Transfer device and detection equipment

Abstract

The utility model discloses a transfer device and detection equipment, and belongs to the field of detection. The transfer device comprises a rack, a driving mechanism, a plurality of adsorption tongs and a negative pressure mechanism. The rack is provided with a first avoiding position; the driving mechanism comprises a rotary driving part, the rotary driving part is in dynamic coupling connection with the rack so that the rack can rotate in the first direction, the rotary driving part is provided with a second avoiding position, and the projection of the second avoiding position in the first direction and the projection of the first avoiding position in the first direction have an overlapping area. The rotating axis of the rotating driving part is located in the projection of the second avoiding position in the first direction; the plurality of adsorption grippers are movably connected with the rack; a negative pressure pipeline of the negative pressure mechanism penetrates through the second avoiding position and the first avoiding position to be connected with the multiple adsorption tongs. According to the invention, the winding phenomenon of a plurality of negative pressure pipelines can be reduced, the air leakage risk is reduced, and the detection precision is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of detection, and particularly relates to a transfer device and a detection equipment. BACKGROUND

[0002] When a product to be detected such as a mobile phone, a tablet computer and a computer screen is detected, the product to be detected is taken from an upstream roller line and then placed on a detection platform. The distance between the product to be detected and the detection platform is inconsistent, and the transfer device needs to adsorb and change the distance of the product to be detected and then place the product to be detected on the detection platform. Therefore, the transfer device needs to have an adsorption gripper that can change the distance and needs to have a rotating function during the transfer process.

[0003] The transfer device in the related art has an unreasonable structure, and problems such as winding and air leakage are likely to occur during the rotating process or the distance changing process of the adsorption gripper, which affects the adsorption effect, and needs to be improved. CONTENT OF THE UTILITY MODEL

[0004] The application aims to at least solve one of the technical problems in the prior art. To this end, the application provides a transfer device and a detection equipment, which can reduce the number of negative pressure pipelines bent during the rotating process or the distance changing process of the adsorption gripper, reduce the winding phenomenon, and reduce the risk of air leakage.

[0005] In a first aspect, the application provides a transfer device, comprising:

[0006] A rack is provided with a first avoiding position;

[0007] A driving mechanism comprises a rotating driving member, which is power-coupled with the rack to make the rack rotate around a first direction, and the rotating driving member is provided with a second avoiding position, the projection of the second avoiding position along the first direction has an overlapping area with the projection of the first avoiding position along the first direction, and the rotation axis of the rotating driving member is located in the projection of the second avoiding position along the first direction;

[0008] A plurality of adsorption grippers are movably connected with the rack;

[0009] A negative pressure mechanism, the negative pressure pipeline of the negative pressure mechanism passes through the second avoiding position and the first avoiding position and is connected with the plurality of adsorption grippers.

[0010] According to the transfer device, the first avoiding position and the second avoiding position are arranged on the frame and the rotating driving member respectively, and the projections of the first avoiding position and the second avoiding position in the first direction coincide with each other. During the rotation of the frame driven by the rotating driving member, since the rotation axis of the rotating driving member is located in the projection of the second avoiding position, at least part of the second avoiding position remains stationary during the rotation of the output shaft of the rotating driving member. Therefore, the plurality of negative pressure pipelines located in the first avoiding position and the second avoiding position can reduce the degree of rotation with the output shaft of the rotating driving member, thereby reducing the winding phenomenon of the plurality of negative pressure pipelines, further reducing the risk of air leakage, and improving the detection accuracy.

[0011] According to an embodiment of the present application, the driving mechanism further comprises a variable-distance driving member;

[0012] The frame comprises a base and a movable seat, the plurality of adsorption grippers are slidingly connected with the base along a second direction, the plurality of adsorption grippers are slidingly connected with the movable seat, the variable-distance driving member is power-coupled with the movable seat to move the movable seat along a third direction, and the rotating driving member is power-coupled with the base to rotate the base around the first direction.

[0013] According to an embodiment of the present application, the plurality of adsorption grippers comprise first to fourth grippers distributed at intervals along the second direction, and the negative pressure mechanism comprises a plurality of negative pressure generators;

[0014] The transfer device further comprises a first manifold and a second manifold, the first manifold and the second manifold are distributed between the second gripper and the third gripper along the second direction and are distributed at intervals along the third direction, the first manifold is installed on the base, and the second manifold is installed on the stator end of the variable-distance driving member;

[0015] The negative pressure pipelines of the negative pressure generators connected with the first gripper and the fourth gripper are respectively communicated with the second manifold, and the negative pressure pipelines of the negative pressure generators connected with the second gripper and the third gripper are respectively communicated with the first manifold.

[0016] According to an embodiment of the present application, the first manifold and the variable-distance driving member are arranged on both sides of the movable seat, the first manifold is provided with a boss, the boss protrudes from the surface of the first manifold along the first direction, and the surface of the boss faces the movable seat to limit the movable seat along the third direction.

