Conveying mechanism and conveying system

Abstract

The embodiment of the utility model provides a conveying mechanism and a conveying system.The conveying mechanism comprises a pair of inclined pushing driving pieces, a pair of bearing pieces and a pair of clamping pieces, the inclined pushing driving pieces and the bearing pieces are connected in a one-to-one correspondence mode, and the two inclined pushing driving pieces drive the two bearing pieces to move in the inclined direction and get close to each other correspondingly; the conveying mechanism is provided with two bearing parts and two clamping parts, the bearing surfaces of the two bearing parts support the bottoms of the two sides of a to-be-borne object respectively, the two clamping parts can be driven to get close to each other so as to clamp the to-be-borne object supported by the two bearing parts, the conveying mechanism is provided with a first working position and a second working position, and under the condition that the two bearing parts support the to-be-borne object and the two clamping parts clamp the to-be-borne object, the first working position and the second working position correspond to each other. The conveying mechanism can drive the object to be carried to move from the first working position to the second working position. The conveying system comprises a transfer robot and the conveying mechanism, and the transfer robot is used for transferring the to-be-borne object to the first working position and transferring the to-be-borne object located at the second working position. Through the arrangement, the stability of the to-be-borne object is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of conveying, and particularly relates to a conveying mechanism and a conveying system. BACKGROUND

[0002] In an industrial production line, conveying mechanisms such as conveying mechanisms and overturning driving members are usually used to convey products from one work position to another work position. However, before the products are conveyed, the stability of the products is poor. CONTENT OF THE UTILITY MODEL

[0003] The embodiments of the present application aim to provide a conveying mechanism and a conveying system, which can solve the problem of poor stability of a conveying mechanism in conveying products in the related art.

[0004] In a first aspect, the embodiments of the present application provide a conveying mechanism, which comprises a pair of oblique pushing driving members, a pair of supporting members and a pair of clamping members. The oblique pushing driving members are connected to the supporting members one by one. The two oblique pushing driving members drive the two supporting members to move obliquely and approach each other, so that the supporting surfaces of the two supporting members support the bottom of both sides of a to-be-carried object. The two clamping members can be driven to approach each other to clamp the to-be-carried object supported by the two supporting members.

[0005] The conveying mechanism has a first work position and a second work position. When the two supporting members support the to-be-carried object and the two clamping members clamp the to-be-carried object, the conveying mechanism can drive the to-be-carried object to move from the first work position to the second work position.

[0006] In a second aspect, the embodiments of the present application further provide a conveying system, which comprises a transfer robot and the conveying mechanism described above. The transfer robot is used to transfer the to-be-carried object to the first work position and transfer the to-be-carried object located at the second work position.

[0007] In the embodiments of the present application, the conveying mechanism not only clamps the to-be-carried object by the first clamping member and the second clamping member, but also supports the to-be-carried object by the supporting members. The to-be-carried object simultaneously bears the supporting force and the clamping force, which is beneficial to improve the stability of the to-be-carried object located at the first work position and beneficial to stably move the to-be-carried object from the first work position to the second work position. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 is a structural schematic view of the conveying mechanism disclosed by the embodiments of the present application;

[0009] Figure 2 is a structural schematic view of the conveying mechanism disclosed by the embodiments of the present application from another perspective;

[0010] Figure 3is a schematic view of the cooperation between the conveying mechanism and the to-be-carried object disclosed by the embodiment of the present application;

[0011] Figure 4 is a front view of the conveying mechanism disclosed by the embodiment of the present application;

[0012] Figure 5 is Figure 4 is a sectional view in the direction of D-D (also a sectional view of the conveying mechanism in the initial state);

[0013] Figure 6 is a sectional view of the conveying mechanism disclosed by the embodiment of the present application in the process that the two supporting members approach each other;

[0014] Figure 7 is a sectional view of the conveying mechanism and the to-be-carried object disclosed by the embodiment of the present application in the case that the supporting member supports the to-be-carried object;

[0015] Figure 8 is a sectional view of the conveying mechanism and the to-be-carried object disclosed by the embodiment of the present application in the case that the supporting member supports the to-be-carried object and the clamping member clamps the to-be-carried object;

[0016] Figure 9 is a sectional view of the conveying mechanism and the to-be-carried object disclosed by the embodiment of the present application in the case that the to-be-carried object is turned over by the turnover driving member;

[0017] Figure 10 is a sectional view of the conveying mechanism and the to-be-carried object disclosed by the embodiment of the present application in the case that the supporting member is away from the to-be-carried object;

[0018] Figure 11 is a sectional view of the transfer robot, the to-be-carried object and the conveying mechanism disclosed by the embodiment of the present application in the case that the transfer robot adsorbs the to-be-carried object;

[0019] Figure 12 is a sectional view of the transfer robot, the to-be-carried object and the conveying mechanism disclosed by the embodiment of the present application in the case that the transfer robot adsorbs the to-be-carried object and the two clamping members are away from each other;

[0020] Figure 13 is a sectional view of the conveying mechanism disclosed by the embodiment of the present application in the case that the to-be-carried object is transferred away and separated from the conveying mechanism;

[0021] Figure 14 is a schematic view of the cooperation between the conveying mechanism and the transfer robot disclosed by the embodiment of the present application;

[0022] Figure 15 is a structural schematic view of the conveying system disclosed by the embodiment of the present application.

