Carrying equipment

Abstract

The utility model discloses carrying equipment, relates to the technical field of industrial production, and aims to solve the problem that when a workpiece falls down or deviates, the carrying equipment is difficult to stably clamp the workpiece, so that the workpiece falls and is damaged. The carrying equipment comprises a base, a moving assembly, a clamping assembly, a visual detection assembly and a pressure detection assembly. The moving assembly is connected with the base and can move relative to the base. The clamping assembly is connected with the moving assembly and used for clamping equipment to be carried. The visual detection assembly is connected with the clamping assembly, and the visual detection assembly is used for detecting the position of the to-be-carried equipment; the pressure detection assembly is connected with the clamping assembly and used for detecting the pressure applied to the to-be-carried equipment when the clamping assembly clamps the to-be-carried equipment.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial production technical field especially relates to a carrying equipment. BACKGROUND

[0002] In the industrial production assembly process, a very large number of workpiece turnover processes are involved, and manual or carrying equipment is generally used in the industry to turn over the workpiece.

[0003] During the carrying process, the workpiece is prone to lodging, position deviation and other conditions, which makes it difficult for the carrying equipment to stably clamp the workpiece, and unstable clamping can cause the workpiece to fall and be damaged, which not only has safety hazards, but also affects work efficiency, product appearance quality and performance.

[0004] Therefore, when the workpiece lodges or the position deviates, the carrying equipment is difficult to stably clamp the workpiece, which causes the workpiece to fall and be damaged, which is a problem to be solved. SUMMARY

[0005] The embodiment of the utility model provides a carrying equipment, which solves the problem that when the workpiece lodges or the position deviates, the carrying equipment is difficult to stably clamp the workpiece, which causes the workpiece to fall and be damaged.

[0006] To achieve the above purpose, the embodiment of the utility model adopts the following technical scheme: a carrying equipment is provided, which comprises a base, a moving assembly, a clamping assembly, a visual detection assembly and a pressure detection assembly; the moving assembly is connected with the base and can move relative to the base; the clamping assembly is connected with the moving assembly and is used for clamping the equipment to be carried; the visual detection assembly is connected with the clamping assembly, and the visual detection assembly is used for detecting the position of the equipment to be carried; the pressure detection assembly is connected with the clamping assembly, and the pressure detection assembly is used for detecting the pressure applied to the equipment to be carried by the clamping assembly when clamping the equipment to be carried.

[0007] The application sets a visual detection assembly to detect the position of the equipment to be carried, and the carrying equipment controls the movement of the moving assembly according to the detection result of the visual detection assembly, so that the moving assembly moves to the position of the equipment to be carried. The clamping assembly can clamp the equipment to be carried, and the pressure detection assembly arranged on the clamping assembly can detect the pressure applied to the equipment to be carried by the clamping assembly when clamping the equipment to be carried, so that the clamping force of the clamping assembly can be controlled according to the detection result of the pressure detection assembly. Finally, the carrying equipment carries the equipment to be carried to the designated position. When the equipment to be carried lodges or the position deviates, the visual detection assembly can timely detect the accurate position of the equipment to be carried, so that the clamping assembly cannot clamp the equipment to be carried, and the carrying equipment can also control the clamping force of the clamping assembly according to the detection result of the pressure detection assembly, so that the clamping of the clamping assembly on the equipment to be carried is stable, and the equipment to be carried is prevented from falling and being damaged during the carrying process.

[0008] In some embodiments of the present application, the clamping assembly comprises a support, a first clamping member and a second clamping member, the support is connected with the moving assembly, the support comprises a connecting surface; the first clamping member is connected with the connecting surface; the second clamping member is connected with the connecting surface and is arranged in a spaced manner with the first clamping member.

[0009] In this way, the first clamping member and the second clamping member are arranged in a spaced manner, when it is needed to clamp the to-be-transported equipment, the to-be-transported equipment is placed in the space between the first clamping member and the second clamping member, so that the first clamping member and the second clamping member clamp the to-be-transported equipment, which facilitates the clamping of the to-be-transported equipment by the clamping assembly. The support can be used to support the first clamping member and the second clamping member, so as to avoid the shaking of the first clamping member and the second clamping member and the falling and damage of the to-be-transported equipment.

[0010] In some embodiments of the present application, the first clamping member and the second clamping member can move on the connecting surface in a direction close to or away from each other.