[0017] According to an embodiment of the present application, the two negative pressure connectors of the first manifold are respectively connected with the negative pressure connector of the second gripper and the negative pressure connector of the third gripper, the two negative pressure connectors of the first manifold are mounted on the top of the boss along the first direction, the negative pressure connector of the second gripper is mounted on the top of the second gripper along the first direction, the negative pressure connector of the third gripper is mounted on the top of the third gripper along the first direction; and / or,

[0018] The two negative pressure connectors of the second manifold are respectively connected with the negative pressure connector of the first gripper and the negative pressure connector of the fourth gripper, the negative pressure connector of the first gripper is mounted on the top of the first gripper along the first direction, the negative pressure connector of the fourth gripper is mounted on the top of the fourth gripper along the first direction, and the two negative pressure connectors of the second manifold are higher than the movable seat along the first direction.

[0019] According to an embodiment of the present application, the outlet ends of the two negative pressure connectors of the first manifold are arranged opposite to each other; and / or, the outlet ends of the two negative pressure connectors of the second manifold are arranged opposite to each other.

[0020] According to an embodiment of the present application, the air passage inlet of the first manifold is located between the base and the movable seat along the first direction; and / or, the air passage inlet of the second manifold is located between the base and the movable seat along the first direction.

[0021] According to an embodiment of the present application, the rack further comprises: a limiting member mounted on the same side of the base as the variable-distance driving member, the limiting member being used for limiting the movable seat along the third direction.

[0022] According to an embodiment of the present application, the rack further comprises:

[0023] A limiting slide rail arranged on the base and extending along the second direction, the plurality of adsorption grippers are in sliding fit with the limiting slide rail;

[0024] A plurality of cam slide grooves arranged on the movable seat, the extending direction of the cam slide grooves forms an included angle with the extending direction of the limiting slide rail, and the plurality of cam slide grooves are movably connected with the plurality of adsorption grippers one by one.

[0025] In a second aspect, the present application provides a detection device comprising the transfer device described in any of the above embodiments.

[0026] According to the detection device provided by the embodiment of the application, the transfer device is arranged on the rack and the second avoiding position is arranged on the rotary driving member, and the projection of the first avoiding position in the first direction coincides with the projection of the second avoiding position. During the process that the rotary driving member drives the rack to rotate, since the rotation axis of the rotary driving member is located in the projection of the second avoiding position, at least part of the second avoiding position remains stationary during the rotation of the output shaft of the rotary driving member, so that the plurality of negative pressure pipelines located in the first avoiding position and the second avoiding position can reduce the degree of rotation with the output shaft of the rotary driving member, thereby reducing the winding phenomenon of the plurality of negative pressure pipelines, and further reducing the risk of air leakage and improving the detection accuracy.

[0027] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0028] The above and / or additional aspects and advantages of the application will become apparent and be readily understood by considering the following detailed description, including the accompanying drawings, in which:

[0029] Figure 1 is one of the structural schematic diagrams of the transfer device provided by the embodiment of the application;

[0030] Figure 2 is the second structural schematic diagram of the transfer device provided by the embodiment of the application;

[0031] Figure 3 is the third structural schematic diagram of the transfer device provided by the embodiment of the application;

[0032] Figure 4 is the fourth structural schematic diagram of the transfer device provided by the embodiment of the application;

[0033] Figure 5 is the fifth structural schematic diagram of the transfer device provided by the embodiment of the application;

[0034] Figure 6 is the sixth structural schematic diagram of the transfer device provided by the embodiment of the application;

[0035] Figure 7 is the seventh structural schematic diagram of the transfer device provided by the embodiment of the application.

[0036] Reference signs:

[0037] Rack 1, base 11, limiting slide rail 111, first avoiding position 112, movable seat 12, cam slide groove 121;

[0038] Suction gripper 2, first gripper 21, second gripper 22, third gripper 23, fourth gripper 24, cam 25, sliding block 26;

[0039] The rotating driving member 31, the second avoiding position 311, the variable-distance driving member 32, the lifting driving member 33, and the translation driving member 34.

[0040] The first manifold member 4, the boss 41, the second manifold member 5, the limiting member 6, and the negative pressure generator 7. DETAILED DESCRIPTION

[0041] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0042] Reference is made below to Figures 1-7 A transfer device and a detection apparatus according to embodiments of the present application are described.

[0043] The transfer device can take the products to be detected from the upstream roller line by suction, and then place them on the detection platform after variable-distance rotation, so as to perform optical detection on the detection platform.

[0044] As Figure 1 and Figure 2 shown, the transfer device according to embodiments of the present application comprises a rack 1, a plurality of suction grippers 2, a driving mechanism, and a plurality of negative pressure generators 7.

[0045] The rack 1 is provided with a first avoiding position 112 for avoiding the negative pressure pipeline connected between the negative pressure generator 7 and the suction gripper 2.

