Material transfer device based on following positioning industrial scene

Abstract

The utility model discloses a material transfer device based on a following positioning industrial scene, and relates to the technical field of material transfer equipment, the material transfer device comprises a following mechanism and a grabbing mechanism, and the following mechanism comprises a bottom rail, a clamping mechanism and a following driving assembly; the follow-up clamping mechanism comprises a follow-up seat, a mounting seat, a clamping assembly and an extending driving part used for driving the mounting seat to move in the Y-axis direction, and the follow-up driving assembly drives the follow-up seat to move in the X-axis direction. The clamping assembly comprises a clamping frame slidably connected to the mounting base in the Z-axis direction, a plurality of first clamping jaws mounted on the clamping frame and a first driving part used for driving the clamping frame to move in the Z-axis direction. The grabbing mechanism comprises a mechanical arm and a grabbing assembly installed on the mechanical arm, the mechanical arm is installed close to the bottom rail, and the grabbing assembly comprises a second clamping jaw arranged corresponding to the first clamping jaw. According to the scheme, stable, accurate and continuous transfer of materials between processes such as a final assembly line and a spraying line is achieved.

Description

Technical Field

[0001] This application relates to the field of material handling equipment technology, and in particular to a material handling device based on follow-up positioning in industrial scenarios. Background Technology

[0002] In industrial production, the transfer of materials between different processes is a crucial link in ensuring production continuity. Taking the production of products such as gas meter housings and mechanical parts as examples, after the products are processed on the final assembly line, they need to be transferred to the spray painting line for surface treatment. Traditional transfer methods have the following main problems: On the one hand, some production uses a manual transfer mode, where workers need to remove materials one by one from the final assembly line and carry them to the hangers on the spray painting line. This is not only labor-intensive and inefficient, but also prone to damage to materials due to human error, affecting product quality. On the other hand, existing automated transfer equipment is mostly designed for fixed-station handover. Materials can only be grabbed after the final assembly line stops, and then transferred to a fixed position on the spray painting line for mounting, causing production interruptions and failing to meet the needs of continuous production. In addition, the spacing of connecting rods and the size of hangers vary for different specifications of materials. The gripper spacing of existing transfer equipment is difficult to adjust flexibly, resulting in poor versatility. Special fixtures need to be replaced for different materials, increasing production costs and changeover time. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, this application provides a material transfer device based on follow-up positioning in industrial scenarios, which realizes stable, accurate and continuous transfer of materials between processes such as the final assembly line and the painting line.

[0004] To achieve the above objectives, this application adopts the following technical solution:

[0005] A material transfer device based on follow-up positioning in industrial scenarios includes a follow-up mechanism and a gripping mechanism. The follow-up mechanism includes a bottom track, a gripping mechanism, and a follow-up drive assembly. The gripping mechanism includes a follower seat slidably connected to the bottom track along the X-axis, a mounting seat slidably connected to the follower seat along the Y-axis, a gripping assembly mounted on the mounting seat, and an extension drive member for driving the mounting seat to move along the Y-axis. The follow-up drive assembly drives the follower seat to move along the X-axis. The gripping assembly includes a gripping frame slidably connected to the mounting seat along the Z-axis, a plurality of first grippers mounted on the gripping frame, and a first drive member for driving the gripping frame to move in the Z-axis direction.

[0006] The gripping mechanism includes a robotic arm and a gripping assembly mounted on the robotic arm. The robotic arm is mounted near the bottom track, and the gripping assembly includes a second gripper that corresponds to the first gripper.

[0007] In the above technical solution, the gripping mechanism clamps the material on the assembly line using the gripping component, and then the robotic arm drives it to the position of the following mechanism. The product transfer is completed through coordinated action with the first gripper. Subsequently, the following drive component starts, driving the gripping mechanism to move along the bottom track in the X-axis direction, so that the gripping mechanism moves synchronously with the hanger on the painting line. Then, the extending drive component pushes the mounting base forward along the Y-axis, bringing the gripping component closer to the hanger on the painting line, so that the connecting rod of the material held by the first gripper is above the hanger. Then, the first drive component drives the gripping frame to descend along the Z-axis, so that the connecting rod accurately aligns with the hanger. Then, the first gripper releases, completing the material loading action. Subsequently, the extending drive component drives the mounting base to retreat along the Y-axis, moving the first gripper away from the hanger. The following drive component drives the gripping mechanism back to its initial position along the bottom track, preparing for the next material transfer. During this process, the first drive component drives the gripping frame to rise back to its initial height. The above solution enables automated transfer and precise loading of materials from the final assembly line to the painting line, improving operational efficiency. At the same time, the coordinated control of various drive components ensures smooth operation and accurate positioning, adapting to the continuous production needs of materials of various specifications.

