Transfer mechanism, carrying device and automation equipment

Abstract

The utility model provides a transferring mechanism, a carrying device and automatic equipment. The transferring mechanism comprises a mounting seat, a lifting mechanism and a lifting mechanism, the rotating frame comprises a rotating part and a swinging part, the rotating part is rotationally connected to the mounting base, the first end of the swinging part is connected to the rotating part, and the second end of the swinging part is used for being connected with the grabbing mechanism; the first driving assembly is used for driving the grabbing mechanism to rotate around a first axis; and the second driving assembly is used for driving the grabbing mechanism to rotate around the second axis. The grabbing mechanism is driven by the first driving assembly to do circular motion so that position adjustment and angle adjustment can be conducted on the grabbing mechanism or the grabbed materials. And the second driving assembly drives the grabbing mechanism to rotate around the second axis, so that angle adjustment is conducted on the grabbing mechanism or the grabbed materials. By means of the first driving assembly and the second driving assembly, position adjustment and angle adjustment can be conducted on the grabbing mechanism or grabbed materials, and the grabbing mechanism can be suitable for application scenes with various requirements for the placing angle of the materials and is convenient to use.

Description

Technical Field

[0001] The present application relates to the technical field of battery cell processing, and in particular to a transfer mechanism, a handling device and automated equipment. Background Art

[0002] In the production process of solar cells, it is usually necessary to slice the sheet material into multiple pieces, and then passivate the cross section of the cut part of the sheet material. At present, the cross section passivation process usually uses a transfer mechanism to transport the sliced ​​sheet material to the passivation device. The transfer mechanism includes a gripping mechanism and a transfer mechanism, wherein the gripping mechanism is used to grab the material; the transfer mechanism is used to drive the gripping mechanism to move, so that the gripping mechanism can move to a specified position to grab or release the material.

[0003] In the related art, the transfer mechanism usually adopts a translational drive mechanism, which only supports the movement of the grasping mechanism in the XYZ axis direction. It is difficult to apply to application scenarios with various requirements for the placement angle of the material and is inconvenient to use. Utility Model Content

[0004] In view of the above, it is necessary to provide a transfer mechanism, a handling device and an automated equipment that are easy to use.

[0005] In a first aspect, the present application provides a transfer mechanism for driving a grasping mechanism to move, the transfer mechanism comprising: a mounting seat; a rotating frame, comprising a rotating part and a swinging part, the rotating part is rotatably connected to the mounting seat, the first end of the swinging part is connected to the rotating part, and the second end of the swinging part is used to connect to the grasping mechanism; a first driving component, disposed on the mounting seat and connected to the rotating part, the first driving component is used to drive the rotating part to rotate around a first axis so that the grasping mechanism rotates around the first axis; a second driving component, disposed on the swinging part, the second driving component is used to drive the grasping mechanism to rotate around a second axis, the first axis and the second axis are parallel and have a spacing between them.

[0006] In some embodiments, a mounting assembly is further included, which is rotatably connected to the second end of the swinging portion, and is used to install the grabbing mechanism.

[0007] In some embodiments, the mounting assembly includes: a driven wheel, one end of which is connected to the second drive assembly, and the driven wheel is used to rotate under the drive of the second drive assembly; a first adjustment platform, which is arranged below the driven wheel and rotates synchronously with the driven wheel; a mounting platform, which is movably connected to the first adjustment platform along a first direction, and the mounting platform is used to connect to the grasping mechanism; there is an angle between the first direction and the second axis; a first adjustment member, which is arranged between the mounting platform and the first adjustment platform; the first adjustment member is used to adjust the position of the mounting platform relative to the first adjustment platform in the first direction.

[0008] In some embodiments, the mounting assembly further includes a second adjustment platform and a second adjustment member; the second adjustment platform is disposed between the first adjustment platform and the driven wheel, and the second adjustment platform is fixedly connected to the other end of the driven wheel, and the second adjustment platform is movably connected to the first adjustment platform along a second direction; an angle is formed between the second direction and the second axis; the second adjustment member is disposed between the second adjustment platform and the first adjustment platform, and the second adjustment member is used to adjust the position of the second adjustment platform relative to the first adjustment platform in the second direction.

[0009] In some embodiments, the second drive component includes a rotating wheel, a transmission belt and a rotating drive motor, wherein the rotating wheel is rotatably connected to the second end of the swinging part and is transmission-connected to the driven wheel, and the rotating wheel is used to be connected to the grasping mechanism; the rotating drive motor is arranged at the first end, and the output end of the rotating drive motor is connected to the rotating wheel through a transmission belt.

[0010] In some embodiments, a marking piece is fixedly provided on the transmission belt, and the marking piece moves following the rotation of the rotating wheel; the transfer mechanism also includes a rotation sensor, which is arranged on the swinging part, and the rotation sensor is located in the moving path of the marking piece; the rotation sensor is used to detect the moving position of the marking piece to detect the rotation angle of the grasping mechanism.

[0011] In some embodiments, the rotating part is provided with a positioning member, and the positioning member moves following the rotation of the rotating part; the transfer mechanism also includes a swing sensor, the swing sensor is arranged on the mounting seat, and the swing sensor is located in the moving path of the positioning member; the swing sensor is used to detect the moving position of the positioning member to detect the rotation angle of the rotating part.

[0012] In some embodiments, the transfer mechanism also includes: a fixed seat, slidably connected to the mounting seat along the lifting direction, wherein the lifting direction is parallel to the first axis; a lifting drive assembly, connected to the mounting seat, and the lifting drive assembly is used to drive the mounting seat to lift and lower along the lifting direction.

[0013] In some embodiments, the lifting drive assembly includes a lifting member and a lifting drive member, wherein the lifting drive member is transmission-connected to the lifting member, and the lifting member is disposed on a fixed seat; the driving shaft of the lifting member extends along the lifting direction, and drives the mounting seat to rise and fall along the lifting direction.

[0014] In some embodiments, the mounting seat is located above the fixing seat; the fixing seat is provided with a fixing sleeve, and the lifting member is installed at the bottom of the fixing seat through the fixing sleeve; the driving shaft of the lifting member passes through the fixing sleeve and drives the mounting seat to rise and fall along the lifting direction.

[0015] In some embodiments, the first driving component is connected to the bottom of the mounting seat; a clearance groove is provided on the top of the fixing seat, and at least a portion of the first driving component is accommodated in the clearance groove.

[0016] In some embodiments, a plurality of guide shafts are provided at the bottom of the mounting seat, and the guide shafts extend along the lifting direction; a plurality of linear bearings are provided at the fixing seat, and the plurality of linear bearings are distributed at intervals around the fixing sleeve; and a plurality of guide shafts are slidably connected to the plurality of linear bearings one by one.

