A conveying device and an automatic detection device for sheet metal

Abstract

The application discloses a transfer device and an automatic detection equipment for sheet metal. The transfer device comprises a tray and a taking and placing assembly. The tray is provided with a placing groove for placing the sheet metal. The placing groove is in the shape of a quadrangular prism. The size of the groove opening of the placing groove is configured to be greater than the size of the sheet metal. The size of the bottom wall of the placing groove is configured to be smaller than the size of the sheet metal. The taking and placing assembly comprises a connecting frame, a suction gripper arranged on the connecting frame, and an adjusting mechanism arranged between the connecting frame and the suction gripper. The adjusting mechanism is used for adjusting the angle value of the suction end surface of the suction gripper relative to the connecting frame. The application can avoid the bottom surface of the sheet metal from contacting the bottom wall of the placing groove, and prevent the bottom surface of the sheet metal from being scratched. Meanwhile, the inclination angle of the suction gripper can be adjusted through the adjusting mechanism, so that the suction gripper can be closely attached to the upper surface of the sheet metal to realize close suction.

Description

Technical Field

[0001] This application relates to the field of sheet metal production technology, specifically to a transfer device and automated testing equipment for sheet metal. Background Technology

[0002] Thin sheet metal is a type of metal sheet with a thickness of only a few micrometers to a few millimeters, produced through processes such as rolling and extrusion. It is widely used in various fields including industrial manufacturing, daily life, new energy, and aerospace. With the development of automation technology, the production of thin sheet metal is gradually shifting towards full-process automation, which requires automated transfer of thin sheet metal. Current solutions typically use trays to carry, store, and transfer thin sheet metal, and vacuum grippers to grasp the sheet metal placed on the tray. However, some thin sheet metal products require high surface precision and require minimal contact with the outside during transfer. Current trays typically have grooves slightly larger than the thin sheet metal, and the sheet metal is placed flat on the bottom of these grooves. This results in full contact between the bottom surface of the sheet metal and the bottom wall of the groove, increasing the risk of scratches on the bottom surface of the sheet metal.

[0003] In addition, some thin metal products (such as electrolytic copper foil, thin aluminum foil, etc.) need to be inspected for surface defects. The existing solution is to manually use inspection instruments to sample thin metal products on the production line, which has low inspection efficiency. Summary of the Invention

[0004] This application aims to address one of the technical problems in related technologies to a certain extent. Therefore, this application provides a transfer device and automated inspection equipment for thin sheet metal.

[0005] To achieve the above objectives, this application adopts the following technical solution: a transfer device for sheet metal, the transfer device comprising a tray and a pick-and-place assembly, the tray being provided with a placement groove for placing sheet metal, the placement groove being truncated quadrangular, and the opening size of the placement groove being configured to be larger than the size of the sheet metal, and the bottom wall size of the placement groove being configured to be smaller than the size of the sheet metal; the pick-and-place assembly comprising 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 being 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 sheet metal when the adsorption gripper picks up the sheet metal.

[0006] The application of this application has the following beneficial effects: By improving the design of the tray structure, the placement slot on the tray is made into a frustum shape, and the size of the slot opening is configured to be larger than the size of the thin metal sheet, while the size of the bottom wall of the placement slot is configured to be smaller than the size of the thin metal sheet. This ensures that the side of the thin metal sheet is in support contact with the side wall of the placement slot, thereby preventing the bottom surface of the thin metal sheet from contacting the bottom wall of the placement slot and preventing scratches on the bottom surface of the thin metal sheet. Simultaneously, by providing a pick-and-place assembly adapted to the tray, and adjusting the tilt angle of the suction gripper through an adjustment mechanism, it can be ensured that the suction gripper can adhere to the upper surface of the thin metal sheet for tight adhesion.

[0007] Optionally, 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. The adjustment mechanism is provided between the suction gripper and the second frame, and between the second frame and the first frame. The first rotating shaft and the second rotating shaft are perpendicular to each other.

[0008] Optionally, the adjustment mechanism includes a drive motor, and the first and second rotating shafts rotate under the drive of the drive motor.

