Transfer loading device for carrying materials
By designing a loading and loading device with multiple grasping mechanisms, the problem of low loading efficiency and high cost of the three-axis reducer in the prior art is solved, and efficient and cost-saving material transfer is achieved, and the production line efficiency is improved.
Patent Information
- Application Number
- CN202421937001.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-09
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-08-09
AI Technical Summary
In the prior art, the three-axis load transfer efficiency of reducer is low, the cost is high, and the production line area utilization rate is low.
A loading and loading device for transporting materials is designed, including a loading robot. The loading and loading robot has a grasping fixture with multiple grasping mechanisms, which can grab the reducer input shaft, intermediate shaft and output shaft at the same time, and drive the installation chassis movement through the robot arm to realize one-time transfer of multiple materials.
By reducing the number of equipment and footprint, investment costs are reduced, production line area utilization is improved, and operating efficiency is greatly improved, saving manpower.
Smart Images
Figure CN222922448U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of electric drive manufacturing, and in particular, to a transfer and loading device for handling materials. Background Art
[0002] The input shaft, intermediate shaft and output shaft of an automotive reducer are usually transferred and loaded by a robot or automated equipment. The robot transfers the three shafts to the corresponding positions according to preset instructions or programs, which can improve production efficiency and reduce errors caused by manual operation. In the prior art, three robots, three sets of 3D cameras and six sets of trays are usually used to realize the transfer and loading of the input shaft, intermediate shaft and output shaft respectively. This method has a low utilization rate of the production line area and a high investment cost.
[0003] In view of the above problems, no effective solution has been proposed yet. Summary of the Utility Model
[0004] The main purpose of the utility model is to provide a transfer and loading device for handling materials, so as to solve or improve the problems of low transfer efficiency and high cost of the three shafts of the reducer in the prior art.
[0005] To achieve the above object, according to one aspect of the utility model, a transfer and loading device for handling materials is provided, including: a transfer robot, the transfer robot is provided with a grasping fixture, the grasping fixture is provided with a plurality of grasping mechanisms, and each grasping mechanism is used for grasping different materials, and the materials at least include a reducer input shaft, a reducer intermediate shaft and a reducer output shaft.
[0006] Further, the grasping mechanism is a tension grasping mechanism, the grasping mechanism has an initial state before tensioning and a tensioned state after tensioning, and when the grasping mechanism is in the tensioned state, the transfer robot can clamp the material for handling.
[0007] Further, the grasping mechanism is an internal expansion positioning pin.
[0008] Further, the plurality of grasping mechanisms are controlled uniformly, or each grasping mechanism is controlled independently.
[0009] Further, the plurality of grasping mechanisms include a first tensioning mechanism, a second tensioning mechanism and a third tensioning mechanism, wherein the first tensioning mechanism has a tensioned state for clamping the reducer input shaft, the second tensioning mechanism has a tensioned state for clamping the reducer intermediate shaft, and the third tensioning mechanism has a tensioned state for clamping the reducer output shaft.
[0010] Further, the grasping fixture further includes: a mounting chassis, and the plurality of grasping mechanisms are arranged on the same side of the mounting chassis and connected to the mounting chassis.
[0011] Further, the mounting chassis includes a chassis main body and a plurality of mounting portions disposed at intervals along the circumference of the chassis main body, and each mounting portion is used to mount a grasping mechanism.
[0012] Further, the mounting portions protrude from the outer peripheral surface of the chassis main body in the radial direction of the chassis main body.
[0013] Further, the chassis main body and the mounting portions are integrally formed.
[0014] Further, the transfer robot has a robotic arm, the robotic arm is movably arranged, and the movable end of the robotic arm is connected to the chassis main body so that the robotic arm drives the mounting chassis to move.
[0015] Further, the transfer and loading device further includes: a conveying tray, the conveying tray has a plurality of material carrying positions, and the materials carried by each material carrying position are arranged differently; the transfer robot is used to transport the materials on the conveying tray.