[0017] The second aspect of the present application provides a handling device, comprising a grabbing mechanism and the transfer mechanism provided by the first aspect; the grabbing mechanism comprises a grabbing bracket, a clamping assembly, a supporting assembly and a pressing assembly; wherein the grabbing bracket is connected to the transfer mechanism, the clamping assembly is connected to the grabbing bracket, the supporting assembly is arranged on the clamping assembly, and the pressing assembly is arranged on the grabbing bracket; wherein the clamping assembly is used to clamp materials, and when the clamping assembly clamps materials, the supporting assembly supports the materials, and the pressing assembly cooperates with the supporting assembly to press the materials.

[0018] The third aspect of the present application provides an automated equipment, including a processing device and the transport device provided in the second aspect; the processing device includes a rotating table, the rotating table is provided with a processing station, and the processing station is used to place materials at a specified angle.

[0019] Through the transfer mechanism, handling device and automation equipment provided by the present application, the first drive component drives the rotating frame to rotate around the first axis, which can drive the second end to move in a circle around the first axis, so that the grasping mechanism moves in a circle to adjust the position and angle of the grasping mechanism or the grasped material. The second drive component drives the grasping mechanism to rotate around the second axis to adjust the angle of the grasping mechanism or the grasped material. Using the first drive component and the second drive component, the position and angle of the grasping mechanism or the grasped material can be adjusted, which can be applied to application scenarios with various requirements for the placement angle of the material, and is convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the transport device provided in this application.

[0021] Figure 2 This is a schematic diagram of the state of the transfer mechanism provided in this application grabbing materials.

[0022] Figure 3 This is a front view of the grabbing mechanism and transfer mechanism provided in this application.

[0023] Figure 4 A side view of the grabbing mechanism and transfer mechanism provided in this application.

[0024] Figure 5 This is a schematic structural diagram of the mounting seat, fixed seat, first drive assembly and rotating part provided in this application.

[0025] Figure 6This is a schematic structural diagram of the swinging part, the second driving assembly and the grabbing assembly provided in this application.

[0026] Figure 7 A schematic diagram of the structure of the mounting assembly and gripping mechanism provided for this application.

[0027] Figure 8 A schematic diagram of the structure of the automation equipment provided for this application.

[0028] Fig. 9 Schematic diagram of the working principle of the automation equipment provided for this application.

[0029] Main component symbols

[0030] 1000, handling device; 100, transfer mechanism; 10, mounting seat; 11, guide shaft; 12, fixed platform; 13, stator; 20, rotating frame; 21, rotating part; 211, rotor; 212, column; 213, positioning member; 22, swinging part; 221, first end; 222, second end; 223, support block; 30, first drive assembly; 31, swing drive motor; 40, mounting assembly; 41, mounting platform; 42, driven wheel; 43, first adjustment platform; 44, first adjustment member; 441, first adjustment part; 442, first fixed block; 45, second adjustment platform; 46, second adjustment member; 461, second adjustment part; 462, second fixed block; 60 , second drive assembly; 61, rotating wheel; 62, transmission belt; 63, rotating drive motor; 64, marking member; 70, fixed seat; 71, support frame; 72, mounting plate; 721, clearance groove; 73, fixed sleeve; 74, linear bearing; 80, lifting drive assembly; 81, jacking drive member; 82, jacking member; 821, drive shaft; 90, detection assembly; 91, swing sensor; 92, rotation sensor; 200, grabbing mechanism; 201, grabbing bracket; 202, clamping assembly; 203, supporting assembly; 204, clamping assembly; 300, translation mechanism; 2000, material; 3000, processing device; 3001, rotating table; 3002, processing station. DETAILED DESCRIPTION

[0031] In the description of the embodiments of the present application, when an element is considered to be "connected" to another element, it may be directly connected to another element or there may be a centrally arranged element at the same time. When an element is considered to be "set" to another element, it may be directly set on another element or there may be a centrally arranged element at the same time. In the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or it may be indirectly connected through an intermediate medium, or it may be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. The directional descriptions in this embodiment, such as "upper", "lower", "top", "bottom", etc., are all referenced to the direction of the product in the actual use scenario.

[0032] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] At present, in the production process of solar cells, it is usually necessary to slice the sheet material into multiple pieces, and then the sliced ​​sheet material is transported to the passivation device through a transfer mechanism, and the passivation device performs passivation coating on the cross section of the cut part of the sheet material. The sliced ​​sheet material is usually stacked on a jig such as a clip-type jig box, and the transfer mechanism transports the sheet material in the jig to a material box such as a drawer-type material box, and then other devices transport the material box to the passivation device.

[0034] The transfer mechanism includes a grabbing mechanism and a transfer mechanism, wherein the grabbing mechanism is used to grab materials; the transfer mechanism is used to drive the grabbing mechanism to move so that the grabbing mechanism can move to a designated position to grab or release materials.

[0035] In the related art, the transfer mechanism usually adopts a translational drive mechanism, which only supports the movement of the grabbing mechanism in the XYZ axis direction, and is difficult to apply to application scenarios with multiple requirements for the placement angle of the material. For example, when the material needs to be rotated to a specified angle and placed at the corresponding workstation, the conventional transfer mechanism cannot control the placement angle of the material, and the angle needs to be corrected after the material is placed, or the material needs to be placed at a specified angle before the material is grabbed, which affects the work efficiency and is inconvenient to use.

[0036] To this end, the present application provides a transfer mechanism, a handling device and an automated device, which have a technical effect of being easy to use. Among them, the transfer mechanism is used to carry materials. Exemplarily, the material includes a plurality of sheet materials stacked in a vertical direction, and the sheet materials can be raw materials of solar cells, including but not limited to silicon wafers, silicon carbide wafers, etc.

[0037] Figure 1 This is a schematic diagram of the structure of the transport device provided in this application. Figure 2 This is a schematic diagram of the state of the transfer mechanism provided in this application grabbing materials.

[0038] like Figure 1 and Figure 2 As shown, the handling device 1000 includes a transfer mechanism 100 and a gripping mechanism 200 , wherein the gripping mechanism 200 is used to grip the stacked materials 2000 , and the transfer mechanism 100 is used to drive the gripping mechanism 200 to move.

[0039] Figure 3 This is a front view of the grabbing mechanism and the transfer mechanism provided by the present application. The X-axis direction and the Y-axis direction in the figure are horizontal directions, the Z-axis direction is a vertical direction, the line a in the figure is the first axis, and the line b is the second axis.