[0008] Preferably, the first gripper includes a first gripper body and a first gripper drive for driving the first gripper body to open or close. The first gripper body is provided with a gripping part for gripping materials, and the gripping part is located above the upper end surface of the first gripper drive. The second gripper includes a second gripper body and a second gripper drive for driving the second gripper body to open or close. The second gripper body is provided with a grasping part for gripping materials. When the second gripper transfers materials to the first gripper, the grasping part is located above the first gripper drive and at the same height as the gripping part.

[0009] In the above technical solution, the material handover process is as follows: The robotic arm drives the gripping component to move to the material storage area of ​​the final assembly line, and the second claw drive drives the gripping part to clamp the connecting rod of the material; then the robotic arm carries the material to the position corresponding to the following mechanism; the first claw drive drives the gripping part to open, and the robotic arm finely adjusts the position of the second gripper so that the gripping part is above the first claw drive and at the same horizontal height as the opened gripping part; then the first claw drive drives the gripping part to clamp the connecting rod of the material. After the gripping part is clamped, the second claw drive drives the gripping part to slowly release, and the robotic arm drives the second gripper to withdraw and return to the initial position, completing a single material handover. In the above solution, the gripping part is set higher than the first claw drive to avoid mechanical interference between the second gripper and the first claw drive during the handover action, ensuring a smooth handover action; during the handover process, the first gripper and the second gripper will have a brief "double gripping" transition state, which can prevent the material from falling, shifting, or bumping during transfer, improving the safety and stability of the handover process.

[0010] Preferably, the gripping part is equipped with a horizontally arranged positioning support rod. When the second gripper transfers the material to the first gripper, the positioning groove on the connecting rod fits into and abuts against the positioning support rod from above.

[0011] In the above technical solution, the positioning support rod can accurately position the connecting rod during the material transfer process, ensuring that the second gripper can accurately place the material at the predetermined position of the first gripper.

[0012] Preferably, the first gripper includes a first gripper body and a first gripper drive for driving the first gripper body to open or close. The first gripper body is provided with a gripping part for gripping materials, and the gripping part is located below the lower end face of the first gripper drive. The second gripper includes a second gripper body and a second gripper drive for driving the second gripper body to open or close. The second gripper body is provided with a grasping part for gripping materials. When the second gripper transfers materials to the first gripper, the grasping part is located below the first gripper drive and at the same height as the gripping part.

[0013] In the above technical solution, the material handover process is as follows: The robotic arm drives the gripping component to move to the material storage area of ​​the final assembly line, and the second claw drive drives the gripping part to clamp the connecting rod of the material; then the robotic arm carries the material to the position corresponding to the following mechanism; the first claw drive drives the gripping part to open, and the robotic arm finely adjusts the position of the second gripper so that the gripping part is below the first claw drive and at the same horizontal height as the opened gripping part; then the first claw drive drives the gripping part to clamp the connecting rod of the material. After the gripping part is clamped, the second claw drive drives the gripping part to slowly release, and the robotic arm drives the second gripper to withdraw and return to the initial position, completing a single material handover. In the above technical solution, the gripping part is set lower than the first claw drive to avoid mechanical interference between the second gripper and the first claw drive during the handover action, ensuring a smooth handover action; during the handover process, the first gripper and the second gripper will have a brief "double gripper holding" transition state, which can prevent the material from falling, shifting or bumping during transfer, improving the safety and stability of the handover process.

[0014] Preferably, the gripping assembly further includes a gripping frame and a gripping drive, with multiple second grippers slidably connected to the gripping frame, and the gripping drive driving the multiple second grippers to slide relative to the gripping frame and realize that the multiple second grippers move closer or further apart from each other.