[0011] In this way, the distance between the first clamping member and the second clamping member can be adjusted, and the distance between the first clamping member and the second clamping member can be adjusted to adapt to to-be-transported equipment of different sizes, thereby improving the applicability of the transport equipment. The clamping force of the first clamping member and the second clamping member clamping the to-be-transported equipment can also be adjusted by adjusting the distance between the first clamping member and the second clamping member, so as to avoid the falling and damage of the to-be-transported equipment in the process of transportation due to the clamping force of the clamping assembly clamping the to-be-transported equipment being too small, and also to avoid the damage of the to-be-transported equipment due to the clamping force of the clamping assembly clamping the to-be-transported equipment being too large.

[0012] In some embodiments of the present application, the clamping assembly further comprises a driving member, the driving member is connected with the first clamping member and connected with the second clamping member, and is used to drive the first clamping member and the second clamping member to move.

[0013] In this way, the driving member can drive the first clamping member and the second clamping member to move, and compared with manually controlling the movement of the first clamping member and the second clamping member, the driving member can more accurately and effectively control the movement of the first clamping member and the second clamping member, thereby improving the convenience and efficiency of the clamping assembly.

[0014] In some embodiments of the present application, the visual detection assembly is connected with the support and located on one side of the support in a first direction, the first direction is parallel to the connecting surface and perpendicular to the arrangement direction of the first clamping member and the second clamping member.

[0015] In this way, the visual detection assembly can move along with the clamping assembly, and when the visual detection assembly detects the position of the to-be-transported equipment, the clamping assembly can clamp the to-be-transported equipment according to the detection result of the visual detection assembly, so that the clamping assembly does not need to move for a long distance, and the effect of transporting the equipment is improved. The visual detection assembly is arranged on one side of the support in the first direction, so that the support does not hinder the detection field of view of the visual detection assembly.

[0016] In some embodiments of the present application, the visual detection assembly comprises oppositely arranged mounting ends and detection ends, the mounting ends are connected to the support, and the detection ends are located on the side of the mounting ends facing the first clamping member and are used to detect the position of the to-be-transported equipment. The arrangement direction of the mounting ends and the detection ends is perpendicular to the connecting surface.

[0017] In this way, the detection ends are located on the side of the mounting ends facing the first clamping member, so that when the detection ends detect the position of the to-be-transported equipment, the detection field of view of the detection ends is not hindered by the support, and the arrangement direction of the mounting ends and the detection ends is perpendicular to the connecting surface, so that more parts of the to-be-transported equipment are located in the field of view of the detection ends.

[0018] In some embodiments of the present application, the pressure detection assembly is connected to the first clamping member and / or the second clamping member, and the detection surface of the pressure detection assembly can be in contact with the to-be-transported equipment.

[0019] In this way, the detection surface of the pressure detection assembly is arranged to be in contact with the to-be-transported equipment, so that the detection surface can detect the pressure applied by the clamping assembly to the to-be-transported equipment when the clamping assembly clamps the to-be-transported equipment. The pressure detection assembly is connected to the first clamping member and / or the second clamping member, so that the pressure applied by the clamping assembly to the to-be-transported equipment when the clamping assembly clamps the to-be-transported equipment can be detected at any time when the first clamping member and / or the second clamping member moves, and the clamping force of the clamping assembly when clamping the to-be-transported equipment can be conveniently controlled.

[0020] In some embodiments of the present application, the pressure detection assembly is arranged on one side of the first clamping member in the first direction, and / or the pressure detection assembly is arranged on one side of the second clamping member in the first direction; the first direction is parallel to the connecting surface and perpendicular to the arrangement direction of the first clamping member and the second clamping member.

[0021] In this way, the pressure detection assembly is arranged on one side of the first clamping member in the first direction, and / or the pressure detection assembly is arranged on one side of the second clamping member in the first direction, so that the first clamping member and / or the second clamping member can avoid colliding with the pressure detection assembly during movement, thereby avoiding damage to the pressure detection assembly. When the first clamping member and the second clamping member clamp the to-be-transported equipment, the to-be-transported equipment is located between the first clamping member and the second clamping member, so that the to-be-transported equipment can also avoid colliding with the pressure detection assembly, thereby avoiding damage to the pressure detection assembly. In addition, the pressure detection assembly is arranged on one side of the first clamping member in the first direction, and / or the pressure detection assembly is arranged on one side of the second clamping member in the first direction, so that the pressure detection assembly is less limited by space when being maintained and replaced, and the maintenance and replacement of the pressure detection assembly are facilitated.

[0022] In some embodiments of the present application, the moving assembly comprises a multi-axis robot; and / or the clamping assembly comprises a first buffer connected to one side of the first clamping member facing the second clamping member; and / or the clamping assembly comprises a second buffer connected to one side of the second clamping member facing the first clamping member.