[0040] As shown in the figure, in this embodiment, the transfer mechanism 100 includes a mounting seat 10, a rotating frame 20, a first driving assembly 30 and a second driving assembly 60. The mounting seat 10 is used to support the rotating frame 20, the first driving assembly 30 and the second driving assembly 60.

[0041] The rotating frame 20 includes a rotating portion 21 and a swinging portion 22, wherein the rotating portion 21 extends in a direction parallel to the first axis and is rotatably connected to the mounting seat 10. The swinging portion 22 extends in a direction perpendicular to the first axis. The swinging portion 22 has a first end 221 and a second end 222, wherein the first end 221 is connected to the rotating portion 21, and the second end 222 is used to connect the grabbing mechanism 200.

[0042] The first driving assembly 30 is disposed on the mounting seat 10 and connected to the rotating portion 21. The first driving assembly 30 is used to drive the rotating portion 21 to rotate around the first axis, and the swinging portion 22 swings following the rotation of the rotating portion 21, so that the grabbing mechanism 200 rotates around the first axis.

[0043] The second driving assembly 60 is disposed on the swinging portion 22. The second driving assembly 60 is used to drive the grasping mechanism 200 to rotate around the second axis, and the first axis is parallel to the second axis and has a spacing therebetween. Exemplarily, the first axis and the second axis are both parallel to the Z-axis direction, the first axis is located at the first end 221, and the second axis is located at the second end 222.

[0044] like Figure 2 and Figure 3 As shown, the first drive assembly 30 drives the rotating part 21 to rotate around the first axis, which can drive the second end 222 to move in a circular motion around the first axis, so that the grabbing mechanism 200 makes a circular motion, and the position and angle of the grabbing mechanism 200 or the grabbed material 2000 can be adjusted. The second drive assembly 60 drives the grabbing mechanism 200 to rotate around the second axis, and the angle of the grabbing mechanism 200 or the grabbed material 2000 can be adjusted. By using the first drive assembly 30 and the second drive assembly 60 in combination, the position and angle of the grabbing mechanism 200 or the grabbed material 2000 can be adjusted, which can be applied to application scenarios with various requirements for the placement angle of the material 2000, and is convenient to use.

[0045] It can be understood that the angle in the angle adjustment described in this embodiment refers to the angle projected on the horizontal plane, which can be the hovering angle of the grabbing mechanism 200 in the air, the hovering angle of the material 2000 in the air, or the placement angle of the material 2000 placed on a plane.

[0046] For example, in an application scenario where the material 2000 needs to be moved from the first station to the second station, if the angle required for placement at the first station is the first angle and the angle required for placement at the second station is the second angle, the difference between the first angle and the second angle is 90°. When the transfer mechanism 100 grabs the material 2000 at the first station, the transfer mechanism 100 can first drive the gripping mechanism 200 to rotate to the first angle, and then grab the material 2000 through the gripping mechanism 200. Before the transfer mechanism 100 places the material 2000 at the second station, the transfer mechanism 100 can drive the gripping mechanism 200 to rotate 90° to the second angle, and then release the material 2000 to the second station.

[0047] In this way, the action of the transfer mechanism 100 can meet the requirements of different workstations for the placement angle of the material 2000. There is no need to re-correct the angle after the material 2000 is placed, nor is there a need to limit the placement angle of the material 2000 before being grabbed, thereby improving work efficiency.

[0048] In some embodiments, the transfer mechanism 100 further includes a mounting assembly 40, which is rotatably connected to the second end 222 and is used to mount the grabbing mechanism 200. The mounting assembly 40 is transmission-connected to the second drive assembly 60, and the mounting assembly 40 can rotate around the second axis under the drive of the second drive assembly 60, and drive the grabbing mechanism 200 to rotate.

[0049] In some embodiments, the transfer mechanism 100 further includes a fixed seat 70 and a lifting drive assembly 80, wherein the mounting seat 10 is located above the fixed seat 70, and the fixed seat 70 is slidably connected to the mounting seat 10 along the lifting direction. The lifting direction is parallel to the first axis, that is, the Z-axis direction in the figure. The lifting drive assembly 80 is connected to the mounting seat 10, and the lifting drive assembly 80 is used to drive the mounting seat 10 to rise and fall along the lifting direction.

[0050] It can be understood that the lifting drive assembly 80 can drive the rotating frame 20, the first drive assembly 30, the mounting assembly 40 and the second drive assembly 60 to rise and fall as a whole by driving the mounting seat 10 to rise and fall, thereby controlling the height of the grasping mechanism 200 or the grasped material 2000.

[0051] Figure 4 A side view of the grabbing mechanism and transfer mechanism provided in this application.

[0052] like Figure 3 and Figure 4 As shown, in some embodiments, the fixing seat 70 includes a support frame 71, a mounting plate 72 and a base frame (not shown in the figure), wherein the mounting plate 72 is bolted and fixed to the top of the support frame 71, and the base frame is bolted and fixed to the bottom of the support frame 71.

[0053] The lifting drive assembly 80 includes a lifting member 82 and a lifting drive member 81, wherein the lifting drive member 81 is in transmission connection with the lifting member 82. The lifting drive member 81 is relatively fixed to the fixing seat 70. The lifting member 82 has a main body and a drive shaft 821, the main body of the lifting member 82 is relatively fixed to the fixing seat 70, and the drive shaft 821 of the lifting member 82 extends along the lifting direction and is connected to the mounting seat 10. Under the drive of the lifting drive member 81, the drive shaft 821 of the lifting member 82 drives the mounting seat 10 to rise and fall along the lifting direction.

[0054] Exemplarily, the lifting drive member 81 may be a motor, the lifting member 82 may be an electric cylinder, the cylinder body of the electric cylinder is the main body, and the sliding shaft of the electric cylinder is the driving shaft 821. The lifting drive member 81 is fixed to the main body of the lifting member 82, and the main body of the lifting member 82 is bolted and fixed to the base frame. The driving shaft 821 of the lifting member 82 is penetrated through the mounting plate 72 and fixedly connected to the bottom of the mounting seat 10. The lifting drive member 81 drives the mounting seat 10 to rise and fall along the lifting direction by controlling the extension and contraction of the driving shaft 821 of the lifting member 82.

[0055] In some embodiments, the mounting plate 72 is provided with a fixing sleeve 73, and the fixing sleeve 73 is embedded and fixed to the mounting plate 72. The lifting member 82 is installed at the bottom of the fixing seat 70 through the fixing sleeve 73. Exemplarily, the driving shaft 821 of the lifting member 82 is passed through the fixing sleeve 73 and fixedly connected to the mounting seat 10 to drive the mounting seat 10 to rise and fall along the lifting direction.