[0015] In the above technical solution, multiple second grippers can move closer or further apart from each other, so that when the second grippers pick up materials, they can adapt to the materials closely arranged on the assembly line, realize synchronous gripping and transfer, and improve work efficiency. Before the material is transferred to the following mechanism, the distance between each second gripper is adjusted by the gripping drive component to match the distance between the corresponding material carrying positions on the following mechanism, so as to ensure that in subsequent actions, the material on each second gripper can be accurately aligned with the gripping part of the first gripper, and achieve precise handover.

[0016] Preferably, the gripping drive includes a plurality of first linear drive components, two adjacent second grippers are connected by a first linear drive component, and one of the second grippers is fixed to the gripping frame.

[0017] In the above technical solution, taking one of the second grippers as a reference, multiple first linear drive components enable each second gripper to move closer to or further away from each other.

[0018] Preferably, the gripping drive includes a second linear drive and a plurality of telescopic rods, with two adjacent second grippers connected by a telescopic rod, and the first and last second grippers connected by the second linear drive, and the second gripper at the tail fixed to the gripping frame.

[0019] Alternatively, the gripping drive includes a third linear drive and multiple elastic elements. Two adjacent second grippers are connected by an elastic element, and two end-to-end second grippers are connected by a third linear drive. One of the second grippers is fixed to the gripping frame. The gripping frame is fixed with multiple limiting blocks for limiting the sliding stroke of the second gripper, so that the second grippers have an unfolded position that is far apart from each other and a retracted position that is close to each other. The elastic element drives the second gripper to move toward the retracted position, or the elastic element drives the second gripper to move toward the unfolded position.

[0020] In the first technical solution, each telescopic rod has a maximum and a minimum length. The distance between the first and last second grippers is adjusted by a second linear drive, thereby driving the middle second grippers to move synchronously and achieving precise adjustment of the overall spacing. When the second linear drive extends, each telescopic rod is stretched to near its maximum length, placing multiple second grippers in an extended position to match the material distribution spacing on the assembly line. When the second linear drive retracts, each telescopic rod shortens under its own structural constraints, causing the second grippers to retract inward to the minimum spacing. In the second technical solution, the extended position and proximity of each second gripper are limited by corresponding limiting blocks. The third linear drive adjusts the distance between the first and last second grippers, driving the middle second grippers to move synchronously. When the third linear drive extends, the elastic element causes each second gripper to slide along the gripping frame and tend towards the extended position, while the limiting blocks ensure accurate positioning. When the third linear drive retracts, the elastic element causes each second gripper to slide along the gripping frame and tend towards the retracted position.

[0021] Preferably, the clamping mechanism further includes a hanging rod positioning assembly mounted on the mounting base. The hanging rod positioning assembly includes a positioning frame slidably connected to the mounting base along the Y-axis, a positioning gripper mounted on the positioning frame, and a positioning drive for driving the positioning frame to move in the Y-axis direction.

[0022] In the above technical solution, the positioning drive can drive the positioning gripper to move closer to or away from the hanging rod in the Y-axis direction. Before the first gripper docks with the hanging rod, the positioning gripper moves first. The positioning drive adjusts the position of the positioning frame so that the positioning gripper body is accurately aligned with the hanging rod and clamps the hanging rod, ensuring that the relative position between the hanging frame and the clamping component is accurate and preventing the hanging frame from shaking. Then, the first drive drives the first gripper to move so that the material in the first gripper docks with the hanging rod.

[0023] Preferably, the rod positioning assembly further includes a sensor mounted on the positioning frame, with the sensor located directly above or below the positioning gripper.

[0024] In the above technical solution, the sensor can detect the relative position of the positioning frame and the hanging frame, ensuring that when the positioning frame extends, the positioning claw is in the accurate position to clamp the hanging rod.

[0025] Preferably, the first gripper is arranged in two groups along the X-axis, and multiple first grippers in each group are arranged at intervals along the Z-axis. The gripping frame includes a lifting frame and two transverse frames. The two transverse frames are slidably connected to the lifting frame along the X-axis, and the lifting frame is slidably connected to the mounting base along the Z-axis. The lifting frame is provided with a spacing drive component to drive the two transverse frames to slide along the X-axis, so that the two transverse frames move closer to or further away from each other. The two groups of first grippers are respectively set on the corresponding transverse frames. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of this application;

[0027] Figure 2 This is a schematic diagram of the structure of the grabbing component in this application;

[0028] Figure 3 This is a schematic diagram of the gripping mechanism in this application;

[0029] Figure 4 This is a schematic diagram of the structure when the gripping component and the clamping mechanism are close together in this application;

[0030] Figure 5 yes Figure 4 A magnified view of a portion of point A in the middle.