[0046] The plurality of suction grippers 2 are movably connected with the rack 1.

[0047] The suction gripper 2 is used to suck the product to be detected from the upstream roller line, and the plurality of suction grippers 2 can suck and grasp a plurality of products to be detected. For example, one suction gripper 2 can suck one product to be detected, or a plurality of suction grippers 2 can suck one product to be detected.

[0048] The suction gripper 2 is provided with an air passage and a suction head in communication with the air passage, and the air passage of each suction gripper 2 is connected with the negative pressure generator 7 to provide negative pressure to the suction head.

[0049] The suction gripper 2 is movably connected with the rack 1 by sliding, pivoting or other ways, so as to change the distance between adjacent suction grippers 2.

[0050] As Figure 3As shown, the driving mechanism comprises a rotating driving member 31, which is power-coupled with the frame 1 to rotate the frame 1 in the first direction, thereby rotating the plurality of suction grippers 2 in the first direction, so as to rotate the product to be detected in the first direction.

[0051] The frame 1 is power-coupled with the output end of the rotating driving member 31, and the rotating driving member 31 can rotate the frame 1 by a motor or a hydraulic driving mode.

[0052] The rotating driving member 31 is provided with a second avoiding position 311 for avoiding the negative pressure pipeline connected between the negative pressure generator 7 and the suction gripper 2.

[0053] The projection of the second avoiding position 311 in the first direction has an overlapping area with the projection of the first avoiding position 112 in the first direction, so as to pass the negative pressure pipeline connected between the negative pressure generator 7 and the suction gripper 2, and reduce the winding phenomenon of the negative pressure pipeline group during the rotation of the rotating driving member 31.

[0054] The rotation axis of the rotating driving member 31 is located in the projection of the second avoiding position 311 in the first direction.

[0055] For example, the rotation axis of the second avoiding position 311 and the rotation axis of the rotating driving member 31 can be concentrically arranged; or, the rotation axis of the rotating driving member 31 is parallel to the rotation axis of the second avoiding position 311, and the rotation axis of the rotating driving member 31 is located in the second avoiding position 311, so as to further reduce the winding phenomenon of the negative pressure pipeline group during the rotation of the rotating driving member 31.

[0056] The negative pressure pipeline of the negative pressure mechanism passes through the second avoiding position 311 and the first avoiding position 112 and is connected with the plurality of suction grippers 2.

[0057] For example, the negative pressure mechanism can comprise one negative pressure generator 7, and one negative pressure generator 7 can be connected with the plurality of negative pressure suction grippers 2; or, the negative pressure mechanism can comprise a plurality of negative pressure generators 7, and the plurality of negative pressure generators 7 are connected with the plurality of suction grippers 2 one by one.

[0058] The negative pressure pipeline of the negative pressure generator 7 passes through the second avoiding position 311 and the first avoiding position 112 and is connected with the suction gripper 2.

[0059] According to the transfer device provided in the embodiment of the present application, the first avoiding position 112 is arranged on the frame 1 and the second avoiding position 311 is arranged on the rotary driving member 31, and the projections of the first avoiding position 112 and the second avoiding position 311 in the first direction coincide. During the process of driving the frame 1 to rotate by the rotary driving member 31, since the rotation axis of the rotary driving member 31 is located in the projection of the second avoiding position 311, at least part of the second avoiding position 311 remains stationary during the rotation of the output shaft of the rotary driving member 31, so that the plurality of negative pressure pipelines located in the first avoiding position 112 and the second avoiding position 311 can reduce the degree of rotation with the output shaft of the rotary driving member 31, thereby reducing the winding phenomenon of the plurality of negative pressure pipelines, further reducing the risk of air leakage, and improving the detection accuracy.

[0060] In some embodiments, as shown in Figure 3 The driving mechanism further includes a variable-distance driving member 32, which is power-coupled with the frame 1 to drive the plurality of adsorption grippers 2 to move in the second direction.

[0061] The variable-distance driving member 32 is used to drive the whole or part of the structure of the frame 1 to move, and the movement of the frame 1 drives the adsorption grippers 2 to move in the second direction, so as to adjust the distance between the adsorption grippers 2 to adapt to the transfer requirements of products to be detected with different sizes or arrangements.

[0062] For example, the variable-distance driving member 32 can be driven by a linear guide rail, a lead screw or an air cylinder.

[0063] The second direction is perpendicular to the first direction, and the rotation axis of the rotary driving member 31 extends along the first direction.

[0064] As shown in Figure 2 The frame 1 includes a base 11 and a movable seat 12, and the plurality of adsorption grippers 2 are movably connected with the base 11 and the movable seat 12, so as to convert the linear motion of the variable-distance driving member 32 in the third direction into the linear motion of the adsorption grippers 2 in the second direction.

[0065] As shown in Figure 1 The second direction and the third direction are both perpendicular to the first direction.