[0023] Explanation of reference signs:

[0024] 10-conveying mechanism,

[0025] 100-inclined pushing driving member,

[0026] 200-supporting member,

[0027] 300-clamping driving member,

[0028] 400-clamping member, 410-clamping plate, 420-clamping block, 421-limiting groove,

[0029] 500-flipping driving member, 510-driving source, 520-reducer,

[0030] 600-flipping plate, 600a-opening, 600b-avoidance groove, 610-limiting structure,

[0031] 710-first supporting member, 711-driving shaft, 712-stopper, 720-second supporting member, 721-driven shaft, 721a-through hole, 722-bearing,

[0032] 800-sensing element,

[0033] 910-camera, 920-camera fixing seat, 921-first fixing seat, 921a-first slot-shaped hole, 922-second fixing seat, 922a-second slot-shaped hole, 923-third fixing seat, 923a-third slot-shaped hole, 930-light source,

[0034] A-first direction, B-second direction, C-third direction,

[0035] S-waiting to be carried object,

[0036] 20-working platform,

[0037] 30-conveying line,

[0038] 40-transfer robot, 41-sucker. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0040] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the objects before and after are in an "or" relationship.

[0041] The conveying mechanism and conveying system provided by the embodiments of the present application will be described in detail below with reference to specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0042] Please refer to Figures 1-15 The conveying mechanism 10 disclosed by the embodiments of the present application is used for conveying a to-be-carried object S. The conveying mechanism 10 comprises a pair of oblique pushing driving members 100, a pair of supporting members 200 and a pair of clamping members 400, wherein the oblique pushing driving members 100 are connected to the supporting members 200 one by one, the two oblique pushing driving members 100 drive the two supporting members 200 to move obliquely and approach each other, and the supporting surfaces of the two supporting members 200 support the bottom of the two sides of the to-be-carried object S, respectively.

[0043] Optionally, the two supporting members 200 are arranged oppositely and can support the to-be-carried object S from the two sides of the to-be-carried object S, respectively. The oblique pushing driving member 100 can be a cylinder, an electric cylinder, a linear module or the like which can generate linear displacement. The driving end of the oblique pushing driving member 100 can be connected to the supporting member 200 by welding, bonding or the like. The structures of the two supporting members 200 can be the same or different. The two oblique pushing driving members 100 can drive the corresponding supporting members 200 to move along the oblique direction, so that the two supporting members 200 not only approach each other, but also increase in height at the same time, thereby ensuring that the bottom of the to-be-carried object S can be supported.

[0044] The two clamping members 400 are arranged oppositely and can be driven to approach each other to clamp the to-be-carried object S supported by the two supporting members 200. Optionally, the clamping member 400 can be a clamping plate 410 or a clamping block 420. The embodiments of the present application do not limit the specific structure of the clamping member 400, and the two clamping members 400 can approach each other to clamp the to-be-carried object S. The clamping member 400 can be driven to move by the clamping driving member 300 or can be driven to move by a driving force provided by a component other than the conveying mechanism 10 or by manual force.

[0045] The conveying mechanism 10 has a first working position and a second working position. When the two supporting members 200 support the to-be-carried object S and the two clamping members 400 clamp the to-be-carried object S, the conveying mechanism 10 can drive the to-be-carried object S to move from the first working position to the second working position. Alternatively, the conveying mechanism 10 can drive the to-be-carried object S to move from the first working position to the second working position, or to rotate from the first working position to the second working position. The present application does not limit the first working position and the second working position, as long as, after the clamping members 400 and the supporting members 200 fix the to-be-carried object S, other components of the conveying mechanism 10 can drive the to-be-carried object S to move to different positions.

[0046] In the present application, the conveying mechanism 10 not only clamps the to-be-carried object S through the first clamping member 400 and the second clamping member 400, but also supports the to-be-carried object S through the supporting member 200. The to-be-carried object S is subjected to both the supporting force and the clamping force, which is conducive to improving the stability of the to-be-carried object S in the first working position and facilitating the to-be-carried object S to stably move from the first working position to the second working position.

[0047] In the present application, as shown in Figures 1-3 The conveying mechanism 10 further includes a turnover driving member 500 and a turnover plate 600. The turnover driving member 500 is used to turn over the to-be-carried object S. The oblique pushing driving member 100, the supporting member 200 and the clamping member 400 are all arranged on the turnover plate 600. Alternatively, the housing of the oblique pushing driving member 100 can be connected to the turnover plate 600 by welding, bonding or the like. The driving end of the oblique pushing driving member 100 drives the supporting member 200 to move relative to the turnover plate 600. The clamping member 400 can move relative to the turnover plate 600. The moving direction of the clamping member 400 is parallel to the plane on which the turnover plate 600 lies. Further alternatively, the clamping member 400 and the turnover plate 600 can be connected by a sliding connection of a matching slide rail and a slide block. The moving direction of the supporting member 200 intersects the plane on which the turnover plate 600 lies. The angles formed by the moving directions of the two supporting members 200 and the plane on which the turnover plate 600 lies are equal. Further alternatively, the angles formed by the moving directions of the two supporting members 200 and the plane on which the turnover plate 600 lies are 5°. Of course, other angles are also possible.

