Transfer device and machining equipment

Abstract

The utility model discloses a transfer device and machining equipment, the transfer device comprises a conveying mechanism and a material taking mechanism, and the transfer device comprises a carrying table for carrying workpieces, a first driving module in driving connection with the carrying table, and an adjusting part for connecting the carrying table and the first driving module. The material taking mechanism comprises a mechanical arm arranged above the conveying mechanism, an adsorption piece arranged at the execution end of the mechanical arm, and an elastic piece connected with the adsorption piece and the execution end. The transferring distance of the transferring device can be increased through cooperation of the conveying mechanism and the mechanical arm, meanwhile, the position of the carrying table at the driving end of the first driving module can be conveniently and rapidly adjusted through arrangement of the adjusting piece, and the carrying table can be rapidly in butt joint with external equipment; in addition, the arrangement of the elastic piece enables the adsorption piece to be in elastic butt joint with the workpiece when the adsorption piece sucks the workpiece, and equipment or workpiece damage caused by rigid contact is avoided.

Description

Technical Field

[0001] This application relates to the field of automated equipment, and in particular to a transfer device and processing equipment. Background Technology

[0002] In today's efficiency-driven society, automated equipment is increasingly widely used. Robotic arms, as a common type of product handling device, possess advantages such as high efficiency, accuracy, reliability, and space saving, and are widely found in automated equipment. However, in some working conditions, due to the limited operating range of robotic arms, they cannot grasp and transport workpieces over long distances. Utility Model Content

[0003] This application proposes a transfer device and processing equipment that can transfer workpieces over long distances.

[0004] This application proposes a transfer device, comprising:

[0005] The conveying mechanism includes a platform for carrying a workpiece, a first drive module drivenly connected to the platform, and an adjusting component connecting the platform and the first drive module; the adjusting component is used to adjust the position of the platform; the platform is also provided with an air passage inside, and the bearing surface of the platform is also provided with an air hole communicating with the air passage.

[0006] The material handling mechanism includes a robotic arm disposed above the conveying mechanism, an adsorption component disposed at the execution end of the robotic arm, and an elastic component connecting the adsorption component and the execution end.

[0007] In some embodiments, the first drive module is used to drive the stage to move along the X-axis direction; the adjustment member is provided with a strip hole, which is used to adjust the position of the stage in the Y-axis direction and the Z-axis direction.

[0008] In some embodiments, the robotic arm further includes a three-axis orthogonal drive module and a rotation module disposed at the drive end of the three-axis orthogonal drive module, wherein the rotation axis of the rotation module rotates about the Z-axis; the lower end of the rotation axis constitutes the actuation end, and the adsorption member is disposed on the rotation axis.

[0009] In some embodiments, the rotating shaft is hollow and communicates with the adsorption element; the upper end of the adsorption element is sleeved on the outer periphery of the rotating shaft and slidably connected to the rotating shaft.

[0010] In some embodiments, the section where the adsorption member connects with the rotating shaft is provided with a limiting hole, the rotating shaft is provided with a limiting member, the limiting member is disposed in the limiting hole and can slide in the limiting hole, one end of the elastic member abuts against the limiting member, and the other end abuts against the rotating shaft.

[0011] In some embodiments, the material handling mechanism further includes a probe plate disposed on the rotating shaft and a sensor disposed on one side of the rotating shaft, the sensor being used to detect the rotation angle of the rotating shaft.

[0012] In some embodiments, the end of the conveying mechanism closer to the material handling mechanism is designated as a feeding station, and the end of the conveying mechanism farther from the material handling mechanism is designated as a detection station.

[0013] In some embodiments, the stage is provided with a pressure stabilizing cavity, which is connected to the air passage, and the air hole is also directly connected to the pressure stabilizing cavity. The bearing surface of the stage is also provided with an anti-stick layer.

[0014] In some embodiments, the stage is further provided with an air passage inside, and the bearing surface of the stage is further provided with an air hole communicating with the air passage; the bearing surface of the stage and the adsorption surface at the lower end of the adsorption member are set to be rectangles of the same size.

[0015] This application also proposes a processing apparatus, including the aforementioned transfer device and a machine base for mounting the transfer device.

[0016] The transfer device and processing equipment in this embodiment include a conveying mechanism and a material handling mechanism. The transfer device includes a workpiece-bearing platform, a first drive module driven by the platform, and an adjusting component connecting the platform and the first drive module. The platform also has an internal air passage, and its bearing surface has air holes communicating with the air passage. The material handling mechanism includes a robotic arm positioned above the conveying mechanism, an adsorption component positioned at the actuator end of the robotic arm, and an elastic component connecting the adsorption component and the actuator end. The cooperation between the conveying mechanism and the robotic arm can extend the transfer distance of the transfer device. The adjusting component also facilitates quick adjustment of the platform's position at the drive end of the first drive module, enabling rapid docking with external equipment. Furthermore, the elastic component allows the adsorption component to elastically engage with the workpiece when it picks it up, avoiding rigid contact that could damage the equipment or workpiece. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the transfer device in one embodiment of this application;

[0018] Figure 2 for Figure 1 A schematic diagram of the material handling mechanism in the embodiment;

[0019] Figure 3 for Figure 1 A schematic diagram of the adsorption element in the embodiment.