[0016] Further, the transfer and loading device further includes: a vision positioning mechanism, the vision positioning mechanism is arranged close to the transfer robot, or the vision positioning mechanism is arranged close to the conveying tray, and the vision positioning mechanism is used to obtain the position information of at least one of the grasping fixture, the material, and the conveying tray.
[0017] Applying the technical solution of the present utility model, the transfer and loading device is only provided with one transfer robot, the transfer robot has a grasping fixture, the grasping fixture has a plurality of grasping mechanisms, and the plurality of grasping mechanisms can simultaneously grasp a plurality of materials to realize the one-time transfer of a variety of materials. When applied to the feeding of the reducer, the transfer robot can simultaneously grasp and transfer the input shaft of the reducer, the intermediate shaft of the reducer, and the output shaft of the reducer, solving the problems of low transfer efficiency and high cost of the three shafts of the reducer in the prior art, improving the utilization rate of the production line area, and can greatly improve the operation efficiency and save manpower. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The specification drawings forming a part of this application are used to provide a further understanding of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:
[0019] Figure 1 Shows a schematic structural diagram of a first embodiment of the transfer and loading device according to the present utility model;
[0020] Figure 2 Shows Figure 1 An enlarged schematic view of part A in;
[0021] Figure 3 Shows a schematic structural diagram of a second embodiment of the transfer and loading device according to the present utility model;
[0022] Figure 4 Shows a schematic structural diagram of a third embodiment of the transfer and loading device according to the present utility model;
[0023] Figure 5 Shows a schematic structural diagram of a fourth embodiment of the transfer and loading device according to the present utility model;
[0024] Figure 6 Shows a schematic structural diagram of a fifth embodiment of the transfer and loading device according to the present utility model.
[0025] Among them, the above-mentioned drawings include the following reference numerals:
[0026] 1. Transfer robot; 10. Gripping fixture; 11. Robot arm;
[0027] 110. Gripping mechanism; 111. First tensioning mechanism; 112. Second tensioning mechanism; 113. Third tensioning mechanism;
[0028] 120. Installation chassis; 121. Chassis main body; 122. Installation part;
[0029] 2. Reducer input shaft; 3. Reducer intermediate shaft; 4. Reducer output shaft;
[0030] 5. Conveyor tray;
[0031] 6. Vision positioning mechanism;
[0032] 7. Conveyor roller path;
[0033] 8. Robot base. Detailed implementation manners
[0034] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present utility model will be described in detail below with reference to the drawings and in combination with the embodiments.
[0035] It should be noted that the terms used here are only for describing the specific implementation manners and are not intended to limit the exemplary implementation manners according to the present application. As used here, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.
[0036] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.
[0037] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and the concept of these exemplary embodiments is fully conveyed to those of ordinary skill in the art. In the drawings, for clarity, the thickness of layers and regions may be enlarged, and the same reference numerals are used to denote the same devices, and thus their description will be omitted.
[0038] Combined with Figures 1 to 6 As shown, according to a specific embodiment of the present application, a transfer and loading device for handling materials is provided.
[0039] Specifically, as Figure 1 、 Figure 4 、 Figure 5 As shown, the transfer and loading device includes a transfer robot 1. The transfer robot 1 has a grasping fixture 10. The grasping fixture 10 has a plurality of grasping mechanisms 110. Each grasping mechanism 110 is used to grasp different materials. The materials at least include a reducer input shaft 2, a reducer intermediate shaft 3, and a reducer output shaft 4.
[0040] Applying the technical solution of this embodiment, the transfer and loading device only sets one transfer robot 1. The transfer robot 1 has a grasping fixture 10. The grasping fixture 10 has a plurality of grasping mechanisms 110. The plurality of grasping mechanisms 110 can simultaneously grasp a plurality of materials to realize the one-time transfer of a variety of materials. When applied to the loading of the reducer, the transfer robot 1 can simultaneously grasp and transfer the reducer input shaft 2, the reducer intermediate shaft 3, and the reducer output shaft 4, solving the problems of low transfer efficiency and high cost of the three shafts of the reducer in the prior art, improving the utilization rate of the production line area, and can greatly improve the operation efficiency and save manpower.