[0023] In this way, the moving assembly comprises a multi-axis robot, and the multi-axis robot can move in multiple directions, so that the moving assembly can transport the to-be-transported equipment in different positions to a specified position, thereby improving the convenience of transporting the to-be-transported equipment by the transporting equipment. When the clamping assembly clamps the to-be-transported equipment, the first buffer can avoid friction between the first clamping member and the to-be-transported equipment, and the second buffer can avoid friction between the second clamping member and the to-be-transported equipment, thereby preventing the to-be-transported equipment from being scratched or damaged. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 A structural schematic diagram of a transporting equipment is provided for the present application;

[0025] Figure 2 A structural schematic diagram of a transporting equipment is provided for the present application;

[0026] Figure 3 A structural schematic diagram of a transporting equipment is provided for the present application;

[0027] Figure 4 A structural schematic diagram of a clamping assembly is provided for the present application;

[0028] Figure 5 A structural schematic diagram of a clamping assembly is provided for the present application;

[0029] Figure 6 A structural schematic diagram of a clamping assembly is provided for the present application;

[0030] Figure 7Part structure schematic diagram two of the clamping assembly is provided for the present application;

[0031] Figure 8 Structure schematic diagram three of the clamping assembly is provided for the present application;

[0032] Figure 9 Structure schematic diagram four of the clamping assembly is provided for the present application;

[0033] Figure 10 Structure schematic diagram five of the clamping assembly is provided for the present application;

[0034] Figure 11 Structure schematic diagram six of the clamping assembly is provided for the present application;

[0035] Figure 12 Part structure schematic diagram three of the clamping assembly is provided for the present application;

[0036] Figure 13 Part structure schematic diagram four of the clamping assembly is provided for the present application;

[0037] Figure 14 Part structure schematic diagram five of the clamping assembly is provided for the present application;

[0038] Figure 15 Part structure schematic diagram six of the clamping assembly is provided for the present application;

[0039] Figure 16 Structure schematic diagram four of the conveying equipment is provided for the present application.

[0040] Fig. 100, conveying equipment; 10, base; 20, moving assembly; 21, connecting flange; 30, control cabinet; 40, clamping assembly; 50, visual detection assembly; 60, pressure detection assembly; 41, support; 42, first clamping piece; 43, second clamping piece; 411, connecting surface; 412, first sliding rail; 421, first sliding groove; 431, second sliding groove; 413, second sliding rail; 422, third sliding groove; 432, fourth sliding groove; 44, driving piece; 441, motor; 442, transmission piece; 51, mounting end; 52, detection end; 45, first buffer piece; 46, second buffer piece. DETAILED DESCRIPTION

[0041] The embodiments of the present application will be described in detail below with reference to the drawings.

[0042] In the description of the utility model, it is understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0043] The terms "first", "second", "third", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or a specific number of the technical features indicated. Therefore, the features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the utility model, unless otherwise stated, "a plurality of" means two or more.

[0044] In the description of the utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection" and "connection" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances. In addition, when describing the pipeline or channel, "connection" and "connection" are used in the application, which has the meaning of conducting. The specific meaning needs to be understood in combination with the context.

[0045] In the embodiments of the present application, the words such as "exemplary" or "for example" are used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. On the contrary, the words such as "exemplary" or "for example" are intended to present the relevant concept in a specific way.

[0046] The workpiece is prone to fall, position deviation and other conditions during the carrying process of the carrying equipment, so that the carrying equipment is difficult to stably clamp the workpiece, and unstable clamping will cause the workpiece to fall and damage, which not only exists safety hidden danger, but also affects work efficiency, product appearance quality and performance.

[0047] To solve the above problems, the embodiments of the utility model adopt the following technical scheme: Figure 1 And Figure 2 As shown in the drawings, a carrying equipment 100 is provided, which comprises a base 10 and a moving assembly 20. The moving assembly 20 is connected with the base 10 and can move relative to the base 10.

[0048] It should be noted that in the production process, there are also parts platforms, conveying tools and control cabinets 30 matched with the carrying device 100. The parts platform is used to place the equipment to be carried, the conveying tool is used to convey the equipment to be carried, and the control cabinet 30 is used to control the conveying tool or the carrying device 100, etc. In the production process of the product, the equipment to be carried can be placed on the parts platform, and the carrying device 100 can carry the equipment to be carried to the conveying tool, and the conveying tool can convey the equipment to be carried to the next process.

[0049] Among them, the equipment to be carried can be a heat exchanger, a compressor or a heat sink, etc., which is not limited in the present application.