[0066] The rotary driving member 31 is power-coupled with the base 11 to drive the base 11 to rotate around the first direction, and the rotary driving member 31 and the base 11 can be coupled by bolt connection, clamping or welding.

[0067] The plurality of adsorption grippers 2 are slidingly connected with the base 11 in the second direction. For example, the adsorption grippers 2 and the base 11 can be matched by a sliding groove and rail cooperation, a sliding block 26 and a guide groove cooperation, etc.

[0068] The variable-distance driving member 32 is coupled to the movable seat 12 in a power manner, and the plurality of adsorption grippers 2 are slidably connected to the movable seat 12. During the driving of the movable seat 12 by the variable-distance driving member 32 to move along the third direction, the movable seat 12 drives the adsorption grippers 2 to move along the limiting slide rail 111 on the movable seat 12 and along the cam slide groove 121 on the base 11, so that the linear motion of the variable-distance driving member 32 along the third direction can be converted into the linear motion of the adsorption grippers 2 along the second direction.

[0069] For example, the adsorption grippers 2 and the movable seat 12 can be matched with the cam 25 for variable-distance driving, or can be electrically driven for variable-distance driving.

[0070] As shown in Figure 4 and Figure 5 , the variable-distance driving member 32 is coupled to the movable seat 12 in a power manner to move the movable seat 12 along the third direction. The driving of the movable seat 12 by the variable-distance driving member 32 to move along the third direction includes pushing the movable seat 12 away from the variable-distance driving member 32 along the third direction or pulling the movable seat 12 back to the variable-distance driving member 32 along the third direction.

[0071] The adjacent adsorption grippers 2 are opened and closed along the second direction under the driving of the movable seat 12, as shown in Figure 5 , during the pushing of the movable seat 12 away from the variable-distance driving member 32 along the third direction, the adjacent adsorption grippers 2 can move away from each other along the second direction; as shown in Figure 4 , during the pulling of the movable seat 12 back to the variable-distance driving member 32 along the third direction, the adjacent adsorption grippers 2 can move close to each other along the second direction.

[0072] Alternatively, during the pushing of the movable seat 12 away from the variable-distance driving member 32 along the third direction, the adjacent adsorption grippers 2 can move close to each other along the second direction; and during the pulling of the movable seat 12 back to the variable-distance driving member 32 along the third direction, the adjacent adsorption grippers 2 can move away from each other along the second direction.

[0073] In the embodiment, the plurality of adsorption grippers 2 can be variable-distance, so as to adapt to the inconsistent spacing of upstream and downstream products.

[0074] As shown in Figure 4 , in some embodiments, the rack 1 further comprises a limiting slide rail 111 arranged on the base 11 and extending along the second direction, and a plurality of cam slide grooves 121 arranged on the movable seat 12. The plurality of adsorption grippers 2 are slidably matched with the limiting slide rail 111; the extending direction of the cam slide groove 121 forms an included angle with the extending direction of the limiting slide rail 111, and the plurality of cam slide grooves 121 are movably connected to the plurality of adsorption grippers 2 in a one-to-one manner.

[0075] Among them, the plurality of cam slide grooves 121 are arranged non-parallelly, and the cam slide grooves 121 are arranged obliquely relative to the second direction.

[0076] The side of the adsorption gripper 2 facing the movable seat 12 is provided with a cam 25, and the side of the adsorption gripper 2 facing the base 11 is provided with a sliding block 26. When the cam 25 is located at different positions of the cam sliding groove 121, the position of the sliding block 26 in the limiting guide rail is also different, that is, the limiting guide rail limits the sliding of the cam 25 in the second direction, and the cam sliding groove 121 drives the sliding block 26 to move to different positions of the limiting guide rail, so as to adjust the spacing between adjacent adsorption grippers 2.

[0077] In this embodiment, the movement track of the adsorption gripper 2 is limited by the limiting sliding rail 111 and the cam sliding groove 121 at the same time, so as to realize the stable and accurate distance adjustment of the adsorption gripper 2, and then adapt to products of different spacings and sizes to be detected.

[0078] When the distance adjustment driving piece 32 drives the movable seat 12 to slide along the third direction, the sliding block 26 is limited in the limiting guide rail and moves along the limiting guide rail under the action of the cam sliding groove 121. The track of the cam sliding groove 121 can be set to control the sliding distance of the adsorption gripper 2 on the limiting guide rail, so as to realize the spacing adjustment between the adsorption grippers 2. The spacing adjustment between the adsorption grippers 2 is realized based on the movement of the movable seat 12, which ensures the stable operation of the adsorption gripper 2 during the spacing adjustment process, and is suitable for taking and placing materials of different spacings at the front and rear ends of the transfer device, thereby expanding the application range of the transfer device.

[0079] In some embodiments, as shown in Figure 4 The limiting sliding rails 111 can be arranged at intervals along the third direction, and each adsorption gripper 2 is simultaneously in sliding cooperation with the plurality of limiting sliding rails 111, which can increase the stability of the adsorption gripper 2 moving along the second direction.