[0031] In the diagram: following mechanism 1, bottom track 11, gripping mechanism 12, following seat 120, mounting seat 121, gripping assembly 122, extension drive 123, gripping frame 1221, lifting frame 12211, transverse frame 12212, spacing drive 12213, first gripper 1222, first drive 1223, first gripper body 1224, first gripper drive 1225, gripping part 1226, positioning support rod 1227, hanging rod positioning assembly 124, positioning frame 1241 1242, 1243, 1244, 1245, 1246, 13, 2, 2, 3, 4, 4, 5, 6, 7, 8, 9, 10, 11, 12, 12, 13, 14, 15, 16, 17, 18, 19, 10, 11, 12, 12, 12, 12, 13, 14, 15, 16, 17, 18, 19, 10, 11, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 13, 14, 15, 16, 17, 18, 19, 10 ... Detailed Implementation

[0032] The present application will now be further described with reference to the accompanying drawings and specific embodiments.

[0033] Example 1:

[0034] like Figures 1 to 5As shown, a material transfer device based on follow-up positioning in an industrial scenario includes a follow-up mechanism 1 and a gripping mechanism 2. The follow-up mechanism 1 includes a bottom track 11, a gripping mechanism 12, and a follow-up drive assembly 13. The gripping mechanism 12 includes a follower seat 120 slidably connected to the bottom track 11 along the X-axis, a mounting seat 121 slidably connected to the follower seat 120 along the Y-axis, a gripping assembly 122 mounted on the mounting seat 121, and an extension drive member 123 for driving the mounting seat 121 to move along the Y-axis. The follow-up drive assembly 13 drives the follower seat 120 to move along the X-axis. The gripping assembly 122 includes a gripping frame 1221 slidably connected to the mounting seat 121 along the Z-axis, a plurality of first grippers 1222 mounted on the gripping frame 1221, and a first drive member 1223 for driving the gripping frame 1221 to move in the Z-axis direction.

[0035] The gripping mechanism 2 includes a robotic arm 21 and a gripping component 22 mounted on the robotic arm 21. The robotic arm 21 is mounted close to the bottom track 11. The gripping component 22 includes a second gripper 221 that is correspondingly disposed to the first gripper 1222.

[0036] In the above technical solution, after the gripping mechanism 2 clamps the material 4 on the assembly line through the gripping component 22, it is driven by the robotic arm 21 to the position of the following mechanism 1, and completes the product handover by coordinating with the first gripper 1222; then the following drive component 13 starts, driving the gripping mechanism 12 to move along the bottom track 11 in the X-axis direction, so that the gripping mechanism 12 moves synchronously with the hanger 3 on the spraying line, and then the extended drive component 123 pushes the mounting base 121 forward along the Y-axis, so that the gripping component 122 approaches the hanger 3 on the spraying line, so that the material 4 held by the first gripper 1222 is connected to the hanger 3 on the spraying line. Connecting rod 4.1 is positioned above hanger 3. Then, the first drive component 1223 drives the gripper 1221 to descend along the Z-axis, ensuring accurate docking of connecting rod 4.1 with hanger 3. The first gripper 1222 then releases, completing the loading of material 4. Subsequently, the extending drive component 123 drives the mounting base 121 to retract along the Y-axis, moving the first gripper 1222 away from hanger 3. Following the drive assembly 13, the gripping mechanism 12 returns to its initial position along the bottom track 11, preparing for the next material 4 transfer. During this process, the first drive component 1223 drives the gripper 1221 to rise back to its initial height. This scheme achieves automated transfer and precise loading of material 4 from the assembly line to the painting line, improving operational efficiency. Simultaneously, the coordinated control of each drive component ensures smooth operation, accurate positioning, and adaptability to the continuous production needs of various material specifications 4.