[0041] It should be noted that multiple grasping mechanisms 110 can be set to structures matching different materials according to the different materials. In this embodiment, the transfer robot 1 has three grasping mechanisms 110. The three grasping mechanisms 110 are integrated on the transfer robot 1 and are distributed at the three vertices of an equilateral triangle in the same grasping plane. The three grasping mechanisms 110 are respectively matched with the input shaft 2 of the reducer, the intermediate shaft 3 of the reducer, and the output shaft 4 of the reducer.
[0042] Specifically, the grasping mechanism 110 is a tensioning grasping mechanism. The grasping mechanism 110 has an initial state before tensioning and a tensioned state after tensioning. When the grasping mechanism 110 is in the tensioned state, the transfer robot 1 can clamp the material for handling. The grasping mechanism 110 can be switched between the tensioned state and the initial state. When the grasping mechanism 110 is in the non-working state, it is in the initial state. When the input shaft 2 of the reducer, the intermediate shaft 3 of the reducer, and the output shaft 4 of the reducer on the incoming material tray move into the working range of the grasping mechanism 110, the grasping mechanism 110 extends into the central holes of the input shaft 2 of the reducer, the intermediate shaft 3 of the reducer, and the output shaft 4 of the reducer. At this time, the grasping mechanism 110 switches to the tensioned state and is connected to and clamps the input shaft 2 of the reducer, the intermediate shaft 3 of the reducer, and the output shaft 4 of the reducer through the tensioning pressure and transfers them to the tray on the conveying roller path 7. Then the grasping mechanism 110 switches to the initial state again and disengages from the input shaft 2 of the reducer, the intermediate shaft 3 of the reducer, and the output shaft 4 of the reducer, realizing one transfer operation.
[0043] Optionally, the grasping mechanism 110 is an internally expanding locating pin. This setting can achieve accurate positioning of the central holes of the input shaft 2 of the reducer, the intermediate shaft 3 of the reducer, and the output shaft 4 of the reducer, improve the operation efficiency, and avoid the no-load operation when the grasping mechanism 110 fails to grasp the material.
[0044] Optionally, multiple grasping mechanisms 110 are controlled uniformly, or each grasping mechanism 110 is controlled independently. When multiple grasping mechanisms 110 are controlled uniformly, the burden of the electric control program can be reduced, which is convenient for unified management, and the efficiency and coordination of the overall system can be improved. When each grasping mechanism 110 is controlled independently, different materials can be grasped more flexibly, and the single-point failure of the grasping mechanism 110 can also be avoided from affecting the entire system.
[0045] In one embodiment of the present application, three grasping mechanisms 110 are integrally arranged on a transfer robot 1. The three grasping mechanisms 110 are controlled independently of each other. When the types or quantities of materials on the incoming material tray are different, each grasping mechanism 110 can separately identify the materials to be grasped by it. On the incoming material tray with corresponding materials, the grasping mechanism 110 performs positioning pin positioning, switches to a tensioned state to clamp the corresponding materials, and the transfer robot 1 drives the grasping mechanism 110 to achieve transfer. The grasping mechanisms 110 that are integrally arranged and have no corresponding incoming materials do not perform grasping operations.
[0046] In another embodiment of the present application, three grasping mechanisms 110 are integrally arranged on a transfer robot 1. The three grasping mechanisms 110 are uniformly controlled. After positioning by the positioning pin, regardless of whether there are materials on the incoming material tray, the three grasping mechanisms 110 all perform a grasping operation once.