[0048] In this way, the turnover plate 600 provides a mounting basis for the oblique pushing driving member 100, the supporting member 200 and the clamping member 400. The turnover plate 600 can drive the oblique pushing driving member 100, the supporting member 200, the clamping member 400 and the to-be-carried object S to turn over together, so as to make the to-be-carried object S rotate from the first working position to the second working position.

[0049] Furthermore, the tilting drive 500 is connected to the tilting plate 600, and the tilting drive 500 drives the tilting plate 600 to rotate the inclined push drive 100, the support 200, and the clamping member 400 from the first working position to the second working position. Optionally, the tilting drive 500 includes a drive source 510 and a reducer 520. The output shaft of the drive source 510 is connected to the input shaft of the reducer 520, which is used to reduce the rotation speed. The output shaft of the reducer 520 is connected to the tilting plate 600. When the drive source 510 is working, it drives the tilting plate 600 to rotate through the reducer 520, thereby causing the tilting plate 600 to rotate the inclined push drive 100, the support 200, and the clamping member 400 from the first working position to the second working position. Of course, the drive source 510 can be a drive motor, a pneumatic motor, or other drive components that can provide rotational power.

[0050] Optionally, the output shaft of the reducer 520 can be directly connected to the tilting plate 600 by welding, bonding or other means. Alternatively, the output shaft of the reducer 520 can be indirectly connected to the tilting plate 600 by the drive shaft 711 mentioned later. The output shaft of the reducer 520 and the drive shaft 711, and the drive shaft 711 and the tilting plate 600 can be connected by welding, bonding or other means.

[0051] In this embodiment, the flipping drive 500 drives the flipping plate 600 to rotate various components and the object to be carried S, so that the object to be carried S can be quickly and accurately rotated from the first working position to the second working position, which is beneficial to improving the transport efficiency of the transport mechanism 10.

[0052] Of course, in other embodiments, the flipping drive 500 can be replaced by a handle connected to the flipping plate 600, and the handle can be driven by manual force to rotate the flipping plate 600.

[0053] In a further embodiment, reference is made to... Figure 3 As shown, the flip plate 600 has an opening 600a, which is used to avoid the object S to be carried. The opening 600a can be square, circular, etc., and the specific shape of the opening 600a is not limited in this embodiment. Two oblique push drive members 100 are respectively located on opposite sides of the opening 600a of the flip plate 600. When the two support members 200 support the object S to be carried and the two clamping members 400 clamp the object S to be carried, the object S to be carried is located at the opening 600a. Optionally, the opening 600a is located in the middle of the flip plate 600, that is, the flip plate 600 has a closed structure; the oblique push drive members 100 and the support members 200 are located below the flip plate 600. As the two support members 200 approach each other, they will also gradually rise and approach the opening 600a. Both clamping members 400 are located at the opening 600a.

[0054] In this embodiment, the flip plate 600 avoids the object to be carried S by setting an opening 600a, which facilitates the two clamping members 400 to clamp the object to be carried S and the supporting member 200 to support the object to be carried S, and avoids the flip plate 600 from affecting the clamping process of the clamping member 400 and the movement process of the supporting member 200.

[0055] Of course, in other embodiments, the flip plate 600 may not have an opening 600a. The flip plate 600 serves only as the mounting base for the inclined push drive 100 and the clamping member 400. The inclined push drive 100, the support member 200 and the clamping member 400 are all located on the same side of the flip plate 600.

[0056] In one optional embodiment, each clamping member 400 includes a clamping plate 410, with the two clamping plates 410 arranged opposite to each other, and the two clamping plates 410 respectively directly contacting the two opposite sides of the object to be carried S.

[0057] In another embodiment, reference Figure 3 As shown, each clamping component 400 further includes at least two clamping blocks 420, which are disposed on the clamping plate 410. The two clamping blocks 420 are arranged opposite to each other, and each clamping block 420 is provided with a limiting groove 421 for the object to be carried S to extend into. The clamping blocks 420 and the clamping plate 410 can be fixedly connected by welding, bonding, bolting or other methods.

[0058] Optionally, there are two clamping blocks 420, which are located at both ends of the clamping plate 410. The clamping blocks 420 can be, but are not limited to, a square structure. This application embodiment does not limit the specific shape of the clamping blocks 420. The shapes of each clamping block 420 can be the same or different. Each clamping block 420 is provided with a limiting groove 421. The limiting groove 421 can be a square groove, an arc groove, etc. This application embodiment does not limit the specific shape of the limiting groove 421. The specific shape of the limiting groove 421 can be determined according to the structure of the object S to be supported, as long as the edge of the object S to be supported can extend into the limiting groove 421.

[0059] In this embodiment, the clamping member 400 is further provided with at least two clamping blocks 420, so that the at least two clamping blocks 420 respectively contact different positions of the object to be carried S, which is beneficial to improving the clamping stability. Moreover, the object to be carried S can extend into the limiting groove 421 and contact the object to be carried S through the limiting groove 421, which increases the contact area between the clamping block 420 and the object to be carried S, which is beneficial to further improve the clamping stability and prevent the object to be carried S from detaching from the clamping member 400.

[0060] In an optional embodiment, refer to Figure 1 and Figure 3As shown, the turnover plate 600 is provided with a limiting structure 610 located at the edge of the opening 600a, and the limiting structure 610 is used for limiting cooperation with the to-be-carried object S. Optionally, the limiting structure 610 can be a limiting block, a limiting strip or the like, and the specific shape of the limiting structure 610 is not limited in the embodiment of the application. Further optionally, the limiting structure 610 can be fixedly connected with the turnover plate 600 by welding, bonding, bolt connection or the like, so that the position of the limiting structure 610 relative to the turnover plate 600 is fixed.