[0056] In some embodiments, the mounting seat 10 is fixedly provided with a guide shaft 11, the guide shaft 11 is bolted and fixed to the bottom of the mounting seat 10, and the guide shaft 11 extends along the lifting direction. The fixing seat 70 is provided with a linear bearing 74, and the guide shaft 11 is slidably connected to the fixing seat 70 through the linear bearing 74. Among them, the linear bearing 74 is embedded and installed in the mounting plate 72, and the guide shaft 11 is penetrated and slidably connected to the linear bearing 74.

[0057] When the lifting drive assembly 80 drives the mounting base 10 to rise and fall, the guide shaft 11 slides relative to the mounting plate 72 through the linear bearing 74, which on the one hand reduces the damping when the mounting base 10 is lifted and lowered, and on the other hand guides the lifting of the mounting base 10, thereby improving the lifting stability of the mounting base 10.

[0058] Figure 5 This is a schematic structural diagram of the mounting seat, fixed seat, first drive assembly and rotating part provided in this application.

[0059] like Figure 4 and Figure 5 As shown, in some embodiments, the number of guide shafts 11 is greater than or equal to 1, the number and position of the linear bearings 74 correspond to the number and position of the guide shafts 11, and the multiple guide shafts 11 are correspondingly arranged and slidably connected to the multiple linear bearings 74. Through the sliding cooperation between the multiple guide shafts 11 and the multiple linear bearings 74, the lifting stability of the mounting seat 10 is further improved.

[0060] In some embodiments, the fixing sleeve 73 is disposed in the middle of the mounting plate 72, and a plurality of guide shafts 11 are distributed at intervals around the fixing sleeve 73. Exemplarily, the mounting plate 72 is rectangular, the fixing sleeve 73 is located at the geometric center of the mounting plate 72, the number of the guide shafts 11 and the linear bearings 74 is 4, and the four guide shafts 11 and the four linear bearings 74 are distributed at the four corners of the mounting plate 72.

[0061] By respectively cooperating with multiple guide shafts 11 and multiple linear bearings 74 at multiple positions of the mounting plate 72, the guiding effect on the mounting seat 10 is enhanced, and the mounting seat 10 is prevented from tilting or tipping over during the lifting process. At the same time, the wear of a single guide shaft 11 or a single linear bearing 74 is reduced, thereby increasing the service life of the equipment.

[0062] like Figure 3 and Figure 5 As shown, in some embodiments, the mounting base 10 includes a fixing platform 12 and a stator 13 , wherein the stator 13 is bolted and fixed to the top of the fixing platform 12 , and the rotating portion 21 is rotatably connected to the top of the stator 13 .

[0063] In some embodiments, the first driving assembly 30 includes a swing driving motor 31, the swing driving motor 31 is bolted and fixed to the fixed platform 12, and the output end of the swing driving motor 31 is transmission-connected to the rotating part 21. It can be understood that the swing driving motor 31 can be a motor, or a device formed by combining a motor with other supporting structures such as a reducer, a transmission mechanism, etc., and this application does not limit this.

[0064] In some embodiments, the first drive component 30 is connected to the bottom of the mounting base 10 , and a clearance groove 721 is provided on the top of the fixing base 70 . The clearance groove 721 is adapted to the swing drive motor 31 , and at least part of the first drive component 30 is accommodated in the clearance groove 721 .

[0065] Exemplarily, a clearance groove 721 is provided on the mounting plate 72, and the clearance groove 721 penetrates the mounting plate 72 along the lifting direction, and an open groove connected to the clearance groove 721 is also provided on the side of the support frame 71. The upper end of the swing drive motor 31 is bolted and fixed to the bottom of the fixed platform 12. When the mounting seat 10 rises to the maximum height, the swing drive motor 31 follows the mounting seat 10 to separate from the mounting plate 72 and the support frame 71. When the mounting seat 10 descends to the minimum height, the lower end of the swing drive motor 31 passes through the mounting plate 72 through the clearance groove 721 and enters between the mounting plate 72 and the support frame 71.

[0066] In this way, the clearance groove 721 provides a space for accommodating the swing drive motor 31 , thereby improving space utilization and preventing the swing drive motor 31 from colliding with the mounting plate 72 or the support frame 71 when moving with the mounting seat 10 .

[0067] In some embodiments, the rotating part 21 includes a rotor 211 and a column 212, the column 212 is bolted and fixed to the top of the rotor 211, and the column 212 is coaxially arranged with the rotor 211. The rotor 211 is rotatably connected to the stator 13, and the rotor 211 is transmission-connected to the swing drive motor 31. The swing drive motor 31 drives the column 212 to rotate by driving the rotor 211 to rotate.

[0068] In some embodiments, the first axis is located at the geometric center of the rotor 211, and the first axis is located at the geometric center of the mounting plate 72. The swing drive motor 31 is disposed on one side of the fixed platform 12 so that a gap is left between the swing drive motor 31 and the first axis, leaving space for the lifting drive assembly 80 and the fixed sleeve 73. The output end of the swing drive motor 31 is connected to the rotor 211 through a transmission mechanism (not shown in the figure), and the transmission mechanism can be a gear transmission mechanism, a transmission belt mechanism, etc., which is not limited in this application.

[0069] In some embodiments, the rotating part 21 is provided with a positioning member 213, and the positioning member 213 moves following the rotation of the rotating part 21. Exemplarily, the positioning member 213 is bolted and fixed to the circumference of the rotor 211. When the rotor 211 rotates, the positioning member 213 moves in a circle around the first axis.

[0070] In some embodiments, the transfer mechanism 100 further includes a detection component 90. The detection component 90 includes a swing sensor 91, which is disposed on the mounting seat 10 and is located in the moving path of the positioning member 213. The swing sensor 91 is used to detect the moving position of the positioning member 213 to detect the rotation angle of the rotating part 21.

[0071] Exemplarily, the swing sensor 91 is bolted and fixed to the circumferential side of the stator 13, and when the positioning member 213 moves in a circle around the first axis, the positioning member 213 can pass through the position where the swing sensor 91 is located. The swing sensor 91 can be a slot-type photoelectric sensor, and when the positioning member 213 moves to the installation position of the slot-type photoelectric sensor, the positioning member 213 blocks the reflected photoelectric of the slot-type photoelectric sensor to trigger the slot-type photoelectric sensor.

[0072] When the rotating part 21 rotates to different rotation angles, the positioning member 213 can reach different moving positions. When the moving position of the positioning member 213 reaches the installation position corresponding to the swing sensor 91, the swing sensor 91 is triggered, thereby determining that the rotating part 21 has rotated to the corresponding rotation angle.

