper picks up the thin metal sheet.

2. The transfer device as described in claim 1, characterized in that, The connecting frame includes a first frame for mounting to an external robotic arm and a second frame that is oscillatingly connected to the first frame via a first rotating shaft. The suction gripper is oscillatingly connected to the second frame via a second rotating shaft. Adjustment mechanisms are provided between the suction gripper and the second frame, and between the second frame and the first frame. The first and second rotating shafts are perpendicular to each other.

3. The transfer device as described in claim 2, characterized in that, The adjustment mechanism includes a drive motor, and the first and second rotating shafts rotate under the drive of the drive motor.

4. The transfer device as described in claim 3, characterized in that, The adjustment mechanism further includes a belt drive structure or a gear drive structure, which is connected to the drive motor and is used to transmit the output torque of the drive motor to the first shaft and the second shaft.

5. The transfer device as described in claim 3, characterized in that, The transfer device also includes an angle detection module, which is disposed on the connecting frame. The angle detection module is used to detect the angle information of the thin metal sheet located in the placement slot relative to the horizontal plane. The drive motor is connected to the angle detection module and drives the first and second rotating shafts to rotate by acquiring the angle information.

6. The transfer device as described in claim 2, characterized in that, The adjustment mechanism includes an elastic element, an adjustment structure disposed between the adsorption gripper and the second frame to apply pressure to the adsorption gripper with a tendency to keep the adsorption end face horizontal, and an adjustment structure disposed between the second frame and the first frame to apply pressure to the second frame with a tendency to keep the adsorption end face horizontal.

7. An automated inspection device for thin sheet metal, characterized in that, The automated testing equipment includes the transfer device as described in any one of claims 1 to 6, and the automated testing equipment further includes: The loading unit includes a loading conveyor platform and a loading conveyor vehicle for picking up and placing loading trays relative to the loading conveyor platform; The unloading unit includes an unloading conveyor table and an unloading conveyor vehicle for picking up and dropping off the unloading tray relative to the unloading conveyor table; A detection unit includes a detection platform and a detection sensor. The detection platform is provided with a support position for supporting a thin sheet of metal, and the detection sensor is used to detect the thin sheet of metal located at the support position; and... The drive unit, the output of which is connected to the connecting frame in the transfer device; The loading tray and unloading tray are both pallets in the transfer device. The drive unit is used to transfer the sheet metal between the loading tray, unloading tray and detection platform by driving the pick-and-place components in the transfer device.

8. The automated testing equipment as described in claim 7, characterized in that, The loading conveyor and unloading conveyor both transport the pallet along the first direction and in the opposite direction, and the loading conveyor and unloading conveyor are located on the left and right sides of the detection unit along the first direction, and the drive unit is located above the loading conveyor, unloading conveyor and detection platform.

9. The automated testing equipment as described in claim 8, characterized in that, The detection unit further includes a first driving component and a second driving component. The detection platform is circular, and a plurality of the bearing positions are evenly arranged along the circumference of the detection platform. The first driving component is used to drive the detection platform to rotate around its own axis, and the second driving component is used to drive the detection sensor to move relative to the detection platform.

10. The automated testing equipment as described in claim 8, characterized in that, The driving unit includes a loading electric slide and a unloading electric slide. The loading electric slide is disposed between the loading conveyor and the detection platform and is used to drive the sheet metal to move along a first direction, a second direction and a third direction through the pick-and-place component. The unloading electric slide is disposed between the unloading conveyor and the detection platform and is used to drive the sheet metal to move along a first direction, a second direction and a third direction through the pick-and-place component. The first direction and the second direction are both horizontal and perpendicular to each other, and the third direction is a vertical direction.

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