[0061] By adopting the embodiment, the conveying mechanism 10 is additionally provided with the limiting structure 610, the to-be-carried object S is limited by the limiting structure 610, and the to-be-carried object S in the supporting state and the clamping state is prevented from being displaced relative to the turnover plate 600, which is beneficial to further improve the stability of the to-be-carried object S.

[0062] In a further embodiment, the number of limiting structures 610 can be one; or the number of limiting structures 610 is multiple, and the multiple limiting structures 610 are respectively distributed in a direction in which the edges of the opening 600a extend. Optionally, along the length direction of the turnover plate 600, the two sides of each clamping piece 400 are provided with the limiting structure 610, and along the width direction of the turnover plate 600, the two edges of the opening 600a are also provided with the limiting structure 610.

[0063] Compared with the previous embodiment, the number of limiting structures 610 is increased, and the multiple limiting structures 610 respectively limit the to-be-carried object S from different directions, so that the to-be-carried object S in the supporting state and the clamping state is prevented from being displaced relative to the turnover plate 600, which is beneficial to further improve the stability of the to-be-carried object S.

[0064] In an optional embodiment, the conveying mechanism 10 further includes a pair of clamping driving pieces 300, the clamping driving pieces 300 are arranged on the turnover plate 600, and the clamping driving pieces 300 are respectively connected with the clamping pieces 400 in one-to-one correspondence, and the two clamping driving pieces 300 respectively drive the two clamping pieces 400 to move close to or away from each other.

[0065] Optionally, the clamping driving piece 300 can be a cylinder, an electric cylinder, a linear module or the like driving piece capable of generating linear displacement, the structures of the two clamping driving pieces 300 can be the same or different, and the driving directions of the two clamping driving pieces 300 are the same, so that the two clamping pieces 400 move close to or away from each other in opposite directions. The driving end of each clamping driving piece 300 and the corresponding clamping piece 400, and the shell of the two clamping driving pieces 300 and the turnover plate 600 can be fixedly connected by welding, bonding, bolt connection or the like.

[0066] In this way, the conveying mechanism 10 is additionally provided with the clamping driving members 300, and the clamping driving members 300 are used to drive the clamping members 400 to move, so that the two clamping members 400 can quickly clamp the to-be-carried object S, and the transfer efficiency of the to-be-carried object S is improved.

[0067] In a further embodiment, the driving forces of the two clamping driving members 300 are different. Alternatively, the two clamping driving members 300 are both air cylinders, and the cylinder diameter of one air cylinder can be greater than the cylinder diameter of the other air cylinder, so that the driving force of one air cylinder is greater than the driving force of the other air cylinder. Of course, the clamping driving members 300 can also be of other types.

[0068] With the embodiment, the driving forces of the two clamping driving members 300 are different, so that, when the to-be-carried object S is clamped, the position of the driving end of the clamping driving member 300 with the greater clamping driving force is usually taken as the reference, the reference of the to-be-carried object S in the clamped state is ensured to be unique, and the clamping stability and the clamping accuracy of the to-be-carried object S are improved.

[0069] Of course, in other embodiments, the two clamping driving members 300 have the same structure, and the driving forces of the two clamping driving members 300 are equal.

[0070] In the scheme of the present application, the conveying mechanism 10 is combined with the clamping mechanism 100, the conveying mechanism 10 is combined with the clamping mechanism 100, and the conveying mechanism 10 is combined with the clamping mechanism 100. Figures 1-4 As shown in FIG. 7, the conveying mechanism 10 further includes a first support 710, a second support 720, a driving shaft 711, and a driven shaft 721. The first support 710 and the second support 720 are opposite to each other, and the turnover plate 600 is located between the first support 710 and the second support 720. The first support 710 and the second support 720 provide a mounting basis for the driving shaft 711, the driven shaft 721, the turnover driving mechanism, and the turnover plate 600. The first support 710 and the second support 720 can be support plates, support frames, or the like. The structure of the first support 710 and the second support 720 is not limited in the embodiments of the present application, and the structure of the first support 710 and the second support 720 can be the same or different.

[0071] Specifically, the axis of the driving shaft 711 is collinear with the axis of the driven shaft 721. As shown in FIG. 7, the first support 710 is provided with a first shaft hole, and the driving shaft 711 penetrates through the first shaft hole and rotationally cooperates with the first shaft hole. The second support 720 is provided with a second shaft hole, and the driven shaft 721 penetrates through the second shaft hole and rotationally cooperates with the second shaft hole. Figure 1 Figure 3 Specifically, the axis of the driving shaft 711 is collinear with the axis of the driven shaft 721. As shown in FIG. 7, the first support 710 is provided with a first shaft hole, and the driving shaft 711 penetrates through the first shaft hole and rotationally cooperates with the first shaft hole. The second support 720 is provided with a second shaft hole, and the driven shaft 721 penetrates through the second shaft hole and rotationally cooperates with the second shaft hole.

[0072] ​The tilting drive 500 is connected to the tilting plate 600 via the drive shaft 711 and the driven shaft 721. Optionally, the output shaft of the reducer 520 can be fixedly connected to the drive shaft 711, the drive shaft 711 to the tilting plate 600, and the driven shaft 721 to the tilting plate 600 by welding, bonding, bolting, or other methods.