[0080] In some embodiments, the plurality of cam sliding grooves 121 are symmetrically distributed along the symmetry axis of the base plate, and the cam sliding groove 121 forms an included angle β with the second direction, and the included angle β is positively correlated with the symmetry axis of the base plate, so that the spacings between the plurality of adsorption grippers 2 are always equal.

[0081] For example, as shown in Figure 4 The cam sliding groove 121 arranged in the middle can extend along the third direction, and the farther the cam sliding groove 121 is from the center, the larger the inclination angle formed between the extension direction of the cam sliding groove 121 and the third direction.

[0082] For example, the included angle between the extension direction of the cam sliding groove 121 arranged in the middle and the third direction is small, and the farther the cam sliding groove 121 is from the center, the larger the included angle between the extension direction of the cam sliding groove 121 and the third direction.

[0083] In some embodiments, as shown in Figure 1As shown, the negative pressure mechanism includes a plurality of negative pressure generators 7. The plurality of negative pressure generators 7 are connected one-to-one with the plurality of adsorption grippers 2, so as to realize independent negative pressure of the adsorption gripper 2, increase the negative pressure adsorption force, and improve the adsorption stability.

[0084] The plurality of adsorption grippers 2 include a first gripper 21, a second gripper 22, a third gripper 23, and a fourth gripper 24 distributed along the second direction. The first gripper 21, the second gripper 22, the third gripper 23, and the fourth gripper 24 are all connected with the negative pressure mechanism through the negative pressure pipeline.

[0085] Among them, the first gripper 21, the second gripper 22, the third gripper 23, and the fourth gripper 24 can be connected with different negative pressure generators 7 respectively, or the first gripper 21, the second gripper 22, the third gripper 23, and the fourth gripper 24 can be connected with the same negative pressure generator 7.

[0086] As shown, Figure 6 The transfer device further includes a first manifold 4 and a second manifold 5. The first manifold 4 and the second manifold 5 are distributed along the second direction between the second gripper 22 and the third gripper 23, and are spaced apart along the third direction.

[0087] Among them, as shown, Figure 6 The first manifold 4 and the second manifold 5 are arranged along the second direction on the distribution center line close to the plurality of adsorption grippers 2, or the first manifold 4 and the second manifold 5 are arranged along the second direction on the distribution center line of the plurality of adsorption grippers 2, which can shorten the length of the negative pressure pipeline between the first manifold 4 and the second manifold 5 and the corresponding adsorption gripper 2, reduce the bending wear of the negative pressure pipeline, and reduce the difficulty of arranging the pipeline.

[0088] The first manifold 4 is installed on the base 11, and the second manifold 5 is installed on the stator end of the variable-distance driving member 32. During the movement of the transfer device, the first manifold 4 and the second manifold 5 are fixed relative to the base 11, and the base 11 and the variable-distance driving member 32 are relatively fixed.

[0089] Among them, as shown, Figure 6 The extension route of the negative pressure pipeline is shown in the figure. The negative pressure pipelines of the negative pressure generators 7 connected with the first gripper 21 and the fourth gripper 24 are respectively communicated with the second manifold 5, which can shorten the length of the negative pressure pipeline between the first gripper 21 and the fourth gripper 24 and the second manifold 5. The negative pressure pipelines of the negative pressure generators 7 connected with the second gripper 22 and the third gripper 23 are respectively communicated with the first manifold 4, which can shorten the length of the negative pressure pipeline between the second gripper 22 and the third gripper 23 and the second manifold 5, reduce the difficulty of arranging the pipeline, reduce the bending wear of the negative pressure pipeline, and reduce the risk of winding and air leakage of the negative pressure pipeline.

[0090] In the related art, the transfer device is not provided with a branch member, and the negative pressure pipeline between the adsorption gripper 2 and the negative pressure generator 7 will move during the transfer process, which has a high risk of winding and air leakage, and affects the adsorption effect.

[0091] In this application, the negative pressure pipeline connected between the first branch member 4 and the second branch member 5 and the corresponding negative pressure generator 7 moves less during the movement of the transfer device, reducing the risk of winding and air leakage.

[0092] The first branch member 4 and the second branch member 5 are both provided with negative pressure air ducts, the number of negative pressure grippers connected with the first branch member 4 is consistent with the number of negative pressure air ducts in the first branch member 4, and the number of negative pressure grippers connected with the second branch member 5 is consistent with the number of negative pressure air ducts in the second branch member 5.

[0093] The inlet of the negative pressure air duct in the first branch member 4 is connected with the corresponding negative pressure generator 7, and the outlet of the negative pressure air duct in the first branch member 4 is connected with the corresponding negative pressure gripper; the inlet of the negative pressure air duct in the second branch member 5 is connected with the corresponding negative pressure generator 7, and the outlet of the negative pressure air duct in the second branch member 5 is connected with the corresponding negative pressure gripper.