[0050] As shown in Figure 1 and Figure 2 The carrying device 100 further comprises a clamping assembly 40. The clamping assembly 40 is connected with the moving assembly 20 and is used to clamp the equipment to be carried.

[0051] As shown in Figure 1 and Figure 2 Among them, the clamping assembly 40 can clamp the equipment to be carried by clamping, elastic clamping or moving clamping, etc., which is not limited in the present application.

[0052] As shown in Figure 2 and Figure 3 The carrying device 100 further comprises a visual detection assembly 50. The visual detection assembly 50 is connected with the clamping assembly 40, and the visual detection assembly 50 is used to detect the position of the equipment to be carried.

[0053] Among them, the visual detection assembly 50 can convert the position or attitude of the equipment to be carried into an image signal through a machine vision product such as a camera, etc., and then transmit the image signal to a display device. The operator adjusts the moving position of the carrying device 100 according to the image signal displayed by the display device. In addition, the visual detection assembly 50 can also transmit the image signal to a controller to control the moving position of the carrying device.

[0054] The carrying device 100 further comprises a pressure detection assembly 60. The pressure detection assembly 60 is connected with the clamping assembly 40, and the pressure detection assembly 60 is used to detect the pressure applied to the equipment to be carried when the clamping assembly 40 clamps the equipment to be carried.

[0055] Among them, the pressure detection assembly 60 can be an elastic pressure gauge, an electrical pressure gauge, a piston pressure gauge, a vibration frequency pressure gauge or an optical pressure gauge, etc., which is not limited in the present application.

[0056] In addition, the moving assembly 20 and the clamping assembly 40 can be controlled manually or by an automatic control module, which is not limited in the present application.

[0057] The application sets the visual detection assembly 50 to detect the position of the device to be carried, and the carrying device 100 controls the movement assembly 20 to move to the position of the device to be carried according to the detection result of the visual detection assembly 50. The clamping assembly 40 can clamp the device to be carried, and the pressure detection assembly 60 arranged on the clamping assembly 40 can detect the pressure applied to the device to be carried when the clamping assembly 40 clamps the device to be carried, so that the clamping force of the clamping assembly 40 can be controlled according to the detection result of the pressure detection assembly 60. Finally, the carrying device 100 carries the carrying device 100 to the specified position. When the device to be carried is tilted or the position is offset, the visual detection assembly 50 can detect the accurate position of the device to be carried in time, so that the clamping assembly 40 cannot clamp the device to be carried. The carrying device 100 can also control the clamping force of the clamping assembly 40 according to the detection result of the pressure detection assembly 60, so as to avoid that the clamping assembly 40 clamps the device to be carried unstably, resulting in that the device to be carried falls and is damaged in the process of carrying.

[0058] In some embodiments of the application, as shown in Figure 3 、 Figure 4 and Figure 5 , the clamping assembly 40 comprises a support 41, a first clamping piece 42 and a second clamping piece 43. The support 41 is connected with the movement assembly 20, and the support 41 comprises a connecting surface 411; the first clamping piece 42 is connected to the connecting surface 411; and the second clamping piece 43 is connected to the connecting surface 411 and is arranged in a spaced manner with the first clamping piece 42.

[0059] The connecting surface can be located on the side of the support close to the first clamping piece.

[0060] In this way, the first clamping piece 42 and the second clamping piece 43 are arranged in a spaced manner, and when it is necessary to clamp the device to be carried, the device to be carried is placed in the space between the first clamping piece 42 and the second clamping piece 43, so that the first clamping piece 42 and the second clamping piece 43 clamp the device to be carried, facilitating the clamping of the device to be carried by the clamping assembly 40. The support 41 can be used to support the first clamping piece 42 and the second clamping piece 43, so as to avoid that the first clamping piece 42 and the second clamping piece 43 shake and cause the device to be carried to fall and be damaged.

[0061] In a possible implementation of the structural design, the first clamping piece 42 has elasticity. The first clamping piece 42 can produce elastic displacement along the arrangement direction of the first clamping piece 42 and the second clamping piece 43.

[0062] In another possible implementation of the structural design, the second clamping piece 43 has elasticity, and the second clamping piece 43 can produce elastic displacement along the arrangement direction of the first clamping piece 42 and the second clamping piece 43.

[0063] In another possible structural design, the first clamping member 42 and the second clamping member 43 are both elastic, and can be elastically displaced along the arrangement direction of the first clamping member 42 and the second clamping member 43.