[0073] It can be understood that the rotation angle of the rotating part 21 can be analyzed through the detection result of the swing sensor 91, so as to more accurately control the rotation angle of the gripping mechanism 200 and improve the accuracy of the handling operation.

[0074] Exemplarily, the swing sensor 91 includes a first sensor, the installation position of the first sensor coincides with the moving position of the positioning member 213 in the first state, and the first state is the zero return state of the rotating part 21, that is, the rotation angle of the rotating part 21 is 0°. In this way, after each handling operation is completed, it can be determined whether the rotating part 21 has been rotated to 0° by judging whether the first sensor is triggered, so as to prevent the rotating part 21 from being rotated to the right position and performing the next handling operation.

[0075] It is worth noting that in other embodiments, the swing sensor 91 may also include multiple first sensors, which are distributed circumferentially around the stator 13 to detect various rotation angles of the rotating part 21. The specific settings can be made according to actual needs, and this application does not impose any restrictions on this.

[0076] Figure 6This is a schematic structural diagram of the swinging part, the second driving assembly and the grabbing assembly provided in this application.

[0077] like Figure 3 and Figure 6 As shown, in some embodiments, the first end 221 of the swing portion 22 is fixedly connected to the top of the column 212. Exemplarily, the swing portion 22 and the column 212 can be integrally formed components. In other embodiments, the swing portion 22 and the column 212 can also be separate components fixedly connected by welding, bolting, etc.

[0078] In some embodiments, the second driving assembly 60 includes a rotating wheel 61, a transmission belt 62, and a rotating driving motor 63. The rotating wheel 61 is rotatably connected to the second end 222, the rotation axis of the rotating wheel 61 is the second axis, and the rotating wheel 61 is used to connect with the grasping mechanism 200. Exemplarily, the rotating wheel 61 is connected to the grasping mechanism 200 through the mounting assembly 40.

[0079] The rotation drive motor 63 is disposed at the first end 221, and the output end of the rotation drive motor 63 is connected to the rotating wheel 61 through the transmission belt 62. The rotation drive motor 63 can drive the rotating wheel 61 to rotate through the transmission belt 62, thereby driving the mounting assembly 40 and the gripping mechanism 200 to rotate.

[0080] Schematically, a support block 223 is bolted to the top of the first end 221 , and the rotation drive motor 63 is bolted and fixed to the support block 223 with the output end facing downward.

[0081] By setting the rotating drive motor 63 at the first end 221, the positions of the rotating drive motor 63, the first drive component 30, the lifting drive component 80 and other drive components are closer, that is, the whole is located on the same side of the transfer mechanism 100, so as to facilitate the arrangement of electrical connection structures such as leads, and facilitate users to carry out wiring assembly or subsequent line inspection and maintenance.

[0082] It can be understood that the rotary drive motor 63 can be a motor, or a device formed by a motor and other supporting structures such as a reducer, a transmission mechanism, etc., and the present application does not limit this.

[0083] In some embodiments, the transmission belt 62 is fixedly provided with a marking member 64, and the marking member 64 moves following the rotation of the rotating wheel 61. Exemplarily, the marking member 64 is clamped and fixed to the middle of the transmission belt 62. When the transmission belt 62 drives the rotating wheel 61 to rotate, the marking member 64 moves along the length direction of the transmission belt 62.

[0084] The detection assembly 90 further includes a rotation sensor 92, which is disposed on the swinging portion 22 and is located in the moving path of the marking member 64. The rotation sensor 92 is used to detect the moving position of the marking member 64 to detect the rotation angle of the grasping mechanism 200.

[0085] Exemplarily, the rotation sensor 92 is bolted and fixed to one side of the swinging part 22 close to the marking member 64. When the marking member 64 moves, the marking member 64 can pass through the position where the rotation sensor 92 is located. The rotation sensor 92 can be a slot-type photoelectric sensor. When the marking member 64 moves to the installation position of the slot-type photoelectric sensor, the marking member 64 blocks the photoelectricity of the slot-type photoelectric sensor to trigger the slot-type photoelectric sensor.

[0086] When the gripping mechanism 200 rotates to different rotation angles, the marking member 64 can reach different moving positions. When the moving position of the marking member 64 reaches the installation position corresponding to the rotation sensor 92, the rotation sensor 92 is triggered, thereby determining that the gripping mechanism 200 has rotated to the corresponding rotation angle.

[0087] It can be understood that the rotation angle of the gripping mechanism 200 can be analyzed through the detection result of the rotation sensor 92, so as to more accurately control the rotation angle of the gripping mechanism 200 and improve the accuracy of the handling operation.

[0088] Exemplarily, the rotation sensor 92 includes a plurality of second sensors, and the plurality of second sensors are arranged at intervals along the swing portion 22. Taking the number of second sensors as an example, the installation position of one second sensor coincides with the moving position of the marking member 64 in the second state, and the installation position of another second sensor coincides with the moving position of the marking member 64 in the third state. The second state is the zeroing state of the gripping mechanism 200, that is, the rotation angle of the gripping mechanism 200 is 0°. The third state is the in-place state of the gripping mechanism 200, that is, the rotation angle of the gripping mechanism 200 reaches the specified angle threshold. In this way, in each handling operation, it can be determined whether the gripping mechanism 200 has been rotated to 0° or the angle threshold by judging whether the plurality of second sensors are triggered, so as to prevent the gripping mechanism 200 from not rotating in place or rotating excessively.

[0089] It is worth noting that in other embodiments, the number of the second sensor may also be 1, which can be set according to actual needs, and the present application does not limit this.

[0090] In some embodiments, the mounting assembly 40 includes a driven wheel 42, a mounting platform 41, a first adjustment platform 43, and a first adjustment member 44. The driven wheel 42 is rotatably connected to the second end 222, and one end of the driven wheel 42 is connected to the second drive assembly 60, and the driven wheel 42 is used to rotate under the drive of the second drive assembly 60. In this embodiment, the driven wheel 42 is transmission-connected to the rotating wheel 61, and when the rotating drive motor 63 drives the rotating wheel 61 to rotate, the rotating wheel 61 drives the driven wheel 42 to rotate synchronously.

[0091] Exemplarily, the driven wheel 42 and the rotating wheel 61 are respectively located on the upper and lower sides of the second end 222, and a connecting shaft is provided between the driven wheel 42 and the rotating wheel 61. The connecting shaft passes through the second end 222 and is respectively fixedly connected to the driven wheel 42 and the rotating wheel 61, so that the driven wheel 42 and the rotating wheel 61 are coaxially fixed.