[0047] Further, as Figures 1 to 3 shown, the multiple grasping mechanisms 110 include a first tensioning mechanism 111, a second tensioning mechanism 112, and a third tensioning mechanism 113. Among them, the first tensioning mechanism 111 has a tensioned state for clamping the input shaft 2 of the reducer, the second tensioning mechanism 112 has a tensioned state for clamping the intermediate shaft 3 of the reducer, and the third tensioning mechanism 113 has a tensioned state for clamping the output shaft 4 of the reducer. Such a setting can set corresponding tensioning mechanisms according to the different structures of the input shaft 2 of the reducer, the intermediate shaft 3 of the reducer, and the output shaft 4 of the reducer. When the grasping mechanism 110 is in a tensioned state, the first tensioning mechanism 111 cooperates with the central hole of the input shaft 2 of the reducer to achieve tensioned clamping of the input shaft 2 of the reducer, the second tensioning mechanism 112 cooperates with the central hole of the intermediate shaft 3 of the reducer to achieve tensioned clamping of the intermediate shaft 3 of the reducer, and the third tensioning mechanism 113 cooperates with the central hole of the output shaft 4 of the reducer to achieve tensioned clamping of the output shaft 4 of the reducer, so as to realize synchronous grasping and transfer feeding of the input shaft 2 of the reducer, the intermediate shaft 3 of the reducer, and the output shaft 4 of the reducer.
[0048] It should be noted that some of the grasping mechanisms 110 integrated on the same transfer robot 1 can be set to have the same structure. For example, two first tensioning mechanisms 111 can be set, so as to achieve the maximum degree of transfer operation according to the different types and quantities of materials and improve the transfer efficiency. Those skilled in the art should understand that the quantities and positions of the first tensioning mechanism 111, the second tensioning mechanism 112, and the third tensioning mechanism 113 can be set according to needs to achieve the transfer operation with the maximum efficiency.
[0049] Further, as Figure 1As shown in the figure, the grasping fixture 10 further includes a mounting chassis 120. A plurality of grasping mechanisms 110 are arranged on the same side of the mounting chassis 120 and are connected to the mounting chassis 120. Arranging the plurality of grasping mechanisms 110 on the same side of the mounting chassis 120 facilitates the grasping mechanisms to clamp the material.
[0050] Specifically, as Figures 1 to 3 shown, the mounting chassis 120 includes a chassis main body 121 and a plurality of mounting parts 122 arranged at intervals along the circumference of the chassis main body 121. Each mounting part 122 is used to mount a grasping mechanism 110. The mounting chassis 120 is a plane, and the plurality of mounting parts 122 and the grasping mechanisms 110 are evenly distributed along the circumference of the mounting chassis 120, which can reduce or avoid the mutual influence of each material during the transfer process due to different sizes.
[0051] In an embodiment of the present application, as Figures 2 to 4 shown, the mounting chassis 120 includes three mounting parts 122 arranged at intervals along the circumference of the chassis main body 121. Each two mounting parts 122 are arranged at an angle of 120° in the plane. The three mounting parts 122 mount three grasping mechanisms 110, and the three grasping mechanisms 110 are respectively a first tensioning mechanism 111, a second tensioning mechanism 112, and a third tensioning mechanism 113, which can perform the transfer operation of the input shaft 2, the intermediate shaft 3, and the output shaft 4 of the reducer at one time.
[0052] Specifically, as Figure 3 、 Figure 4 shown, the mounting part 122 protrudes from the outer peripheral surface of the chassis main body 121 along the radial direction of the chassis main body 121. Such a setting can prevent the larger size outside the central hole of the material from touching the chassis main body 121, resulting in insufficient distance for the grasping mechanism 110 to extend into the central hole, so that the internal expansion positioning pin does not reach the designated position of the central hole for tensioning and clamping, and further resulting in insecure clamping and material dropping off.