[0064] In this way, when the clamping assembly 40 needs to clamp the to-be-carried equipment, the to-be-carried equipment can be positioned between the first clamping member 42 and the second clamping member 43, the first clamping member 42 and the second clamping member 43 are elastically displaced along the arrangement direction of the first clamping member 42 and the second clamping member 43, the first clamping member 42 and the second clamping member 43 apply elastic forces to the to-be-carried equipment, so that the first clamping member 42 and the second clamping member 43 can clamp the to-be-carried equipment.

[0065] At this time, the pressure applied by the first clamping member 42 and the second clamping member 43 to the to-be-carried equipment when clamping the to-be-carried equipment can be adjusted by controlling the elastic force of the first clamping member 42 and the second clamping member 43. For example, the first clamping member 42 and the second clamping member 43 can be air bags, and the elastic force of the first clamping member 42 and the second clamping member 43 can be adjusted by adjusting the pressure of the gas in the air bags.

[0066] In some embodiments of the present application, the first clamping member 42 and the second clamping member 43 can move on the connecting surface 411 in a direction close to or away from each other.

[0067] The movement of the first clamping member 42 and the second clamping member 43 can be manually controlled or driven by a driving device, which is not limited in the present application.

[0068] In this way, the distance between the first clamping member 42 and the second clamping member 43 can be adjusted, and different sizes of to-be-carried equipment can be adapted by adjusting the distance between the first clamping member 42 and the second clamping member 43, thereby improving the applicability of the carrying equipment 100. The clamping force of the first clamping member 42 and the second clamping member 43 when clamping the to-be-carried equipment can also be adjusted by adjusting the distance between the first clamping member 42 and the second clamping member 43, thereby avoiding the to-be-carried equipment from falling and being damaged during carrying due to the clamping force of the clamping assembly 40 being too small, and also avoiding the to-be-carried equipment from being damaged due to excessive extrusion caused by the clamping force of the clamping assembly 40 being too large.

[0069] In a possible structural design, as shown in FIG. 4, the first clamping member 42 and the second clamping member 43 are connected to each other through a connecting surface 411. Figure 5 and Figure 6As shown in FIG. 1, the connecting surface 411 has a first sliding rail 412, the first clamping piece 42 is provided with a first sliding groove 421, the second clamping piece 43 is provided with a second sliding groove 431, and the first sliding groove 421 and the second sliding groove 431 are in sliding fit with the first sliding rail 412, so that the first clamping piece 42 and the second clamping piece 43 can slide along the extension direction of the first sliding rail 412.

[0070] In this way, the first clamping piece 42 and the second clamping piece 43 can slide along the extension direction of the first sliding rail 412, and the first clamping piece 42 and the second clamping piece 43 are prevented from deviating during movement, so that the first clamping piece 42 and the second clamping piece 43 cannot clamp the to-be-transported equipment, and the stability of movement of the first clamping piece 42 and the second clamping piece 43 is improved.

[0071] In a possible structural design, as shown in FIG. 1 and FIG. 2, Figure 6 and Figure 7 the connecting surface 411 further has a second sliding rail 413, the second sliding rail 413 is arranged in parallel with the first sliding rail 412 at intervals, the first clamping piece 42 is further provided with a third sliding groove 422, the second clamping piece 43 is further provided with a fourth sliding groove 432, and the third sliding groove 422 and the fourth sliding groove 432 are in sliding fit with the second sliding rail 413, so that the first clamping piece 42 and the second clamping piece 43 can slide along the extension direction of the second sliding rail 413.

[0072] In this way, the connecting surface 411 further has the second sliding rail 413, which is arranged in parallel with the first sliding rail 412 at intervals, so that the first clamping piece 42 and the second clamping piece 43 can slide along the extension direction of the first sliding rail 412, and the first sliding rail 412 and the second sliding rail 413 can make the connection between the first clamping piece 42 and the second clamping piece 43 and the connecting surface 411 more stable, and the first clamping piece 42 and the second clamping piece 43 are prevented from falling off during sliding.

[0073] In some embodiments of the present application, as shown in FIG. 1 and FIG. 2, Figure 8 the clamping assembly 40 further includes a driving piece 44, the driving piece 44 is connected with the first clamping piece 42 and connected with the second clamping piece 43, and is used for driving the first clamping piece 42 and the second clamping piece 43 to move.

[0074] The driving piece 44 can be a brush motor, a brushless motor, a stepper motor or a servo motor, and the present application does not make any limitation in this regard.

[0075] In addition, the first clamping piece 42 and the second clamping piece 43 can be driven by the same driving piece 44, or the first clamping piece 42 and the second clamping piece 43 can be driven by different driving pieces 44, and the present application does not make any limitation in this regard.