[0020] Label Explanation:

[0021] 10. Material handling mechanism; 11. Y-axis drive module; 12. X-axis drive module; 13. Z-axis drive module; 14. Rotation module; 15. Rotation shaft; 20. Adsorption component; 21. Connecting part; 22. Adsorption part; 23. Limiting component; 24. Elastic component; 31. Sensor; 32. Detector plate; 40. Conveying mechanism; 41. First drive module; 42. Mounting plate; 43. First connecting plate; 44. Second connecting plate; 45. Platform.

[0022] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] The solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0024] It should be noted that all directional indications in the embodiments of this application, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indication will also change accordingly.

[0025] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0026] Furthermore, the descriptions involving "first," "second," etc., in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0027] This application proposes a transfer device, referring to... Figures 1 to 3The transfer device includes: a conveying mechanism 40, including a platform 45 for carrying workpieces, a first drive module 41 drivenly connected to the platform 45, and an adjusting member connecting the platform 45 and the first drive module 41; the adjusting member is used to adjust the position of the platform 45; and a material handling mechanism 10, including a robot arm disposed above the conveying mechanism 40, an adsorption member 20 disposed at the execution end of the robot arm, and an elastic member 24 connecting the adsorption member 20 and the execution end.

[0028] In this embodiment, the cooperation between the conveying mechanism 40 and the robotic arm can extend the transfer distance of the transfer device. Specifically, the workpiece on the carrier can be transferred from one end of the first drive module 41 to the other end, and the robotic arm drives the adsorption component 20 to dock with the workpiece on the carrier and transfer it to another workstation. Alternatively, the robotic arm and adsorption component 20 can pick up the workpiece at another workstation and transfer it to the platform 45 on the first drive module 41, and the first drive module 41 drives the platform 45 and the workpiece to the other end.

[0029] Furthermore, the adjusting member can be used to connect the drive end of the first drive module 41 and the platform 45. By adjusting the position of the adjusting member, the position of the platform 45 at the drive end of the first drive module 41 can be quickly adjusted, enabling rapid docking with external equipment and facilitating line changes. In addition, the elastic member 24 allows the adsorption member 20 to elastically engage with the workpiece when it picks it up, avoiding rigid contact that could damage the equipment or the workpiece.

[0030] In some embodiments, the first drive module 41 drives the platform 45 to move along the X-axis. The adjusting member has slotted holes for adjusting the position of the platform 45 in the Y-axis and Z-axis directions. In this embodiment, the adjusting member can be configured as an L-shaped connecting block, specifically including two mutually perpendicular first connecting plates 43 and second connecting plates 44. Slotted holes are provided on the first connecting plates 43 and 44 respectively. The first connecting plates 43 are mounted on the mounting plate 42 at the drive end of the first drive module 41, with the length direction of the slotted holes along the Y-axis. The side of the platform 45 is located on the second connecting plate 44, with the length direction of the slotted holes on the second connecting plate 44 along the Z-axis. The connecting block is fastened to the first drive module 41 and the platform 45 by screws passing through the slotted holes. By loosening the screws, the position of the platform 45 in the Y-axis and Z-axis directions can be adjusted. This ensures that the platform 45 can dock with external equipment in terms of height and horizontal position, facilitating production line changes.

[0031] In some embodiments, refer to Figures 1 to 3The robotic arm also includes a three-axis orthogonal drive module and a rotating module 14 disposed at the drive end of the three-axis orthogonal drive module. The rotating shaft 15 of the rotating module 14 rotates around the Z-axis; the lower end of the rotating shaft 15 constitutes the actuation end, and the suction member 20 is disposed on the rotating shaft 15. In this embodiment, the three-axis orthogonal drive module includes a Y-axis drive module 11, an X-axis drive module 12 disposed at the drive end of the Y-axis drive module 11, and a Z-axis drive module 13 disposed at the drive end of the X-axis drive module 12. The rotating module 14 includes a body disposed at the drive end of the Z-axis drive module 13, and a rotating shaft 15 disposed through the body. The upper end of the rotating shaft 15 is used to communicate with an external negative pressure device, and the lower end is used to connect and communicate with the aforementioned suction member 20. The suction member 20 is used to pick up the workpiece. Specifically, the aforementioned X-axis drive module 12 and Y-axis drive module 11 can be electric cylinders, and the Z-axis drive module 13 can be a pneumatic cylinder. The three-axis orthogonal drive module can transfer the workpiece to any point in the robot's operating space. The rotation module 14 can be used to adjust the workpiece's rotation angle, ensuring that the workpiece is not skewed on the horizontal plane, so as to dock with other workpieces or other equipment.