[0037] In this application, all driving components are commonly used in the prior art, such as cylinders, electric actuators, or servo motors, as long as they can achieve the corresponding driving actions. The robotic arm 21 adopts a six-axis multi-joint robotic arm in the prior art, which has high-precision positioning and flexible movement capabilities.

[0038] Preferably, the clamping mechanism 12 further includes a hanging rod positioning assembly 124 mounted on the mounting base 121. The hanging rod positioning assembly 124 includes a positioning frame 1241 slidably connected to the mounting base 121 along the Y-axis, a positioning gripper 1242 mounted on the positioning frame 1241, and a positioning drive member 1243 for driving the positioning frame 1241 to move in the Y-axis direction. The positioning gripper 1242 includes a positioning gripper body 1244 and a positioning gripper drive member 1245 for driving the positioning gripper body 1244 to loosen or clamp. The hanging rod positioning assembly 124 also includes a sensor 1246 mounted on the positioning frame 1241, with the sensor 1246 located directly above or below the positioning gripper 1242.

[0039] In the above technical solution, the positioning drive 1243 can drive the positioning gripper 1242 to move closer to or further away from the hanging rod in the Y-axis direction. Before the first gripper 1222 docks with the hanging rod, the positioning gripper 1242 moves first, adjusting the position of the positioning frame 1241 through the positioning drive 1243, so that the positioning gripper body 1244 is accurately aligned with the hanging rod and clamps the hanging rod, ensuring the accurate relative position between the hanging frame 3 and the clamping mechanism 12, and preventing the hanging frame 3 from shaking. Then, the first drive 1223 drives the first gripper 1222 to move, so that the material 4 in the first gripper 1222 docks with the hanging rod. The sensor 1246 can detect the relative position between the positioning frame 1241 and the hanging frame 3, ensuring that when the positioning frame 1241 extends, the positioning gripper 1242 is in the accurate position to clamp the hanging rod.

[0040] Preferably, the first grippers 1222 are arranged in two groups along the X-axis, and multiple first grippers 1222 in each group are arranged at intervals along the Z-axis. The gripping frame 1221 includes a lifting frame 12211 and two transverse frames 12212. The two transverse frames 12212 are slidably connected to the lifting frame 12211 along the X-axis, and the lifting frame 12211 is slidably connected to the mounting base 121 along the Z-axis. The lifting frame 12211 is provided with a spacing drive component 12213 to drive the two transverse frames 12212 to slide along the X-axis, so that the two transverse frames 12212 move closer or further apart. The two groups of first grippers 1222 are respectively disposed on the corresponding transverse frames 12212. The spacing drive component 12213 can be a common linear drive component such as a cylinder, an electric push rod, or a lead screw and nut structure. The spacing drive component 12213 is connected at one end to one of the transverse frames 12212 and at the other end to the other transverse frame 12212. The spacing drive component 12213 includes a cylinder, and the piston rod of the cylinder is hinged to two connecting rods. The other ends of the connecting rods are respectively hinged to the two transverse frames 12212. When the piston rod of the cylinder extends or retracts, it drives the two transverse frames 12212 to move synchronously towards or away from each other through the connecting rods, so as to realize the spacing adjustment between the two transverse frames 12212.

[0041] Preferably, the gripping component 22 further includes a gripping frame 222 and a gripping drive 223. A plurality of second grippers 221 are slidably connected to the gripping frame 222. The gripping drive 223 drives the plurality of second grippers 221 to slide relative to the gripping frame 222 and realize that the plurality of second grippers 221 move closer or further away from each other.

[0042] In the above technical solution, multiple second grippers 221 can move closer or further apart from each other, so that when the second grippers 221 grip the material 4, they can adapt to the materials 4 closely arranged on the assembly line, realize synchronous gripping and transfer, and improve work efficiency. Before the material 4 is transferred to the following mechanism 1, the distance between each second gripper 221 is adjusted by the gripping drive component 223 so that it matches the distance between the corresponding material 4 bearing positions on the following mechanism 1, ensuring that in subsequent actions, the material 4 on each second gripper 221 can be accurately aligned with the gripping part 1226 of the first gripper 1222, and achieve precise handover.

[0043] Understandably, in the first embodiment, the gripping drive 223 includes multiple first linear drive members, and two adjacent second grippers 221 are connected by a first linear drive member, with one second gripper 221 fixed to the gripping frame 222. In the above technical solution, based on one of the second grippers 221, the multiple first linear drive members enable each second gripper 221 to move closer to or further away from each other.