[0092] The first adjustment platform 43 is disposed below the driven wheel 42 and rotates synchronously with the driven wheel 42. The mounting platform 41 is movably connected to the first adjustment platform 43 along a first direction, and the mounting platform 41 is used to be connected to the gripping mechanism 200, and there is an angle between the first direction and the second axis. The first adjustment member 44 is disposed between the mounting platform 41 and the first adjustment platform 43. The first adjustment member 44 is used to adjust the position of the mounting platform 41 relative to the first adjustment platform 43 in the first direction.

[0093] The mounting platform 41, the first adjustment platform 43 and the driven wheel 42 are relatively fixed in the circumferential direction of the driven wheel 42, so that when the rotating drive motor 63 drives the driven wheel 42 to rotate, the first adjustment platform 43 and the mounting platform 41 rotate synchronously to drive the grabbing mechanism 200 to rotate. It can be understood that by adjusting the position of the mounting platform 41 relative to the first adjustment platform 43 in the first direction by the first adjustment member 44, the relative position of the grabbing mechanism 200 in the first direction can be fine-tuned, so that the user can adjust the grabbing mechanism 200 according to actual needs, which is more convenient to use.

[0094] In this embodiment, the movable relationship between the mounting platform 41 and the first adjustment platform 43 is a sliding fit, and the user can drive the mounting platform 41 to move relative to the first adjustment platform 43 through the adjustment member to achieve position adjustment of the mounting platform 41. In other embodiments, the movable relationship between the mounting platform 41 and the first adjustment platform 43 can also be a detachable connection, and the adjustment member can be a detachable structure such as a bolt or a buckle. The user can remove the adjustment member to remove the mounting platform 41 from the first adjustment platform 43, and then fix the mounting platform 41 to other positions reserved on the first adjustment platform 43 to achieve position adjustment of the mounting platform 41.

[0095] Figure 7This is a schematic diagram of the structure of the installation assembly and the gripping mechanism provided in the present application. The X-axis direction in the figure is the first direction, the Y-axis direction is the second direction, and the Z-axis direction is the lifting direction.

[0096] like Figure 6 and Figure 7 As shown, in some embodiments, the mounting assembly 40 further includes a second adjustment platform 45 and a second adjustment member 46. The second adjustment platform 45 is disposed between the first adjustment platform 43 and the driven wheel 42, and the second adjustment platform 45 is fixedly connected to an end of the driven wheel 42 away from the second end 222. Exemplarily, the upper end of the driven wheel 42 is rotatably connected to the second end 222, and the lower end of the driven wheel 42 is fixedly connected to the second adjustment platform 45.

[0097] The second adjustment platform 45 is movably connected to the first adjustment platform 43 along the second direction. An angle is formed between the second direction and the second axis, and an angle is also formed between the first direction and the second axis.

[0098] The mounting platform 41, the first adjustment platform 43, the second adjustment platform 45 and the driven wheel 42 are relatively fixed in the circumferential direction of the driven wheel 42, so that when the rotating drive motor 63 drives the driven wheel 42 to rotate, the first adjustment platform 43, the second adjustment platform 45 and the mounting platform 41 rotate synchronously to drive the grabbing mechanism 200 to rotate.

[0099] The second adjusting member 46 is disposed between the second adjusting platform 45 and the first adjusting platform 43. The second adjusting member 46 is used to adjust the position of the second adjusting platform 45 relative to the first adjusting platform 43 in the second direction, thereby adjusting the position of the mounting platform 41 relative to the second adjusting platform 45 in the second direction, and realizing fine adjustment of the relative position of the grabbing mechanism 200 in the second direction.

[0100] Exemplarily, the first adjusting member 44 includes a first adjusting portion 441 and a first fixing block 442 , and the second adjusting member 46 includes a second adjusting portion 461 and a second fixing block 462 .

[0101] The gripping mechanism 200 is disposed below the mounting platform 41, and the first adjusting platform 43 is slidably connected to the upper side of the mounting platform 41 along the first direction. The first fixing block 442 is bolted and fixed to the upper side of the mounting platform 41, and the first fixing block 442 and the first adjusting platform 43 are arranged at intervals in the first direction.

[0102] The first adjusting part 441 can be a bolt, the first adjusting part 441 is rotatably connected to the first fixing block 442, the first adjusting part 441 and the first fixing block 442 are relatively fixed in the first direction, and the first adjusting part 441 has a screw extending in the first direction. The first adjusting platform 43 is provided with a first threaded hole on one side facing the first fixing block 442, and the screw of the first adjusting part 441 is threadedly connected to the first threaded hole. It can be understood that when the first adjusting part 441 rotates forward or reversely, the first adjusting platform 43 approaches or approaches the first fixing block 442 along the first direction by using the threaded fit between the first adjusting part 441 and the first adjusting platform 43, so as to fine-tune the relative position of the grasping mechanism 200 in the first direction. Among them, the method of driving the first adjusting part 441 to rotate can be manually driven, or it can be driven by a driving mechanism such as a motor, etc., and this application does not limit this.

[0103] The second adjustment platform 45 is slidably connected to the upper side of the first adjustment platform 43 along the second direction. The second fixing block 462 is bolted and fixed to the upper side of the first adjustment platform 43. The second fixing block 462 and the second adjustment platform 45 are arranged at intervals in the second direction.

[0104] The second adjusting portion 461 may be a bolt, and the second adjusting portion 461 is rotatably connected to the second fixing block 462. The second adjusting portion 461 and the second fixing block 462 are relatively fixed in the second direction, and the second adjusting portion 461 has a screw extending along the second direction. A convex block is bolted to the upper side of the second adjusting platform 45, and a second threaded hole is provided on one side of the convex block facing the second fixing block 462, and the screw of the second adjusting portion 461 is threadedly connected to the second threaded hole.

[0105] It can be understood that when the second adjustment part 461 rotates forward or reversely, the second adjustment platform 45 approaches or approaches the second fixing block 462 along the second direction by means of the threaded fit between the second adjustment part 461 and the second adjustment platform 45, so as to achieve fine adjustment of the relative position of the grabbing mechanism 200 in the second direction. The second adjustment part 461 can be driven to rotate manually or by a driving mechanism such as a motor, and this application does not limit this.

[0106] In the embodiment of the present application, the number of the first adjustment platform 43 and the second adjustment platform 45 are both taken as 1 as an example to achieve position adjustment of the grasping mechanism 200 in the first direction and the second direction. In other embodiments, the number of the first adjustment platform 43 and the second adjustment platform 45 can also be greater than 1 to achieve position adjustment of the grasping mechanism 200 in more directions, and the present application does not impose any restrictions on this.