[0094] In some embodiments, as shown in Figure 7 The first branch member 4 is provided with a boss 41, the boss 41 protrudes from the surface of the first branch member 4 along the first direction, and the surface of the boss 41 faces the surface of the movable seat 12 for limiting the movable seat 12 along the third direction.

[0095] The projection of the boss 41 along the third direction has an overlapping area with the projection of the movable seat 12 along the third direction, so as to limit the end point of the stroke of the movable seat 12 when the movable seat 12 is pushed out, thereby limiting the maximum distance between adjacent adsorption grippers 2 in the open state of the plurality of adsorption grippers 2, reducing the collision between the adsorption gripper 2 and the cam sliding groove 121 of the movable seat 12, prolonging the service life, and improving the reliability of the transfer device.

[0096] In some embodiments, as shown in Figure 5 The rack further includes a limiting member 6, the limiting member 6 and the variable-distance driving member 32 are installed on the same side of the base 11, and the limiting member 6 is used for limiting the movable seat 12 along the third direction.

[0097] The first branch member 4 and the variable-distance driving member 32 are separately arranged on both sides of the movable seat 12, the limiting member 6 and the boss 41 are separately arranged on both sides of the movable seat 12, the limiting member 6 and the boss 41 are the end points of the stroke of the movable seat 12, the limiting member 6 is used for limiting the minimum distance between adjacent adsorption grippers 2 when the plurality of adsorption grippers 2 are closed, reducing the collision between the adsorption gripper 2 and the cam sliding groove 121 of the movable seat 12, and can reduce the collision between the movable seat 12 and the variable-distance driving member 32, prolonging the service life.

[0098] Exemplarily, the limiting member 6 can be a gas spring, a rubber block, or a hard limiting structure, etc. In the case that the limiting member 6 is a hard limiting structure, a flexible layer is arranged on the side of the limiting member 6 facing the movable seat 12, so as to avoid rigid collision and achieve a protection effect.

[0099] As shown in Figure 5 , the limiting member 6 can be provided in plurality, and the plurality of limiting members 6 are distributed at the stroke end of the movable seat 12 with intervals, so as to further improve the limiting effect and keep the stroke end consistency of the movable seat 12 along the distribution direction of the plurality of limiting members 6, thereby improving the consistency of the movement of the plurality of adsorption grippers 2.

[0100] In some embodiments, as shown in Figure 6 , the two negative pressure connecting heads of the first manifold 4 are connected with the negative pressure connecting heads of the second gripper 22 and the third gripper 23 respectively.

[0101] Among them, the two negative pressure connecting heads of the first manifold 4 are installed on the top of the boss 41 along the first direction, the negative pressure connecting head of the second gripper 22 is installed on the top of the second gripper 22 along the first direction, and the negative pressure connecting head of the third gripper 23 is installed on the top of the third gripper 23 along the first direction, so as to shorten the distance between the negative pressure connecting heads of the first manifold 4 and the negative pressure connecting heads of the second gripper 22 in the first direction, shorten the distance between the negative pressure connecting heads of the first manifold 4 and the negative pressure connecting heads of the third gripper 23 in the first direction, and further shorten the length of the negative pressure pipeline between the first manifold 4 and the corresponding adsorption gripper 2.

[0102] At the same time, the negative pressure adsorption head of the adsorption gripper 2 is arranged on the top, which can be adsorbed to the lower side of the product to be detected, so as to avoid contact with other surfaces of the product to be detected, and meet the detection requirements.

[0103] In some embodiments, as shown in Figure 7 , the first manifold 4 can be arranged between the base 11 and the movable seat 12, and the outlet ends of the two negative pressure connecting heads of the first manifold 4 are arranged opposite to each other, and the outlet ends of the two negative pressure connecting heads of the first manifold 4 are respectively directed to the corresponding adsorption gripper 2, so as to further shorten the length of the negative pressure pipeline between the first manifold 4 and the corresponding adsorption gripper 2.

[0104] In some embodiments, the two negative pressure connecting heads of the second manifold 5 are connected with the negative pressure connecting heads of the first gripper 21 and the fourth gripper 24 respectively.

[0105] The two negative pressure connection heads of the second manifold 5 are higher than the movable seat 12 along the first direction, and the negative pressure pipeline between the second manifold 5 and the corresponding suction gripper 2 can be distributed above the movable seat 12 along the first direction, so that the interference between the movable seat 12 and the negative pressure pipeline during the movement of the movable seat 12 can be reduced, and the reliability of the transfer device is improved.