[0032] In some embodiments, refer to Figures 1 to 3 The rotating shaft 15 is hollow and communicates with the adsorption component 20. The upper end of the adsorption component 20 is sleeved on the outer periphery of the rotating shaft 15 and slidably connected to the rotating shaft 15. In this embodiment, the adsorption component 20 includes a connecting part 21 and an adsorption part 22. The connecting part 21 is used to connect with the rotating shaft 15, and the lower end of the adsorption part 22 is provided with an adsorption surface for adsorbing the workpiece. The adsorption surface is also provided with suction holes. Specifically, the section where the adsorption component 20 docks with the rotating shaft 15 is the aforementioned connecting part 21. The connecting part 21 is tubular, and the outer wall of the connecting part 21 is provided with a limiting hole, which is arranged along the length direction of the connecting part 21. The rotating shaft 15 can be inserted into the connecting part 21 and maintain a sealed connection. The sealing method can be that a sealing ring is provided on the outer wall of the lower section of the rotating shaft 15, and the sealing ring is also in contact with the inner wall of the connecting part 21.

[0033] Furthermore, a limiting member 23 is provided on the rotating shaft 15. The limiting member 23 is disposed in a limiting hole and can slide within the limiting hole. The limiting member 23 can be a screw fixed on the rotating shaft 15, with the screw passing through the limiting hole. Therefore, the sliding distance of the connecting part 21 in the lower section of the rotating shaft 15 is limited by the length of the limiting hole.

[0034] Furthermore, a raised ring can be provided on the section of the rotating shaft 15 located above the limiting member 23 to form a step. The section between the limiting member 23 and the raised ring can be used to install an elastic member 24. The elastic member 24 can optionally be a spring fitted around the outer circumference of the rotating shaft 15. One end of the elastic member 24 abuts against the upper end of the connecting part 21, and the other end abuts against the raised ring. The spring force can push the adsorption member 20 downward to its limit position, at which point the limiting member 23 abuts against the upper wall of the limiting hole. When the adsorption member 20 is aligned with the workpiece, the adsorption member 20 can slide relative to the rotating shaft 15, and the spring is compressed, which can buffer the kinetic energy of the adsorption member 20 during alignment and prevent damage to the workpiece.

[0035] In some embodiments, refer to Figures 1 to 3 The material handling mechanism 10 also includes a detector 32 mounted on the rotating shaft 15 and a sensor 31 mounted on one side of the rotating shaft 15. The sensor 31 is used to detect the rotation angle of the rotating shaft 15. The sensor 31 can be a photoelectric sensor, a magnetic sensor, etc. When the rotating shaft 15 rotates to a set angle, the detector 32 corresponds to the sensor 31, which can change the output signal of the sensor 31, thereby serving as a basis for determining the position of the rotating shaft 15. The aforementioned sensor 31 and detector 32 can be used for zeroing the rotation angle of the rotating shaft 15. In addition, the workpiece can also be deflected by a vision camera, and by reversing the rotating shaft 15 by the corresponding angle, the workpiece can be corrected.

[0036] In some embodiments, refer to Figures 1 to 3 The end of the conveying mechanism 40 closest to the picking mechanism 10 is designated as the feeding station, and the end furthest from the picking mechanism 10 is designated as the inspection station. The platform 45 has a pressure-stabilizing chamber connected to an air path, and an air vent directly connects to the pressure-stabilizing chamber. The bearing surface of the platform 45 also has an anti-stick layer. It is worth noting that the workpiece can be a rigid sheet or a slightly flexible sheet, such as a label. The label can be adsorbed onto the platform 45 and will not stick. The platform 45 carries the label to the inspection station for visual inspection, obtaining the label's deflection angle and reading the information on the label. Subsequently, driven by the first drive module 41, it is transported to the feeding station, where a robotic arm drives the suction device to pick it up and adjust the angle for correction. The label is then pasted onto the product surface on one side of the robotic arm. The anti-stick layer prevents the label from sticking to the platform 45, avoiding tearing when separating from the platform 45. The aforementioned pressure stabilizing chamber can be used to stabilize the negative pressure inside the stage 45, ensuring the balance of the adsorption force of each pore.

[0037] Furthermore, the stage 45 is also provided with an air passage inside, and the bearing surface of the stage 45 is also provided with air holes communicating with the air passage; the bearing surface of the stage 45 and the adsorption surface at the lower end of the adsorption member 20 are set as rectangles of the same size. In this embodiment, a negative pressure can be created in the air passage, and the label can be adsorbed through the air holes. Since the label is generally set as a rectangle, the above-mentioned bearing surface and adsorption surface can be set as rectangles adapted to the size of the label.