[0073] With this configuration, the first support member 710 and the second support member 720 provide rotational support for the drive shaft 711 and the driven shaft 721, respectively, thereby enabling the drive shaft 711 and the driven shaft 721 to drive the flipping plate 600 and its components to rotate together, ensuring the flipping stability of the object S to be carried.

[0074] In a further embodiment, reference is made to... Figure 1 and Figure 3 As shown, the driven shaft 721 is provided with a through hole 721a for wiring. The cable passing through the through hole 721a can be used to connect to the inclined push drive 100, the clamping drive 300, etc. Optionally, the through hole 721a can be a square hole, a circular hole, etc., and the shape of the through hole 721a is not limited in this embodiment. The through hole 721a can extend along the axial direction of the driven shaft 721, and the axis of the through hole 721a is collinear with the axis of the driven shaft 721.

[0075] In this embodiment, the driven shaft 721 adopts a hollow structure, and through holes 721a are provided to facilitate cable routing, avoiding problems such as tangling and knotting of the cable during the flipping process, which would affect the electrical connection, and thus facilitate the smooth transportation process.

[0076] In an optional embodiment, refer to Figure 1 As shown, the first support member 710 is also provided with a stop member 712. The stop member 712 is located on the side of the first support member 710 facing the flip plate 600, that is, the stop member 712 and the flip plate 600 are located on the same side of the first support member 710, and the stop member 712 and the flip plate 600 can be engaged in a limiting fit in the rotation direction of the flip plate 600. Optionally, the stop member 712 can be a block structure, specifically a cubic structure, a cylindrical structure, etc., and the stop member 712 and the first support plate can be fixedly connected by welding, bonding, or other methods.

[0077] In this embodiment, during the rotation of the flip plate 600, the stop 712 can make a limiting contact with the flip plate 600 to prevent the flip plate 600 from continuing to rotate, thus preventing the rotation angle of the flip plate 600 from exceeding the set range and preventing the flip plate 600 from rotating excessively.

[0078] In a further embodiment, reference is made to... Figure 3As shown, one side edge of the turnover plate 600 is provided with an avoiding groove 600b for avoiding the stopper 712. The side edge of the turnover plate 600 is along the clamping direction of the two clamping members 400, that is, along the width direction of the turnover plate 600. In this way, during the rotation of the turnover plate 600, the avoiding groove 600b can avoid the stopper 712, so that the turnover plate 600 continues to rotate, and the other side edge of the turnover plate 600 is limited by the stopper 712 to limit the turnover plate 600.

[0079] Optionally, when the turnover plate 600 is rotated by 90° from the horizontal state to the vertical state, the stopper 712 passes through the avoiding groove 600b, and the turnover plate 600 continues to rotate by 180° so that the other side edge of the turnover plate 600 is limited by the stopper 712, thereby avoiding the continuous rotation of the turnover plate 600. Therefore, the rotation angle range of the turnover plate 600 is 270°.

[0080] In the optional embodiment, referring to Figure 1 and Figure 3 As shown, the bearing 722 is arranged between the driving shaft 711 and the first shaft hole of the first support 710, and between the driven shaft 721 and the second shaft hole of the second support 720. The bearing 722 can be a deep groove ball bearing or other types of bearing 722. In this way, the bearing 722 is beneficial to reduce the rotation friction and ensure the smooth rotation of the turnover plate 600.

[0081] In the scheme of the present application, referring to Figures 1-3 As shown, the conveying mechanism 10 further comprises a sensing element 800 for sensing the rotation position of the turnover plate 600. The sensing element 800 is in communication connection with the turnover driving member 500. Optionally, the sensing element 800 and the turnover driving member 500 are in communication connection through an electric connection line. Further optionally, the sensing element 800 and the turnover driving member 500 are respectively in communication connection with a controller. The controller controls the turnover driving member 500 according to the information sensed by the sensing element 800.

[0082] Specifically, when the sensing element 800 senses that the turnover plate 600 is rotated to a preset position, it indicates that the turnover plate 600 is rotated to the position, and the turnover driving member 500 stops working. When the sensing element 800 senses that the turnover plate 600 is not rotated to the preset position, it indicates that the turnover plate 600 is not rotated to the position, and the turnover driving member 500 continues to work. It should be noted that the preset position is a position of the turnover plate 600 set by the user according to needs.

[0083] Optionally, the sensing element 800 can include an inductive sheet, a photoelectric emitter and a photoelectric receiver, the photoelectric emitter and the photoelectric receiver are oppositely arranged, both of which are arranged on the first support 710, and the inductive sheet is arranged on the edge of the turnover plate 600, and the inductive sheet moves relative to the photoelectric emitter and the photoelectric receiver during the rotation of the turnover plate 600. In the case that the sensing element 800 senses that the turnover plate 600 is rotated to the preset position, the inductive sheet is located between the photoelectric emitter and the photoelectric receiver, and the photoelectric signal emitted by the photoelectric emitter is blocked by the inductive sheet and received by the photoelectric receiver; in the case that the sensing element 800 senses that the turnover plate 600 is not rotated to the preset position, the inductive sheet is not located between the photoelectric emitter and the photoelectric receiver, and the photoelectric signal emitted by the emitter is smoothly received by the photoelectric receiver. Of course, the sensing element 800 can also be other elements such as a position sensor, which can detect the rotation position of the turnover plate 600.