[0106] The negative pressure connection head of the first gripper 21 is mounted on the top of the first gripper 21 along the first direction, which can shorten the distance between the negative pressure connection head of the second manifold 5 and the negative pressure connection head of the first gripper 21 along the first direction; the negative pressure connection head of the fourth gripper 24 is mounted on the top of the fourth gripper 24 along the first direction, which can shorten the distance between the negative pressure connection head of the second manifold 5 and the negative pressure connection head of the fourth gripper 24 along the first direction, further shorten the length of the negative pressure pipeline between the second manifold 5 and the corresponding suction gripper 2, reduce the risk of winding the pipeline, and reduce the difficulty of pipeline arrangement.

[0107] In some embodiments, as shown in Figure 7 The outlet ends of the two negative pressure connection heads of the second manifold 5 are arranged opposite to each other, i.e. the outlet ends of the two negative pressure connection heads of the second manifold 5 respectively face the corresponding suction gripper 2, so as to further shorten the length of the negative pressure pipeline between the second manifold 5 and the corresponding suction gripper 2, reduce the risk of winding the pipeline, and reduce the difficulty of pipeline arrangement.

[0108] In some embodiments, the air passage inlet of the first manifold 4 is located between the base 11 and the movable seat 12 along the first direction.

[0109] The connecting pipeline between the first manifold 4 and the corresponding negative pressure generator 7 is located below the movable seat 12, so that the interference between the movable seat 12 and the negative pressure pipeline can be reduced, and the reliability of the transfer device is improved.

[0110] In some embodiments, as shown in Figure 7 The air passage inlet of the second manifold 5 is located between the base 11 and the movable seat 12 along the first direction.

[0111] The connecting pipeline between the second manifold 5 and the corresponding negative pressure generator 7 is located below the movable seat 12, so that the interference between the movable seat 12 and the negative pressure pipeline can be reduced, and the reliability of the transfer device is improved.

[0112] In the embodiment, the negative pressure pipes of the first and second manifold members 4 and 5 in communication with the negative pressure generator 7 are located below the movable seat 12, and the negative pressure pipes of the first and second manifold members 4 and 5 in communication with the corresponding suction grippers 2 are located above the movable seat 12, so that the interference between the negative pressure pipes and the movable seat 12 can be reduced, and the risk of winding and air leakage can be reduced.

[0113] In some embodiments, as shown in Figure 1 The driving assembly further includes a lifting driving member 33 and a translation driving member 34, both of which are power-coupled to the rack 1, the lifting driving member 33 is configured to drive the rack 1 to lift along the first direction, and the translation driving member 34 is configured to drive the rack 1 to move along the third direction.

[0114] In the embodiment, the plurality of suction grippers 2 can rotate around the first direction under the driving of the rotation driving member 31, the plurality of suction grippers 2 can lift along the first direction under the driving of the lifting driving member 33, the plurality of suction grippers 2 can move along the third direction under the driving of the translation driving member 34, and the plurality of suction grippers 2 can change the distance along the second direction under the driving of the distance changing driving member 32, so that a variety of use scenarios can be met.

[0115] The application further provides a detection device including the transfer device of any of the above embodiments.

[0116] According to the detection device provided by the application, the transfer device is arranged on the rack 1 and the rotation driving member 31, the first avoiding position 112 and the second avoiding position 311 are arranged on the rotation driving member 31, the projection of the first avoiding position 112 and the second avoiding position 311 in the first direction is coincident, and at least part of the second avoiding position 311 remains stationary during the rotation of the output shaft of the rotation driving member 31 during the rotation of the rack 1 driven by the rotation driving member 31, so that the plurality of negative pressure pipes located in the first avoiding position 112 and the second avoiding position 311 can reduce the degree of rotation with the output shaft of the rotation driving member 31, thereby reducing the winding phenomenon of the plurality of negative pressure pipes, further reducing the risk of air leakage, and improving the detection accuracy.

[0117] The terms "first", "second", and the like in the description and in the claims of this application are used for distinguishing between similar objects and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the use of the terms so construed can interchange depending on the context in which it is used, and that the embodiments of this application can be capable of operation in other sequences than depicted or otherwise described herein. The terms "first", "second", and the like are generally used to distinguish between two separate objects, and are not necessarily used to describe a particular sequential or chronological order. Also, the singular forms "a", "an" and "the" are used herein not to denote one or the only one of something as opposed to plural forms, but rather to denote the existence of at least one of something unless the context clearly indicates otherwise. The term "and / or" as used herein is to be interpreted in the same manner as "or". Therefore, "A / B" or "A and / or B" shall mean "A or B" or "A and B".

[0118] In the description of the application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0119] In the description of the application, "first feature" and "second feature" can include one or more of the features.

[0120] In the description of the application, "a plurality" means two or more.

[0121] In the description of the application, "above" or "below" the first feature of the second feature can include direct contact between the first and second features, or indirect contact between the first and second features through another feature therebetween.

[0122] In the description of the application, "above", "over" and "on" of the first feature of the second feature includes the first feature directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height.