[0053] Optionally, as Figures 2 to 4 shown, the chassis main body 121 and the mounting part 122 are integrally formed. Such a setting can reduce the production cost, improve the reliability and stability of the mounting part 122 and the chassis main body 121, and prevent the material from separating from the chassis main body 121 due to the weight of the material during the transfer process.
[0054] Furthermore, as Figure 1 、 Figure 2As shown, the transfer robot 1 has a robotic arm 11. The robotic arm 11 is movably arranged, and the movable end of the robotic arm 11 is connected to the chassis main body 121, so that the robotic arm 11 drives the mounting chassis 120 to move. In this way, when the grasping mechanism 110 is in a tensioned state, the input shaft 2 of the reducer, the intermediate shaft 3 of the reducer, and the output shaft 4 of the reducer are clamped and connected to the grasping mechanism 110. The grasping mechanism 110 is arranged on the mounting part 122. The mounting part 122 is integrally formed with the chassis main body 121. The chassis main body 121 is connected to the movable end of the robotic arm 11. The other end of the robotic arm 11 and the transfer robot 1 are fixed on the robot base 8 together. The robot base 8 can provide stable support for the transfer robot 1. The robotic arm 11 can perform transfer operation activities at corresponding positions according to the preset instructions of the transfer robot 1, improving the flexibility of the transfer operation and thus enhancing the work efficiency.
[0055] Further, as Figure 3 , Figure 6 shown, the transfer and loading device further includes a conveying tray 5. The conveying tray 5 has a plurality of material carrying positions, and the materials carried by each material carrying position are set differently; the transfer robot 1 is used to transport the materials on the conveying tray 5. The types and positions of the discharged materials of the plurality of material carrying positions on the conveying tray 5 can be set according to the positions of the plurality of grasping mechanisms 110 on the mounting part 122 and the differences of each grasping mechanism 110. Alternatively, the plurality of material carrying positions on the conveying tray 5 can be set with a size structure adapted to the positions of the plurality of grasping mechanisms 110 to place the input shaft 2 of the reducer, the intermediate shaft 3 of the reducer, and the output shaft 4 of the reducer, so as to achieve accurate clamping of the materials and improve the transfer efficiency.
[0056] Specifically, the transfer and loading device further includes a visual positioning mechanism 6. The visual positioning mechanism 6 is arranged close to the transfer robot 1, or the visual positioning mechanism 6 is arranged close to the conveying tray 5. The visual positioning mechanism 6 is used to obtain the position information of at least one of the grasping fixture 10, the material, and the conveying tray 5. With this setting, the visual positioning mechanism 6 obtains image information and transmits the image information to the transfer robot 1. The transfer robot 1 calculates the positions and distances of the material and the grasping fixture 10 based on the image information to form a grasping instruction and perform a transfer operation, which can realize the automation of material transfer and improve the work efficiency.
[0057] Optionally, the visual positioning mechanism 6 adopts a 3D camera. The 3D camera performs positioning on the grasping fixture 10, the conveying tray 5, or the material on the conveying tray 5 and discriminates the material types through fuzzy visual positioning.
[0058] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:
[0059] (1) The transfer robot 1 can grasp the three shafts of the reducer at one time to realize the simultaneous transfer of the three shafts;
[0060] (2) Three grasping mechanisms 110 are integrally arranged on the robotic arm 11 of the transfer robot 1, with high integration and strong flexibility;
[0061] (3) The grasping mechanism 110 is set as an internally expanding positioning pin, which can internally expand to clamp the material and accurately position the center holes of the input shaft 2, intermediate shaft 3, and output shaft 4 of the reducer at the same time.
[0062] The transfer and loading device of the present application can grasp the three shafts of the reducer at one time, which not only has high efficiency, but also saves costs and reduces the floor area of the equipment.
[0063] For the sake of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above" and the like can be used here to describe the spatial position relationship between a device or feature shown in the figure and other devices or features. It should be understood that spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the figure of the device. For example, if the device in the attached drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will be positioned as "below other devices or structures" or "under other devices or structures" afterwards. Thus, the exemplary term "above..." can include both orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations will be made for the spatial relative descriptions used here.