[0009] Optionally, 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.

[0010] Optionally, the transfer device further 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.

[0011] Optionally, the adjustment mechanism includes an elastic element, wherein the elastic element disposed between the adsorption gripper and the second frame causes the adsorption end face to apply pressure to the adsorption gripper with a tendency to remain horizontal, and the elastic element disposed between the second frame and the first frame causes the adsorption end face to apply pressure to the second frame with a tendency to remain horizontal.

[0012] Furthermore, this application also provides an automated inspection device for sheet metal, the automated inspection device including the transfer device as described in any of the above technical solutions, and the automated inspection device further including:

[0013] 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;

[0014] 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;

[0015] 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...

[0016] The drive unit, the output of which is connected to the connecting frame in the transfer device;

[0017] 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.

[0018] The application of this application has the following beneficial effects: By setting up a feeding unit and a discharging unit, the feeding tray and the discharging tray can be automatically moved closer and further away from the detection unit. By setting up a drive unit to drive the pick-and-place components in the transfer device to pick up and place sheet metal relative to the feeding tray, the discharging tray, and the detection platform, the sheet metal can be switched between the feeding unit, the detection platform, and the discharging unit. This enables automated transfer and detection of sheet metal, improving detection efficiency.

[0019] Optionally, the loading and unloading conveyor platforms both transport the pallet along the first direction and in the opposite direction, and the loading and unloading conveyor platforms are located on the left and right sides of the detection unit along the first direction, with the drive unit located above the loading, unloading, and detection platforms.

[0020] Optionally, 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.

[0021] Optionally, the driving unit includes a loading electric slide and a unloading electric slide. The loading electric slide is disposed between the loading transport platform 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 transport platform 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.

[0022] These features and advantages of this application will be disclosed in detail in the following specific embodiments and accompanying drawings. The best embodiments or means of this application will be shown in detail in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of this application. In addition, each of these features, elements and components appearing in the following text and drawings is multiple and is labeled with different symbols or numbers for convenience, but all represent parts with the same or similar structure or function. Attached Figure Description

[0023] The following description, in conjunction with the accompanying drawings, further illustrates this application:

[0024] Figure 1 A schematic diagram of a transfer device for sheet metal provided in an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of the structure of the pallet in the transfer device;

[0026] Figure 3 This is a cross-sectional view of the tray;

[0027] Figure 4 This is a schematic diagram showing the placement of a thin metal sheet relative to a tray;

[0028] Figure 5 This is a schematic diagram of the pick-and-place component in the transfer device;

[0029] Figure 6 An exploded view of the component placement and removal process;

[0030] Figure 7 A schematic diagram of the structure of an automated testing device using the transfer device provided in this embodiment;

[0031] Figure 8 This is a schematic diagram of the internal structure of the automated testing equipment;

[0032] Figure 9 This is a schematic diagram of the internal structure of the automated testing equipment from another perspective;

[0033] Figure 10 This is a top view of the automated testing equipment.

[0034] The components include: 1. Tray; 10. Placement slot; 2. Picking and placing assembly; 20. Connecting frame; 200. First frame; 201. Second frame; 2010. First rotating hole; 2011. Second rotating hole; 21. Adsorption gripper; 22. Adjustment mechanism; 220. First drive motor; 221. Second drive motor; 222. Gear transmission structure; 223. Belt transmission structure; 23. First rotating shaft; 24. Second rotating shaft; 3. Angle detection module; 4. Loading conveyor platform; 5. Unloading conveyor platform; 6. Detection unit; 60. Detection platform; 600. Bearing position; 61. Detection sensor; 62. Second drive assembly; 7. Drive unit; 70. Loading electric slide; 71. Unloading electric slide; 8. Frame; 80. Guard plate; 9. Thin metal sheet. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this application and should not be construed as limiting it.