[0076] In this way, the driving member 44 can drive the first clamping member 42 and the second clamping member 43 to move, compared with manually controlling the first clamping member 42 and the second clamping member 43 to move, the driving member 44 can more accurately and effectively control the movement of the first clamping member 42 and the second clamping member 43, and the convenience and efficiency of the clamping assembly 40 are improved.

[0077] In a possible implementation, as shown in Figure 8 and Figure 9 , the driving member 44 includes a motor 441 and a transmission member 442, the motor 441 can drive the transmission member 442 to rotate, the first clamping member 42 and the second clamping member 43 are connected with the transmission member 442, and the driving member 44 can drive the first clamping member 42 and the second clamping member 43 to move simultaneously through the transmission member 442.

[0078] In this way, the driving member 44 can drive the first clamping member 42 and the second clamping member 43 to move simultaneously through the transmission member 442, without the need to set different driving members 44 for the first clamping member 42 and the second clamping member 43, and the production cost of the carrying device 100 is reduced.

[0079] In this way, the driving member 44 can drive the first clamping member 42 and the second clamping member 43 to move simultaneously through the transmission member 442, without the need to set different driving members 44 for the first clamping member 42 and the second clamping member 43, and the production cost of the carrying device 100 is reduced.

[0080] In some embodiments of the present application, as shown in Figure 10 , the visual detection assembly 50 is connected to the support member 41 and located on one side of the support member 41 in a first direction, the first direction is parallel to the connecting surface 411 and perpendicular to the arrangement direction of the first clamping member 42 and the second clamping member 43.

[0081] In this way, the visual detection assembly 50 can move with the clamping assembly 40, when the visual detection assembly 50 detects the position of the to-be-carried device, the clamping assembly 40 can clamp the to-be-carried device according to the detection result of the visual detection assembly 50, so that the clamping assembly 40 does not need to move a long distance, and the efficiency of the carrying device 100 is improved. By arranging the visual detection assembly 50 on one side of the support member 41 in the first direction, the support member 41 can avoid blocking the detection field of view of the visual detection assembly 50.

[0082] In this way, the visual detection assembly 50 can move with the clamping assembly 40, when the visual detection assembly 50 detects the position of the to-be-carried device, the clamping assembly 40 can clamp the to-be-carried device according to the detection result of the visual detection assembly 50, so that the clamping assembly 40 does not need to move a long distance, and the efficiency of the carrying device 100 is improved. By arranging the visual detection assembly 50 on one side of the support member 41 in the first direction, the support member 41 can avoid blocking the detection field of view of the visual detection assembly 50.

[0083] In some embodiments of the present application, as shown in Figure 10 and Figure 11As shown, the visual detection assembly 50 includes a mounting end 51 and a detection end 52 arranged oppositely, the mounting end 51 is connected to the support 41, and the detection end 52 is located on the side of the mounting end 51 facing the first clamping member 42, for detecting the position of the device to be carried, and the arrangement direction of the mounting end 51 and the detection end 52 is perpendicular to the connecting surface 411.

[0084] In this way, the detection end 52 is located on the side of the mounting end 51 facing the first clamping member 42, and when the detection end 52 detects the position of the device to be carried, not only can the detection field of the detection end 52 be avoided by the support 41, but also the arrangement direction of the mounting end 51 and the detection end 52 is perpendicular to the connecting surface 411, so that more parts of the device to be carried are located in the detection field of the detection end.

[0085] In some embodiments of the present application, as shown in Figure 12 As shown, the pressure detection assembly 60 is connected to the first clamping member 42, and the detection surface of the pressure detection assembly 60 can be in contact with the device to be carried.

[0086] In this way, the detection surface of the pressure detection assembly 60 is arranged to be in contact with the device to be carried, so that the detection surface can detect the pressure applied by the clamping assembly 40 to the device to be carried when the device to be carried is clamped, the pressure detection assembly 60 is connected to the first clamping member 42, and the pressure applied by the clamping assembly 40 to the device to be carried when the device to be carried is clamped can be detected at any time when the first clamping member 42 moves, so that the clamping force of the clamping assembly 40 when clamping the device to be carried can be controlled conveniently.

[0087] In some embodiments of the present application, as shown in

[0088] In a possible structural design, as shown in Figure 11 and Figure 13 As shown, the first clamping member 42 and the second clamping member 43 are both provided with the pressure detection assembly 60.