[0084] By adopting the embodiment, the conveying mechanism 10 is additionally provided with the sensing element 800, the sensing element 800 is in communication connection with the turnover driving element 500, so that the working state of the turnover driving element 500 is adjusted in time according to the sensing information of the sensing element 800, without the need for manual control of the turnover driving element 500, which is beneficial to timely and accurate rotation of the turnover plate 600 to the preset position, and improves the conveying efficiency.

[0085] Of course, in other embodiments, the conveying mechanism 10 can not be provided with the sensing element 800, and the user can directly control the rotation driving element.

[0086] In the embodiment, the number of the sensing element 800 is three, which are respectively used for sensing two limit positions and an initial position of the turnover plate 600.

[0087] In the scheme of the present application, the conveying mechanism 10 is provided with the sensing element 800, and the sensing element 800 is in communication connection with the turnover driving element 500, so that the working state of the turnover driving element 500 is adjusted in time according to the sensing information of the sensing element 800, without the need for manual control of the turnover driving element 500, which is beneficial to timely and accurate rotation of the turnover plate 600 to the preset position, and improves the conveying efficiency. Figures 1-3 As shown in the figure, the conveying mechanism 10 further includes a camera 910 and a camera fixing seat 920, the camera fixing seat 920 is used for mounting the camera 910, the camera 910 is used for shooting the to-be-carried object S, the camera 910 is arranged on the camera fixing seat 920, and the position of the camera 910 relative to the camera fixing seat 920 is adjustable.

[0088] Optionally, the camera 910 and the camera fixing seat 920 are located below the turnover plate 600, and the camera 910 is opposite to the opening 600a; the camera 910 can move relative to the camera fixing seat 920, and specifically can be connected in sliding mode through matched sliding rails and sliding blocks, or the camera 910 can rotate relative to the camera fixing seat 920, and specifically can be connected in rotating mode through a rotating shaft or the like.

[0089] In this embodiment, the conveying mechanism 10 is additionally provided with a camera 910, which is used to take pictures of the to-be-carried object S in the second working position, so as to guide the transfer robot 40 to accurately grasp the to-be-carried object S. The camera 910 can also take pictures of the turnover plate 600, so as to guide the transfer robot 40 to accurately place the to-be-carried object S in the first working position. Moreover, after the transfer robot 40 accurately grasps the to-be-carried object S and makes the to-be-carried object S depart from the second working position, the camera 910 can take pictures of the to-be-carried object S to confirm the compensation position, so that the to-be-carried object S is accurately located in the focal position of the camera 910, thereby improving the transfer accuracy.

[0090] Optionally, the conveying mechanism 10 further comprises a light source 930, which is arranged on the camera 910 and is used to illuminate the camera environment of the camera 910, so as to ensure the brightness of the camera.

[0091] In an optional embodiment, the camera fixing seat 920 comprises a first fixing seat 921, the camera 910 is arranged on the first fixing seat 921, and the camera 910 is movable relative to the first fixing seat 921 along a first direction A.

[0092] In another embodiment, as shown in Figure 1 the camera fixing seat 920 further comprises a second fixing seat 922 and a third fixing seat 923, the first fixing seat 921 is arranged on the second fixing seat 922, and the first fixing seat 921 is movable relative to the second fixing seat 922 along a second direction B, the second fixing seat 922 is arranged on the third fixing seat 923, and the second fixing seat 922 is movable relative to the third fixing seat 923 along a third direction C.

[0093] The first direction A intersects with the second direction B, and the third direction C intersects with the first direction A and the second direction B, respectively. Optionally, the first direction A is perpendicular to the second direction B, and the third direction C is perpendicular to the first direction A and the second direction B, respectively. Of course, the first direction A and the second direction B can also intersect but not be perpendicular, and the third direction C intersects with the first direction A and the second direction B respectively and is not perpendicular.

[0094] Optionally, the camera 910 is connected with a mounting plate, the first fixing seat 921 is provided with a first slot 921a along the first direction A, a first fastener is penetrated through the first slot 921a and extends into the mounting plate, so that the camera 910 is relatively fixed with the first fixing seat 921, when the first fastener is loosened and separated from the mounting plate, the first fastener can slide along the first slot 921a, and the camera 910 moves relative to the first fixing seat 921 along the first direction A, so as to adjust the position of the camera 910 along the first direction A; similarly, the second fixing seat 922 is provided with a second slot 922a along the second direction B, a second fastener is penetrated through the second slot 922a and extends into the first fixing seat 921, so that the camera 910 is relatively fixed with the second fixing seat 922, when the second fastener is loosened and separated from the first fixing seat 921, the second fastener can slide along the second slot 922a, and the camera 910 moves relative to the second fixing seat 922 along the second direction B, so as to adjust the position of the camera 910 along the second direction B; the third fixing seat 923 is provided with a third slot 923a along the third direction C, a third fastener is penetrated through the third slot 923a and extends into the second fixing seat 922, so that the camera 910 is relatively fixed with the third fixing seat 923, when the third fastener is loosened and separated from the second fixing seat 922, the third fastener can slide along the third slot 923a, and the camera 910 moves relative to the third fixing seat 923 along the third direction C, so as to adjust the position of the camera 910 along the third direction C.