[0036] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this application. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0037] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0038] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected," "linked," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a connection through an intermediary, or a connection within two elements or an interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0039] This embodiment provides a transfer device for thin sheet metal, such as... 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] like Figure 5 As shown, the transfer device provided in this embodiment also includes an angle detection module 3. The angle detection module 3 is disposed on the connecting frame 20. The angle detection module 3 is used to detect the angle information of the thin metal sheet 9 located in the placement slot 10 relative to the horizontal plane. The drive 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 acquired angle information. Specifically, the angle detection module 3 is electrically connected to both the first drive motor 220 and the second drive motor 221. The first drive motor 220 and the second drive motor 221 drive the first rotating shaft 23 and the second rotating shaft 24 to rotate accordingly based on the angle information acquired from the angle detection module 3. In this embodiment, the angle detection module 3 is an optical inclinometer, and its structure and working principle are existing technologies, which will not be described in detail here.

[0046] In addition, the transfer device provided in this embodiment adopts a scheme in which a drive motor actively drives the adsorption gripper 21 to swing to adjust the tilt angle. In other optional embodiments, the adsorption gripper 21 can also be designed to adaptively adjust the tilt angle according to the tilt state of the thin metal sheet 9. Specifically, in an optional embodiment, the adjustment mechanism 22 includes an elastic element (not shown in the figure). The elastic element disposed between the adsorption gripper 21 and the second frame 201 causes the adsorption end face to apply pressure to the adsorption gripper 21 with a tendency to keep it horizontal. The elastic element disposed between the second frame 201 and the first frame 200 causes the adsorption end face to apply pressure to the second frame 201 with a tendency to keep it horizontal.

[0047] The elastic element can be a torsion spring. That is, without any other external force, the adsorption gripper 21 will keep the adsorption end face horizontal under the action of the torsion spring. In this case, it can adapt to the situation where the thin metal sheet 9 is horizontally supported on the side wall of the placement groove 10. When the thin metal sheet 9 is tilted relative to the bottom wall of the placement groove 10, as the adsorption gripper 21 contacts and abuts against the upper surface of the thin metal sheet 9, under the pressure of the thin metal sheet 9 against the adsorption gripper 21, the adsorption gripper 21 can overcome the elastic force of the elastic element and adaptively adjust the tilt angle to adapt to the thin metal sheet 9.

[0048] like Figure 7 , Figure 8 and Figure 9As shown, the transfer device provided in this embodiment can be applied to automated testing equipment. The automated testing equipment includes a loading unit, a unloading unit, a testing unit 6, a drive unit 7, and the transfer device provided in this embodiment. The loading unit includes a loading conveyor table 4 and a loading conveyor trolley for picking up and placing loading trays relative to the loading conveyor table 4. The unloading unit includes an unloading conveyor table 5 and an unloading conveyor trolley for picking up and placing unloading trays relative to the unloading conveyor table 5. It is easy to understand that the loading and unloading conveyors can be existing automated guided vehicles (AGVs), and the loading and unloading conveyors 4 and 5 can be existing roller conveyors or belt conveyors, etc. The testing unit 6 includes a testing platform 60 and a testing sensor 61. The testing platform 60 is provided with a bearing position 600 for carrying the thin metal sheet 9, and the testing sensor 61 is used to detect the thin metal sheet 9 located at the bearing position 600. In this embodiment, the detection sensor 61 is an image acquisition device that automatically determines whether there are surface defects by automatically acquiring images of the thin metal sheet 9. This detection technology is existing technology and will not be described in detail here.

[0049] In this embodiment, the output end of the drive unit 7 is connected to the connecting frame 20 in the transfer device. Specifically, the output end of the drive unit 7 is connected to the first frame 200 in the connecting frame 20. In this embodiment, the loading tray and the unloading tray are both trays 1 in the transfer device. The drive unit 7 is used to transfer the sheet metal 9 between the loading tray, the unloading tray and the detection platform 60 by driving the pick-and-place component 2 in the transfer device.

[0050] By setting up feeding and unloading units, the feeding and unloading trays can be automatically moved closer to and further away from the detection unit 6. By setting up a drive unit 7 to drive the pick-and-place component 2 in the transfer device to pick up and place the sheet metal 9 relative to the feeding tray, unloading tray, and detection platform 60, the sheet metal 9 can be switched between the feeding unit, detection platform 60, and unloading unit. This enables automated transfer and detection of the sheet metal 9, improving detection efficiency.