[0089] In this way, the pressure detection assembly 60 on the first clamping member 42 can detect the pressure applied by the clamping assembly 40 to the device to be carried when the device to be carried is clamped, and the pressure detection assembly 60 on the second clamping member 43 can detect the pressure applied by the clamping assembly 40 to the device to be carried when the device to be carried is clamped. The movement of the first clamping assembly 40 can be controlled according to the detection structure of the pressure detection assembly 60 on the first clamping member 42, and the movement of the second clamping assembly 40 can be controlled according to the detection structure of the pressure detection assembly 60 on the second clamping member 43, so that the movement of the first clamping assembly 40 and the second clamping assembly 40 can be controlled more accurately.

[0090] In some embodiments of the present application, as shown in Figure 11 and Figure 14As shown, the pressure detection assembly 60 is arranged on one side of the first clamping member 42 in the first direction, which is parallel to the connecting surface 411 and perpendicular to the arrangement direction of the first clamping member 42 and the second clamping member 43.

[0091] In this way, the pressure detection assembly 60 is arranged on one side of the first clamping member 42 in the first direction, and / or the pressure detection assembly 60 is arranged on one side of the second clamping member 43 in the first direction, which can avoid the first clamping member 42 colliding with the pressure detection assembly 60 during movement, causing damage to the pressure detection assembly 60. When the first clamping member 42 and the second clamping member 43 clamp the to-be-transported equipment, the to-be-transported equipment is located between the first clamping member 42 and the second clamping member 43, which can also avoid the to-be-transported equipment colliding with the pressure detection assembly 60, causing damage to the pressure detection assembly 60. In addition, the pressure detection assembly 60 is arranged on one side of the first clamping member 42 in the first direction, which has less space limitation when maintaining and replacing the pressure detection assembly 60, facilitating the maintenance and replacement of the pressure detection assembly 60.

[0092] In addition, the pressure detection assembly 60 can also be arranged on one side of the second clamping member 43 in the first direction, or the first clamping member 42 and the second clamping member 43 on one side in the first direction can be provided with the pressure detection assembly 60, which is not limited in the present application.

[0093] In some embodiments of the present application, the moving assembly 20 comprises a multi-axis robot.

[0094] In this way, the moving assembly 20 comprises a multi-axis robot, which can move in multiple directions, so that the moving assembly 20 can transport the to-be-transported equipment in different positions to a specified position, improving the convenience of the transport equipment 100 in transporting the to-be-transported equipment.

[0095] The multi-axis robot can be a three-axis robot, a four-axis robot, a five-axis robot, or a six-axis robot, etc., which is not limited in the present application.

[0096] In one possible implementation, as shown in Figure 16 The moving assembly 20 comprises a six-axis robot, and the six-axis robot is connected with the clamping assembly 40 through the connecting flange 21.

[0097] In this way, the six-axis robot has six rotating axes, which enable it to move flexibly in a complex three-dimensional space. The six-axis robot has the characteristics of high degree of freedom, flexible joints, and accurate action. Each joint of the six-axis robot can move independently and flexibly adapt to different working environments and task requirements. The six-axis robot can complete a complex motion path, so that the transport equipment 100 can move the to-be-transported equipment to any specified location within the moving range of the moving assembly 20, improving the applicability of the transport equipment 100.

[0098] The six-axis robot can move on six axes simultaneously, and such high-speed movement can improve the carrying efficiency of the moving assembly 20, thereby improving the efficiency of the carrying device 100.

[0099] In some embodiments of the present application, as shown in Figure 15 The clamping assembly 40 includes a first buffer 45 connected to one side of the first clamping member 42 facing the second clamping member 43, and a second buffer 46 connected to one side of the second clamping member 43 facing the first clamping member 42.

[0100] In addition, the first buffer 45 can be made of resin, fiber, silicone, thermoplastic elastomer, or polyurethane material, and the second buffer 46 can be made of resin, fiber, silicone, thermoplastic elastomer, or polyurethane material, which is not limited in the present application.

[0101] In addition, the first buffer 45 and the second buffer 46 can be made of the same material, or the first buffer 45 and the second buffer 46 can be made of different materials, which is not limited in the present application.

[0102] In this way, when the clamping assembly 40 clamps the device to be carried, the first clamping member 42 and the second clamping member 43 are relatively hard, the first buffer 45 can prevent the device to be carried from directly contacting the first clamping member 42, thereby preventing the first clamping member 42 from scratching the device to be carried, and the second buffer 46 can prevent the device to be carried from directly contacting the second clamping member 43, thereby preventing the second clamping member 43 from scratching the device to be carried.

[0103] In addition, the clamping assembly 40 can only be provided with the first buffer 45, or only be provided with the second buffer 46, which is not limited in the present application.