[0064] In addition to the above, it should also be noted that the "one embodiment", "another embodiment", "embodiment" and the like mentioned in this specification refer to the specific features, structures or characteristics described in connection with that embodiment being included in at least one embodiment generally described in the present application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in connection with any one embodiment, it is intended that such feature, structure or characteristic can also be realized in combination with other embodiments and fall within the scope of the present invention.
[0065] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0066] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. A loading and transferring device for transporting materials, characterized in that: include: A transfer robot (1), wherein the transfer robot (1) has a grasping fixture (10), wherein the grasping fixture (10) has a plurality of grasping mechanisms (110), wherein each grasping mechanism (110) is used to grasp different materials, wherein the materials at least include a reducer input shaft (2), a reducer intermediate shaft (3) and a reducer output shaft (4).
2. The transfer and loading device according to claim 1, characterized in that: The gripping mechanism (110) is a tensioning gripping mechanism, and the gripping mechanism (110) has an initial state before tensioning and a tensioned state after tensioning. When the gripping mechanism (110) is in the tensioned state, the transfer robot (1) can clamp the material for transportation.
3. The transfer and loading device according to claim 2, characterized in that: The grabbing mechanism (110) is an inner expansion type positioning pin.
4. The transfer and loading device according to claim 2, characterized in that: The plurality of gripping mechanisms (110) are controlled in a unified manner, or the gripping mechanisms (110) are controlled independently of each other.
5. The transfer and loading device according to claim 2, characterized in that: The plurality of gripping mechanisms (110) include a first tensioning mechanism (111), a second tensioning mechanism (112) and a third tensioning mechanism (113), wherein the first tensioning mechanism (111) has the tensioning state of clamping the reducer input shaft (2), the second tensioning mechanism (112) has the tensioning state of clamping the reducer intermediate shaft (3), and the third tensioning mechanism (113) has the tensioning state of clamping the reducer output shaft (4).
6. The transfer and loading device according to claim 5, characterized in that: The grabbing fixture (10) further comprises: A mounting chassis (120), wherein a plurality of the gripping mechanisms (110) are arranged on the same side of the mounting chassis (120) and are connected to the mounting chassis (120).
7. The transfer and loading device according to claim 6, characterized in that: The mounting chassis (120) comprises a chassis body (121) and a plurality of mounting portions (122) arranged at intervals along the circumference of the chassis body (121), and each mounting portion (122) is used to mount one of the gripping mechanisms (110).
8. The transfer and loading device according to claim 7, characterized in that: The mounting portion (122) is arranged to protrude from the outer peripheral surface of the chassis body (121) along the radial direction of the chassis body (121).
9. The transfer and loading device according to claim 7, characterized in that: The chassis body (121) and the mounting portion (122) are integrally formed.
10. The transfer and loading device according to claim 7, characterized in that: The transfer robot (1) has a robot arm (11), the robot arm (11) is movably arranged, and the movable end of the robot arm (11) is connected to the chassis body (121), so that the robot arm (11) drives the installation chassis (120) to move.
11. The transfer and loading device according to any one of claims 1 to 10, characterized in that: The transfer and loading device also includes: A conveying tray (5), the conveying tray (5) having a plurality of material carrying positions, the materials carried by each of the material carrying positions being arranged differently; The transfer robot (1) is used to carry the material on the conveying tray (5).
12. The transfer and loading device according to claim 11, characterized in that: The transfer and loading device also includes: A visual positioning mechanism (6), wherein the visual positioning mechanism (6) is arranged close to the transfer robot (1), or the visual positioning mechanism (6) is arranged close to the conveying tray (5), and the visual positioning mechanism (6) is used to obtain the position information of at least one of the grasping fixture (10), the material, and the conveying tray (5).