[0095] The first fastener, the second fastener and the third fastener can be bolts, screws or other threaded fasteners. Of course, the first fixing seat 921 and the mounting plate, the second fixing seat 922 and the first fixing seat 921, and the third fixing seat 923 and the second fixing seat 922 can also be connected by other structures.

[0096] By adopting the embodiment, the conveying mechanism 10 is further provided with the second fixing seat 922 and the third fixing seat 923, so that the camera 910 can move along different directions, which is beneficial to increase the position adjustment range of the camera 910, and is more beneficial to accurately adjust the position of the camera 910, so that the camera 910 can more accurately shoot the to-be-carried object S.

[0097] Based on the conveying mechanism 10 disclosed in the present application, the present embodiment further discloses a conveying system, referring to FIG. 4, the conveying system comprises the conveying mechanism 10 and a transfer robot 40, the transfer robot 40 is used for transferring the to-be-carried object S to the first working position and transferring the to-be-carried object S located at the second working position. Figure 14 Optionally, referring to FIGS. 4 and 5, the transfer robot 40 comprises a robot body 41, a first transfer arm 42 and a second transfer arm 43, the first transfer arm 42 and the second transfer arm 43 are arranged on the robot body 41, and the first transfer arm 42 and the second transfer arm 43 are used for transferring the to-be-carried object S.

[0098] Figure 11 and Figure 12 ​As shown, the transfer robot 40 can be an industrial robot, and embodiments of the present application do not limit the specific structure of the transfer robot 40; the transfer robot 40 is provided with a suction cup 41, and the transfer robot 40 sucks the to-be-carried object S through the suction cup 41 to transfer the to-be-carried object S to the first working position and make the to-be-carried object S leave the second working position.

[0099] In this way, the conveying system stably clamps the to-be-carried object S through the first clamping member 400 and the second clamping member 400, and supports the to-be-carried object S through the support member 200, thereby improving the stability of the to-be-carried object S at the first working position and facilitating the to-be-carried object S to be stably moved from the first working position to the second working position. Moreover, the to-be-carried object S is further transferred by the transfer robot 40, thereby improving the transfer efficiency and saving manpower.

[0100] In optional embodiments, referring to Figure 15 As shown, the conveying system further includes a working platform 20 and a conveying line 30; the working platform 20 serves as a mounting base, and the conveying line 30, the transfer robot 40 and the conveying mechanism 10 are all arranged on the working platform 20; the conveying line 30 can be a conveying belt and is specifically used for conveying the to-be-carried object S to a position where the to-be-carried object S can be transferred by the transfer robot 40, and then the to-be-carried object S is further transferred by the transfer robot 40 to the first working position; the turnover driving member 500 of the conveying mechanism 10 drives the turnover plate 600 to rotate, so that the to-be-carried object S is flipped from the first working position to the second working position, and finally the to-be-carried object S is transferred by the transfer robot 40 to leave the second working position.

[0101] In summary, the working process of the conveying mechanism 10 in embodiments of the present application is described based on the sectional view along the D-D direction of the structure in Figure 4 Firstly, referring to the sectional view of the conveying mechanism 10 in the initial state shown in Figure 5 At this time, the two support members 200 are far away from each other and are at a low height, the two clamping members 400 are far away from each other, and the clamping driving member 300 and the inclined pushing driving member 100 are not working; referring to Figure 6 As shown, the two inclined pushing driving members 100 respectively drive the corresponding support members 200 to move, and the two support members 200 approach each other and increase in height; then referring to Figure 7 As shown, the transfer robot 40 transfers the to-be-carried object S to the first working position, and at this time, the two support members 200 respectively support the bottom of the two sides of the to-be-carried object S; further referring to Figure 8 As shown, the two clamping driving members 300 respectively drive the corresponding clamping members 400 to move, and the two clamping members 400 approach each other to clamp the to-be-carried object S, and at the same time, the to-be-carried object S extends into the limiting groove 421 of the clamping block 420, and at this time, the to-be-carried object S is in the clamped state and the supported state.

[0102] The turnover driving member 500 works, the turnover driving member 500 drives the turnover plate 600 and the upper part thereof to overturn, the clamping member 400 and the supporting member 200 also drive the to-be-carried object S to overturn to a second working position (may be overturned by 180°), that is Figure 9 The supporting member 200 is located above the to-be-carried object S at this time; further referring to Figure 10 The two inclined pushing driving members 100 respectively drive the corresponding supporting members 200 to move, the two supporting members 200 respectively move away from each other and increase in height, the supporting member 200 is separated from the to-be-carried object S, so as to make the supporting member 200 to avoid space for the subsequent transfer robot 40 to transfer the to-be-carried object S; then the camera 910 shoots the position of the to-be-carried object S, so as to guide the transfer robot 40 to accurately grab the to-be-carried object S from above the conveying mechanism 10, and the transfer robot 40 can optionally adsorb the to-be-carried object S through the suction cup 41, referring to Figure 11 The clamping driving member 300 respectively drives the corresponding clamping member 400 to move, the two clamping members 400 move away from each other to release the to-be-carried object S, referring to Figure 12 At this time, the transfer robot 40 can smoothly transfer the to-be-carried object S, the to-be-carried object S leaves the second working position, and the schematic diagram of the conveying mechanism 10 after the to-be-carried object S leaves is shown in Figure 13 Finally, the turnover driving member 500 drives the turnover plate 600 and the upper part thereof to overturn, so that the turnover plate 600 and the upper part thereof return to the original position, referring to Figure 5 .