[0104] In one possible implementation, the first buffer 45 and the second buffer 46 are made of polyurethane material.

[0105] In this way, the polyurethane material has the advantages of good wear resistance, high mechanical strength, good adhesion, and high cost performance. The polyurethane material has good wear resistance, thereby prolonging the service life of the first buffer 45 and the second buffer 46. The polyurethane material has high mechanical strength and good adhesion, so that the first buffer 45 and the second buffer 46 can withstand a larger force, and the first clamping member 42 and the second clamping member 43 can clamp a device to be carried with a larger weight. The polyurethane material has high cost performance, which can reduce the overall production cost of the carrying device 100.

[0106] Although the application has been described in connection with the embodiments thereof with reference to the drawings, it will be apparent to those skilled in the art that various changes and modifications can be made thereto without departing from the application as set forth in the claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. A single processor or other unit can fulfil the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. The reference signs in the claims shall not be construed as limiting the claim concerned.

[0107] Although the application has been described in connection with specific embodiments thereof, it will be evident for a person skilled in the art that various modifications and combinations can be made thereto without departing from the application as set forth in the claims. Accordingly, the description and drawings are to be regarded as illustrative in nature and not as restrictive. It is apparent that various modifications and changes can be made to the application without departing from the scope thereof, as encompassed by the appended claims. Accordingly, the description and drawings are to be regarded as illustrative in nature and not as restrictive. It is apparent that various modifications and changes can be made to the application without departing from the scope thereof, as encompassed by the appended claims.

[0108] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A handling device, characterized in that The device comprises: a base; a moving assembly connected with the base and capable of moving relative to the base; a clamping assembly connected with the moving assembly and used for clamping a device to be carried; a visual detection assembly connected with the clamping assembly and used for detecting the position of the device to be carried; a pressure detection assembly connected with the clamping assembly and used for detecting the pressure applied by the clamping assembly to the device to be carried when the clamping assembly clamps the device to be carried.

2. A handling apparatus according to claim 1, wherein The clamping assembly comprises: a support connected with the moving assembly, the support comprising a connecting surface; a first clamping member connected to the connecting surface; a second clamping member connected to the connecting surface and spaced apart from the first clamping member.

3. A handling apparatus according to claim 2, wherein The first clamping member and the second clamping member are capable of moving on the connecting surface in a direction approaching or moving away from each other.

4. A handling apparatus according to claim 3, wherein The clamping assembly further comprises: a driving member connected with the first clamping member and the second clamping member and used for driving the first clamping member and the second clamping member to move.

5. The handling apparatus of claim 2, wherein The visual detection assembly is connected to the support and located on one side of the support in a first direction, the first direction being parallel to the connecting surface and perpendicular to the arrangement direction of the first clamping member and the second clamping member.

6. A handling apparatus according to claim 5, wherein The visual detection assembly comprises oppositely arranged mounting end and detection end, the mounting end is connected to the support, the detection end is located on one side of the mounting end facing the first clamping member, used for detecting the position of the device to be carried, the arrangement direction of the mounting end and the detection end is perpendicular to the connecting surface.

7. The handling apparatus of claim 2, wherein The pressure detection assembly is connected to the first clamping member and / or the second clamping member, and the detection surface of the pressure detection assembly is capable of contacting the device to be carried.

8. A handling apparatus according to claim 7, wherein The pressure detection assembly is arranged on one side of the first clamping member in a first direction, and / or the pressure detection assembly is arranged on one side of the second clamping member in a first direction; the first direction is parallel to the connecting surface and perpendicular to the arrangement direction of the first clamping member and the second clamping member.

9. A handling device according to any one of claims 2-8, c h a r a c t e r i s e d in that The moving assembly comprises a multi-axis robot; and / or, the clamping assembly comprises a first buffer connected to one side of the first clamping member facing the second clamping member; and / or, the clamping assembly comprises a second buffer connected to one side of the second clamping member facing the first clamping member.

10. A handling apparatus, characterised in that, The device comprises: a base; a moving assembly connected with the base and capable of moving relative to the base; a clamping assembly connected with the moving assembly; a visual detection assembly used for detecting the position of a device to be carried; a pressure detection assembly used for detecting the pressure applied by the clamping assembly to the device to be carried when the clamping assembly clamps the device to be carried; The moving assembly can drive the clamping assembly to move to the device to be carried and clamp the device to be carried according to the position detected by the visual detection assembly, and the clamping assembly can adjust the pressure applied to the device to be carried according to the pressure detected by the pressure detection assembly.

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