[0123] In the description of the application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the description of the application, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0124] While the embodiments of the application have been shown and described, it is to be understood that the embodiments can be varied, modified, substituted and changed by those skilled in the art without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A transfer device, characterized by The utility model relates to a kind of transport device, including: Rack, is provided with first avoidance site; Driving mechanism, including rotating drive, the rotating drive is powerfully coupled with the rack to make the rack rotate around first direction, and the rotating drive is provided with second avoidance site, the projection of the second avoidance site along the first direction and the projection of the first avoidance site along the first direction have coincident area, the rotation axis of the rotating drive is located in the projection of the second avoidance site along the first direction; Multiple suction grippers, which are movably connected to the rack; Negative pressure mechanism, the negative pressure pipeline of the negative pressure mechanism passes through the second avoidance site and the first avoidance site and is connected to the multiple suction grippers.

2. The transfer device of claim 1, wherein, The driving mechanism further includes a variable-distance drive; The rack includes a base and a movable seat, the multiple suction grippers are slidably connected to the base along a second direction, the multiple suction grippers are slidably connected to the movable seat, the variable-distance drive is powerfully coupled with the movable seat to move the movable seat along a third direction, and the rotating drive is powerfully coupled with the base to rotate the base around the first direction.

3. The transfer device of claim 2, wherein, The multiple suction grippers include first to fourth grippers distributed along the second direction, and the negative pressure mechanism includes multiple negative pressure generators. The transport device further includes first and second manifold pieces, the first and second manifold pieces are distributed between the second and third grippers along the second direction and are spaced apart along the third direction, the first manifold piece is mounted to the base, and the second manifold piece is mounted to a stator end of the variable-distance drive. The negative pressure pipelines of the negative pressure generators connected to the first and fourth grippers respectively communicate with the second manifold piece, and the negative pressure pipelines of the negative pressure generators connected to the second and third grippers respectively communicate with the first manifold piece.

4. The transfer device of claim 3, wherein, The first manifold piece and the variable-distance drive are located on both sides of the movable seat, the first manifold piece is provided with a boss protruding from a surface of the first manifold piece along the first direction, and a surface of the boss faces the movable seat for limiting the movable seat along the third direction.

5. The transfer device of claim 4, wherein, Two negative pressure connectors of the first manifold piece are respectively connected to negative pressure connectors of the second and third grippers, the two negative pressure connectors of the first manifold piece are mounted to a top of the boss along the first direction, the negative pressure connector of the second gripper is mounted to a top of the second gripper along the first direction, the negative pressure connector of the third gripper is mounted to a top of the third gripper along the first direction, and / or Two negative pressure connectors of the second manifold piece are respectively connected to negative pressure connectors of the first and fourth grippers, the negative pressure connector of the first gripper is mounted to a top of the first gripper along the first direction, the negative pressure connector of the fourth gripper is mounted to a top of the fourth gripper along the first direction, and the two negative pressure connectors of the second manifold piece are higher than the movable seat along the first direction.

6. The transfer device of claim 4, wherein, The outlet ends of the two negative pressure connecting heads of the first manifold are arranged to face away from each other; and / or the outlet ends of the two negative pressure connecting heads of the second manifold are arranged to face away from each other.

7. The transfer device of claim 3, wherein, The air passage inlet of the first manifold is located between the base and the movable seat along the first direction; and / or the air passage inlet of the second manifold is located between the base and the movable seat along the first direction.

8. The transfer device of any one of claims 2-7, wherein, The rack further comprises a limiting member, which is installed on the same side of the base as the variable-distance driving member, and is used for limiting the movable seat along the third direction.

9. The transfer device of any one of claims 2-7, wherein, The rack further comprises: a limiting slide rail arranged on the base and extending along the second direction, and the plurality of adsorption grippers are in sliding cooperation with the limiting slide rail; a plurality of cam slide grooves arranged on the movable seat, the extending direction of the cam slide grooves and the extending direction of the limiting slide rail form an included angle, and the plurality of cam slide grooves are movably connected with the plurality of adsorption grippers one by one.

10. A detection device, characterized by The transport device comprises any one of claims 1-9. The outlet ends of the two negative pressure connecting heads of the first manifold are arranged to face away from each other; and / or the outlet ends of the two negative pressure connecting heads of the second manifold are arranged to face away from each other. The air passage inlet of the first manifold is located between the base and the movable seat along the first direction; and / or the air passage inlet of the second manifold is located between the base and the movable seat along the first direction. The rack further comprises a limiting member, which is installed on the same side of the base as the variable-distance driving member, and is used for limiting the movable seat along the third direction. The rack further comprises: a limiting slide rail arranged on the base and extending along the second direction, and the plurality of adsorption grippers are in sliding cooperation with the limiting slide rail; a plurality of cam slide grooves arranged on the movable seat, the extending direction of the cam slide grooves and the extending direction of the limiting slide rail form an included angle, and the plurality of cam slide grooves are movably connected with the plurality of adsorption grippers one by one. The transport device comprises any one of claims 1-9.

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