[0103] The conveying mechanism 10 can continue the conveying process of the to-be-carried object S in the next round.

[0104] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, the above-mentioned specific embodiments are only illustrative, but not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, all of which belong to the protection of the present application.

Claims

1. A transport mechanism (10) characterized by, The device comprises a pair of inclined pushing driving members (100), a pair of supporting members (200) and a pair of clamping members (400), the inclined pushing driving members (100) are connected with the supporting members (200) one by one, the two inclined pushing driving members (100) drive the two supporting members (200) to move obliquely and approach each other, the supporting surfaces of the two supporting members (200) support the two side bottoms of the to-be-supported object (S) respectively, and the two clamping members (400) can be driven to approach each other to clamp the to-be-supported object (S) supported by the two supporting members (200), The conveying mechanism (10) has a first working position and a second working position, and when the two supporting members (200) support the to-be-supported object (S) and the two clamping members (400) clamp the to-be-supported object (S), the conveying mechanism (10) can drive the to-be-supported object (S) to move from the first working position to the second working position.

2. The transport mechanism of claim 1, wherein, The conveying mechanism (10) further comprises a turnover driving member (500) and a turnover plate (600), the inclined pushing driving members (100), the supporting members (200) and the clamping members (400) are arranged on the turnover plate (600), the turnover driving member (500) is connected with the turnover plate (600), and the turnover driving member (500) drives the turnover plate (600) to drive the inclined pushing driving members (100), the supporting members (200) and the clamping members (400) to rotate from the first working position to the second working position.

3. The transport mechanism of claim 2, wherein, The turnover plate (600) is provided with an opening (600a), and the two inclined pushing driving members (100) are located on opposite sides of the opening (600a) respectively, When the two supporting members (200) support the to-be-supported object (S) and the two clamping members (400) clamp the to-be-supported object (S), the to-be-supported object (S) is located at the opening (600a).

4. The transport mechanism of claim 3, wherein, Each clamping member (400) comprises a clamping plate (410) and at least two clamping blocks (420), the at least two clamping blocks (420) are arranged on the clamping plate (410), the two clamping blocks (420) are arranged oppositely, and the clamping blocks (420) are provided with limiting grooves (421) for the to-be-supported object (S) to extend into; And / or, the turnover plate (600) is provided with a limiting structure (610), the limiting structure (610) is located at the edge of the opening (600a), and the limiting structure (610) is used for limiting cooperation with the to-be-supported object (S).

5. The transport mechanism of claim 2, wherein, The conveying mechanism (10) further comprises a pair of clamping driving members (300), the clamping driving members (300) are arranged on the turnover plate (600), the clamping driving members (300) are connected with the clamping members (400) one by one, the two clamping driving members (300) drive the two clamping members (400) to approach or move away from each other respectively, and the driving forces of the two clamping driving members (300) are different.

6. The transport mechanism of claim 2, wherein, The conveying mechanism (10) further comprises a first support (710), a second support (720), a driving shaft (711) and a driven shaft (721), the first support (710) and the second support (720) are opposite, the turnover plate (600) is located between the first support (710) and the second support (720), the first support (710) is provided with a first shaft hole, the driving shaft (711) penetrates through the first shaft hole and is rotationally matched with the first shaft hole, the second support (720) is provided with a second shaft hole, the driven shaft (721) penetrates through the second shaft hole and is rotationally matched with the second shaft hole, The turnover driving member (500) is connected with the turnover plate (600) through the driving shaft (711), the driven shaft (721) is connected with the turnover plate (600), and the driven shaft (721) is provided with a through hole (721a) for wiring.

7. The transport mechanism of claim 2, wherein, The conveying mechanism (10) further comprises a sensing element (800) for sensing the rotation position of the turnover plate (600), and the sensing element (800) is in communication connection with the turnover driving member (500), In the case that the sensing element (800) senses that the turnover plate (600) rotates to a preset position, the turnover driving member (500) stops working.

8. The transport mechanism of claim 1, wherein, The conveying mechanism (10) further comprises a camera (910) and a camera fixing seat (920), the camera (910) is used for shooting the to-be-carried object (S), the camera (910) is arranged on the camera fixing seat (920), and the position of the camera (910) relative to the camera fixing seat (920) is adjustable.

9. The transport mechanism of claim 8, wherein, The camera fixing seat (920) comprises a first fixing seat (921), a second fixing seat (922) and a third fixing seat (923), the camera (910) is arranged on the first fixing seat (921), and the camera (910) can move relative to the first fixing seat (921) along a first direction (A), the first fixing seat (921) is arranged on the second fixing seat (922), and the first fixing seat (921) can move relative to the second fixing seat (922) along a second direction (B), the second fixing seat (922) is arranged on the third fixing seat (923), and the second fixing seat (922) can move relative to the third fixing seat (923) along a third direction (C), The first direction (A) intersects with the second direction (B), and the third direction (C) intersects with the first direction (A) and the second direction (B) respectively.

10. A transport system characterized in that, The conveying mechanism (10) comprises a transfer robot (40) and the conveying mechanism (10) of any one of claims 1-9, and the transfer robot (40) is used for transferring the to-be-carried object (S) to the first working position and transferring the to-be-carried object (S) located at the second working position.

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