[0038] This application also proposes a processing device, referring to... Figures 1 to 3 The processing equipment includes the aforementioned transfer device and a machine base for mounting the transfer device. This processing equipment can be used to label the surface of products. It may also include a conveyor line located below the robotic arm and on one side of the conveyor mechanism 40. The conveyor line can be used to transport and position the products to complete the labeling process. Furthermore, the processing equipment may include a CCD camera located above the conveyor mechanism 40. The CCD camera can be used to photograph the labels on the platform 45, obtain the product information printed on them, and visually measure the label's angle so that the robotic arm can subsequently correct the label's deviation.

[0039] In this embodiment, the working principle of the transfer device and processing equipment is as follows: The transfer device and processing equipment in this embodiment include a conveying mechanism 40 and a material handling mechanism 10. The transfer device includes a platform 45 for carrying workpieces, a first drive module 41 drivenly connected to the platform 45, and an adjusting member connecting the platform 45 and the first drive module 41. The platform 45 is also provided with an air passage, and the bearing surface of the platform 45 is also provided with an air hole communicating with the air passage. The material handling mechanism 10 includes a robot arm located above the conveying mechanism 40, an adsorption member 20 located at the execution end of the robot arm, and an elastic member 24 connecting the adsorption member 20 and the execution end. The cooperation between the conveying mechanism 40 and the robot arm can expand the transfer distance of the transfer device. At the same time, the setting of the adjusting member also facilitates the quick adjustment of the position of the platform 45 at the drive end of the first drive module 41, enabling quick docking with external equipment. In addition, the setting of the elastic member 24 can also make the adsorption member 20 elastically dock with the workpiece when it picks up the workpiece, avoiding rigid contact that could damage the equipment or the workpiece.

[0040] The above are only some or preferred embodiments of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A transfer device, characterized in that, include: The conveying mechanism includes a platform for carrying a workpiece, a first drive module drivenly connected to the platform, and an adjusting member connecting the platform and the first drive module. The adjusting component is used to adjust the position of the platform; The material handling mechanism includes a robotic arm disposed above the conveying mechanism, an adsorption component disposed at the execution end of the robotic arm, and an elastic component connecting the adsorption component and the execution end.

2. The transfer device according to claim 1, characterized in that, The first drive module is used to drive the stage to move along the X-axis direction; the adjustment component is provided with a strip hole, which is used to adjust the position of the stage in the Y-axis direction and the Z-axis direction.

3. The transfer device according to claim 2, characterized in that, The robotic arm also includes a three-axis orthogonal drive module and a rotating module disposed at the drive end of the three-axis orthogonal drive module. The rotating axis of the rotating module rotates around the Z-axis. The lower end of the rotating axis constitutes the actuation end, and the adsorption member is disposed on the rotating axis.

4. The transfer device according to claim 3, characterized in that, The rotating shaft is hollow and communicates with the adsorption element; the upper end of the adsorption element is sleeved on the outer circumference of the rotating shaft and is slidably connected to the rotating shaft.

5. The transfer device according to claim 4, characterized in that, The section where the adsorption member connects with the rotating shaft is provided with a limiting hole. The rotating shaft is provided with a limiting member, which is located in the limiting hole and can slide in the limiting hole. One end of the elastic member abuts against the limiting member, and the other end abuts against the rotating shaft.

6. The transfer device according to claim 5, characterized in that, The material handling mechanism also includes a probe plate disposed on the rotating shaft and a sensor disposed on one side of the rotating shaft, the sensor being used to detect the rotation angle of the rotating shaft.

7. The transfer device according to claim 1, characterized in that, The end of the conveying mechanism closer to the material handling mechanism is designated as the feeding station, and the end of the conveying mechanism farther from the material handling mechanism is designated as the detection station.

8. The transfer device according to claim 1, characterized in that, The platform is also provided with an air passage inside, and the bearing surface of the platform is also provided with an air hole communicating with the air passage; the platform is provided with a pressure stabilizing cavity inside, the pressure stabilizing cavity is communicating with the air passage, the air hole is also directly communicating with the pressure stabilizing cavity, and the bearing surface of the platform is also provided with an anti-stick layer.

9. The transfer device according to claim 1, characterized in that, The platform is also provided with an air passage inside, and the bearing surface of the platform is also provided with an air hole communicating with the air passage; the bearing surface of the platform and the adsorption surface at the lower end of the adsorption element are set to be rectangles of the same size.

10. A processing device, characterized in that, It includes the transfer device according to any one of claims 1 to 9, and a machine for mounting the transfer device.

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