[0107] It is worth noting that in the present embodiment, the second end 222 is indirectly connected to the gripping mechanism 200, that is, the second end 222 is indirectly connected to the gripping mechanism 200 through the mounting assembly 40, and the driven wheel 42 rotates the gripping mechanism 200 by driving the mounting assembly 40 to rotate; in this way, the position of the gripping mechanism 200 is fine-tuned using the movable structure of the mounting assembly 40. In other embodiments, if there is no need to fine-tune the position of the gripping mechanism 200, the second end 222 and the gripping mechanism 200 may also be directly connected, for example, the top end of the gripping mechanism 200 is rotatably connected to the second end 222 and fixedly connected to the driven wheel 42, so that the driven wheel 42 can directly drive the gripping mechanism 200 to rotate, thereby simplifying the mechanical structure and reducing production costs. Figure 1 and Figure 2 As shown, in some embodiments, the transfer mechanism 100 further includes a translation mechanism 300, which is connected to the transfer mechanism 100 and is used to drive the transfer mechanism 100 to move. The translation mechanism 300 can drive the transfer mechanism 100 and the gripping mechanism 200 to perform a large range of translation, so as to quickly drive the gripping mechanism 200 or the gripped material 2000 to move to a specified position.

[0108] Exemplarily, the translation mechanism 300 may be a gantry type manipulator, which has a horizontal lateral movement component and a vertical lateral movement component, and can drive the translation mechanism 300 to move along the X-axis direction or the Y-axis direction. In other embodiments, the translation mechanism 300 may also be a multi-axis robot arm, which may be configured according to actual needs, and this application does not limit this.

[0109] like Figure 2 and Figure 7 As shown, in some embodiments, the grabbing mechanism 200 includes a grabbing bracket 201 and a clamping assembly 202, wherein the grabbing bracket 201 is fixed to the mounting platform 41. Exemplarily, the grabbing bracket 201 is bolted and fixed to the bottom of the mounting platform 41. In other embodiments, the mounting platform 41 can also be the top structure of the grabbing bracket 201, that is, the first adjustment platform 43 and the first adjustment member 44 are connected to the top of the grabbing bracket 201.

[0110] The clamping assembly 202 is connected to the grabbing bracket 201, and the supporting assembly 203 is connected to the clamping assembly 202. When grabbing the material 2000, the clamping assembly 202 can quickly grab the stacked material 2000 by clamping the material 2000, without grabbing the material 2000 individually, thereby improving the handling efficiency.

[0111] The clamping assembly 202 includes a clamping drive and a plurality of clamping members, wherein the clamping members extend in a vertical direction, the plurality of clamping members are arranged at intervals on the grabbing bracket 201, and the clamping drive is disposed on the grabbing bracket 201 and connected to the plurality of clamping members. The plurality of clamping members can move closer to or farther from each other under the drive of the clamping drive, thereby completing the clamping or release of the material 2000.

[0112] For example, the number of clamping members is 2, and the two clamping members are distributed at both ends of the grab bracket 201, and the clamping driving member is configured corresponding to the two clamping members. The clamping driving member can be a clamping driving cylinder, the cylinder body of the clamping driving cylinder is bolted and fixed to the grab bracket 201, and the piston rod of the clamping driving cylinder is connected to the corresponding clamping member.

[0113] In some embodiments, the gripping mechanism 200 further includes a supporting assembly 203, which is fixedly disposed on the clamping member. When multiple clamping members cooperate to clamp the material 2000, the supporting assembly 203 can support the material 2000. The cooperation between the clamping assembly 202 and the supporting assembly 203 reduces the risk of the material 2000 falling off during the handling process, thereby improving safety.

[0114] Exemplarily, the supporting assembly 203 includes a plurality of supporting blocks extending in a horizontal direction. The plurality of supporting blocks are respectively fixedly disposed at the lower ends of the plurality of clamping members, thereby supporting the bottom of the material 2000 .

[0115] In some embodiments, the gripping mechanism 200 further includes a pressing assembly 204, which is disposed at the bottom of the gripping bracket 201 and is located above the supporting assembly 203. When the clamping assembly 202 clamps the material 2000, the supporting assembly 203 supports the material 2000, and at the same time, the pressing assembly 204 presses the material 2000 from top to bottom along the vertical direction to cooperate with the supporting assembly 203 to press the material 2000. The cooperation among the clamping assembly 202, the pressing assembly 204 and the supporting assembly 203 can improve the stability of the material 2000 during the handling process and prevent the material 2000 from falling off during the handling process.

[0116] Exemplarily, the clamping assembly 204 includes a clamping drive cylinder and a clamping block, wherein the cylinder body of the clamping drive cylinder is bolted and fixed to the grab bracket 201, and the piston rod of the clamping drive cylinder is arranged downward and bolted and fixed to the clamping block. The clamping block can be raised and lowered under the drive of the clamping drive cylinder, thereby achieving the clamping or release of the material 2000.

[0117] Figure 8 A schematic diagram of the structure of the automation equipment provided for this application. Fig. 9 Schematic diagram of the working principle of the automation equipment provided for this application.

[0118] like Figure 2 , Figure 8 and Fig. 9 As shown, the automated equipment includes a processing device 3000 and a handling device 1000. The processing device 3000 includes a rotating table 3001, and the rotating table 3001 is provided with a processing station 3002, and the processing station 3002 is used to place the material 2000 placed at a specified angle. Through the transfer mechanism 100 provided in the present application, the material 2000 can be grasped and carried at a specified angle, so that the material 2000 can be easily placed at a specified angle on the corresponding processing station 3002, thereby improving work efficiency.

[0119] It can be understood that the processing device 3000 can be a transfer device in the processing process, or it can be a processing device for processing the material 2000, and this application does not limit this.

[0120] The following is an exemplary description of the working method of the automation equipment.

[0121] In this example, the automated equipment includes a processing device 3000 and a plurality of transport devices 1000, wherein a rotating table 3001 has a plurality of processing stations 3002, and the plurality of processing stations 3002 include a first processing station 3002A for loading and a second processing station 3002B for unloading. The first processing station 3002A requires the material 2000 to be placed at an angle of α°. The second processing station 3002B requires the material 2000 to be placed at an angle of β°.

[0122] The multiple transport devices 1000 can be divided into a first transport device 1000A for loading and a second transport device 1000B for unloading. The first transport device 1000A is located on the side of the turntable 3001 close to the first processing station 3002A, and the second transport device 1000B is located on the side of the turntable 3001 close to the second processing station 3002B.