[0051] It should be noted that the automated testing equipment in this embodiment also includes a frame 8. The aforementioned feeding unit, unloading unit, testing unit 6 and driving unit 7 are all mounted on the frame 8. A protective plate 80 is also mounted on the frame 8 to provide protection.

[0052] Furthermore, this embodiment also designs the layout of each unit in the automated inspection equipment to optimize the transfer path of the thin metal sheet 9, shorten the transfer distance of the thin metal sheet 9, thereby further improving inspection efficiency and reducing the footprint of the automated inspection equipment. Specifically, as shown... Figure 10As shown, in this embodiment, both the loading and unloading conveyor platforms convey the pallet 1 along the first direction S and its reverse direction. The loading and unloading conveyor platforms are located on the left and right sides of the detection unit 6 along the first direction S, and the drive unit 7 is located above the loading and unloading conveyor platforms and the detection platform 60. Therefore, the drive unit 7 only needs to drive the pick-and-place components 2 in the transfer device to operate within a short distance.

[0053] Furthermore, in this embodiment, the detection platform 60 is circular, and multiple support positions 600 are evenly arranged along the circumference of the detection platform 60. Simultaneously, the detection unit 6 in this embodiment also includes a first driving component and a second driving component 62. The first driving component drives the detection platform 60 to rotate around its own axis, and the second driving component 62 drives the detection sensor 61 to move relative to the detection platform 60. Thus, the first driving component can drive the detection platform 60 to rotate around its own axis, allowing the support position 600 to accurately locate the detection sensor 61. Simultaneously, the second driving component 62 can actively adjust the position of the detection sensor 61 to further ensure that the detection sensor 61 is aligned with the support position 600.

[0054] like Figure 8 , Figure 9 and Figure 10 As shown, the drive unit 7 in this embodiment includes a loading electric slide 70 and a unloading electric slide 71. The loading electric slide 70 is disposed between the loading transport platform and the inspection platform 60 and is used to move the sheet metal 9 along a first direction S, a second direction P, and a third direction via the pick-and-place assembly 2. The unloading electric slide 71 is disposed between the unloading transport platform and the inspection platform 60 and is used to move the sheet metal 9 along the first direction S, the second direction P, and a third direction via the pick-and-place assembly 2. The first and second directions are both horizontal and perpendicular to each other, and the third direction is vertical. Both the loading electric slide 70 and the unloading electric slide 71 include an electric slide extending along the first direction S, an electric slide extending along the second direction P, and an electric slide extending along the third direction.

[0055] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Those skilled in the art should understand that this application includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this application will be included within 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 size of the slot opening is configured to be larger than the size of the sheet metal. The size of the bottom wall of the placement slot is configured to be smaller than the size of the sheet metal, so that the side of the sheet metal is in support contact with the side wall of the placement slot. 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. 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. The adjustment mechanism is provided between the suction gripper and the second frame, and between the second frame and the first frame. The first rotating shaft and the second rotating shaft are perpendicular to each other. The adjustment mechanism includes a drive motor, and the first rotating shaft and the second rotating shaft rotate under the drive of the drive motor. 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.

2. The transfer device as described in claim 1, 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.

3. The transfer device as described in claim 1, characterized in that, The adjustment mechanism includes an elastic element. The elastic element disposed between the adsorption gripper and the second frame causes the adsorption end face to apply pressure to the adsorption gripper in a horizontal direction. The elastic element disposed between the second frame and the first frame causes the adsorption end face to apply pressure to the second frame in a horizontal direction.

4. 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 3, 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.

5. The automated testing equipment as described in claim 4, characterized in that, The loading and unloading conveyor platforms both transport the pallets along the first direction and in the opposite direction, and the loading and unloading conveyor platforms 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 and unloading conveyor platforms and the detection platform.

6. The automated testing equipment as described in claim 5, 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.

7. The automated testing equipment as described in claim 5, 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 transport platform 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 transport platform 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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