[0123] Then, the working process of the automation equipment can be:

[0124] First, the first transport device 1000A grabs the material 2000 and adjusts the angle of the material 2000 to α°.

[0125] Then, the first transport device 1000A places the material 2000 on the first processing station 3002A at an angle of α°.

[0126] Then, the rotating table 3001 rotates, and the material 2000 moves from the first processing station 3002A to the second processing station 3002B, and the placement angle of the material 2000 changes from α° to β°.

[0127] Then, the second transport device 1000B adjusts the angle of the gripping mechanism 200 to β° and grips the material 2000 .

[0128] Then, the second transport device 1000B transports the material 2000 to a designated material receiving device.

[0129] Through the automated equipment provided in this application, it is possible to grasp, transport and adjust the angle of a whole stack of materials 2000. On the one hand, it meets the requirements for the placement angle of the materials 2000 in different working conditions. On the other hand, it improves the transportation efficiency of the stacked materials 2000, thereby improving production capacity.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A transfer mechanism, used to drive a gripping mechanism to move, characterized in that: The transfer mechanism comprises: Mounting seat; A rotating frame, comprising a rotating part and a swinging part, wherein the rotating part is rotatably connected to the mounting seat, a first end of the swinging part is connected to the rotating part, and a second end of the swinging part is used to connect to the grabbing mechanism; A first driving assembly, disposed on the mounting seat and connected to the rotating part, the first driving assembly is used to drive the rotating part to rotate around a first axis, so that the grabbing mechanism rotates around the first axis; The second driving assembly is arranged on the swinging part, and is used for driving the grabbing mechanism to rotate around a second axis. The first axis is parallel to the second axis and has a distance therebetween.

2. The transfer mechanism according to claim 1, characterized in that: It also includes a mounting assembly, which is rotatably connected to the second end of the swinging part and is used to install the grabbing mechanism.

3. The transfer mechanism according to claim 2, characterized in that: The installation assembly includes: A driven wheel, one end of which is connected to the second driving assembly, and the driven wheel is used to rotate under the drive of the second driving assembly; A first adjustment platform is disposed below the driven wheel and rotates synchronously with the driven wheel; A mounting platform, movably connected to the first adjustment platform along a first direction, the mounting platform being used to be connected to the grabbing mechanism; an angle is formed between the first direction and the second axis; The first adjusting member is disposed between the mounting platform and the first adjusting platform; the first adjusting member is used to adjust the position of the mounting platform relative to the first adjusting platform in the first direction.

4. The transfer mechanism according to claim 3, characterized in that: The mounting assembly also includes a second adjustment platform and a second adjustment member; The second adjustment platform is disposed between the first adjustment platform and the driven wheel, and the second adjustment platform is fixedly connected to the other end of the driven wheel, and the second adjustment platform is movably connected to the first adjustment platform along a second direction; an angle is formed between the second direction and the second axis; The second adjusting member is disposed between the second adjusting platform and the first adjusting platform, and is used to adjust a position of the second adjusting platform relative to the first adjusting platform in the second direction.

5. The transfer mechanism according to claim 3, characterized in that: The second driving assembly comprises a rotating wheel, a transmission belt and a rotating driving motor, wherein the rotating wheel is rotatably connected to the second end of the swinging part and is transmission-connected to the driven wheel, and the rotating wheel is used to be connected to the grabbing mechanism; The rotation driving motor is arranged at the first end, and the output end of the rotation driving motor is connected to the rotating wheel through the transmission belt.

6. The transfer mechanism according to claim 5, characterized in that: The transmission belt is fixedly provided with a marking piece, and the marking piece moves following the rotation of the rotating wheel; The transfer mechanism further includes a rotation sensor, which is disposed on the swinging portion and is located in the moving path of the marking member; the rotation sensor is used to detect the moving position of the marking member to detect the rotation angle of the grasping mechanism.

7. The transfer mechanism according to claim 1, characterized in that: The rotating part is provided with a positioning member, and the positioning member moves following the rotation of the rotating part; The transfer mechanism further includes a swing sensor, which is disposed on the mounting seat and is located in the moving path of the positioning member; the swing sensor is used to detect the moving position of the positioning member to detect the rotation angle of the rotating part.

8. The transfer mechanism according to claim 1, characterized in that: The transfer mechanism also includes: A fixing seat, slidably connected to the mounting seat along a lifting direction, wherein the lifting direction is parallel to the first axis; A lifting drive assembly is connected to the mounting seat, and the lifting drive assembly is used to drive the mounting seat to rise and fall along the lifting direction.

9. The transfer mechanism according to claim 8, characterized in that: The lifting drive assembly includes a lifting member and a lifting drive member, wherein the lifting drive member is in transmission connection with the lifting member, and the lifting member is arranged on the fixing seat; The driving shaft of the lifting member extends along the lifting direction and drives the mounting seat to rise and fall along the lifting direction.

10. The transfer mechanism according to claim 9, characterized in that: The mounting seat is located above the fixing seat; The fixing seat is provided with a fixing sleeve, and the lifting member is installed on the bottom of the fixing seat through the fixing sleeve; the driving shaft of the lifting member passes through the fixing sleeve and drives the mounting seat to rise and fall along the lifting direction.

11. The transfer mechanism according to claim 10, characterized in that: The first driving assembly is connected to the bottom of the mounting seat; A clearance groove is arranged on the top of the fixing seat, and at least a part of the first driving component is accommodated in the clearance groove.

12. The transfer mechanism according to claim 10, characterized in that: A plurality of guide shafts are provided at the bottom of the mounting seat, and the guide shafts extend along the lifting direction; The fixing seat is provided with a plurality of linear bearings, and the plurality of linear bearings are distributed around the fixing sleeve at intervals; The plurality of guide shafts are slidably connected to the plurality of linear bearings in a one-to-one correspondence.

13. A transport device, characterized in that: It comprises a grabbing mechanism and a transfer mechanism as claimed in any one of claims 1 to 12; The grabbing mechanism comprises a grabbing bracket, a clamping assembly, a supporting assembly and a pressing assembly; wherein the grabbing bracket is connected to the transfer mechanism, the clamping assembly is connected to the grabbing bracket, the supporting assembly is arranged on the clamping assembly, and the pressing assembly is arranged on the grabbing bracket; Wherein, the clamping assembly is used to clamp materials. When the clamping assembly clamps materials, the supporting assembly supports the materials, and the pressing assembly cooperates with the supporting assembly to press the materials.

14. An automated device, characterized in that: comprising a processing device and a handling device as claimed in claim 13; The processing device comprises a rotating table, and the rotating table is provided with a processing station, and the processing station is used to place materials placed at a specified angle.

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