[0044] Understandably, in the second embodiment, the gripping drive 223 includes a second linear drive 2232 and a plurality of telescopic rods 2233. Two adjacent second grippers 221 are connected by a telescopic rod 2233. The first and last two second grippers 221 are connected by the second linear drive 2232. The second gripper 221 at the tail is fixed to the gripping frame 222. In the above technical solution, each telescopic rod 2233 has a maximum length and a minimum length. The distance between the two end second grippers 221 is adjusted by the second linear drive 2232, thereby driving the middle second grippers 221 to move synchronously and achieve precise adjustment of the overall spacing. When the second linear drive 2232 extends, each telescopic rod 2233 is stretched to near its maximum length, so that multiple second grippers 221 are in the unfolded position to match the distribution spacing of the materials 4 on the assembly line. When the second linear drive 2232 retracts, each telescopic rod 2233 shortens under its own structural limit, so that the second grippers 221 retract inward to the minimum spacing.

[0045] Understandably, in the third embodiment, the gripping drive 223 includes a third linear drive and a plurality of elastic elements. Two adjacent second grippers 221 are connected by an elastic element, and two end-to-end second grippers 221 are connected by a third linear drive. One of the second grippers 221 is fixed to the gripping frame 222. The gripping frame 222 is fixed with a plurality of limiting blocks for limiting the sliding stroke of the second gripper 221, so that the second grippers 221 have an unfolded position that is far apart from each other and a retracted position that is close to each other. The elastic element drives the second gripper 221 to move toward the retracted position, or the elastic element drives the second gripper 221 to move toward the unfolded position. In the above technical solution, the unfolding position and mutual proximity of each second gripper 221 are limited by a corresponding limiting block; the third linear drive member adjusts the distance between the first and last second grippers 221 to drive the middle second gripper 221 to move synchronously. When the third linear drive member extends, the elastic member causes each second gripper 221 to slide along the gripping frame 222 and tend to the unfolded position, and the limiting block ensures accurate positioning; when the third linear drive member retracts, the elastic member causes each second gripper 221 to slide along the gripping frame 222 and tend to the retracted position.

[0046] Example 2:

[0047] like Figure 3 , Figure 4 and Figure 5As shown, based on Embodiment 1, the first gripper 1222 includes a first gripper body 1224 and a first gripper drive 1225 for driving the first gripper body 1224 to loosen or clamp. The first gripper body 1224 is provided with a gripping part 1226 for gripping material 4. The gripping part 1226 is located at a position higher than the upper end surface of the first gripper drive 1225. The second gripper 221 includes a second gripper body 2210 and a second gripper drive 2212 for driving the second gripper body 2210 to loosen or clamp. The second gripper body 2210 is provided with a gripping part 2211 for gripping material 4. When the second gripper 221 transfers material 4 to the first gripper 1222, the gripping part 2211 is located above the first gripper drive 1225 and at the same height as the gripping part 1226.

[0048] In the above technical solution, the first claw drive 1225 can be a drive device that can realize the opening and closing action of the gripper, such as a cylinder, electric push rod or electromagnetic driver, and is fixedly installed on the gripping frame 1221; the second claw drive 2212 is the same as the first claw drive 1225 and is fixedly installed on the gripping frame 222. The material 4 handover process is as follows: The robotic arm 21 moves the gripping component 22 to the material storage area of ​​the final assembly line, and the second claw drive 2212 drives the gripping part 2211 to clamp the connecting rod 4.1 of the material 4; then the robotic arm 21 carries the material 4 to the position corresponding to the following mechanism 1; the first claw drive 1225 drives the gripping part 1226 to open, and the robotic arm 21 finely adjusts the position of the second gripper 221 so that the gripping part 2211 is above the first claw drive 1225 and at the same horizontal height as the opened gripping part 1226; then the first claw drive 1225 drives the gripping part 1226 to clamp the connecting rod 4.1 of the material 4. After the gripping part 1226 clamps, the second claw drive 2212 drives the gripping part 2211 to slowly release, and the robotic arm 21 drives the second gripper 221 to withdraw and return to the initial position, completing a single material 4 handover. In the above technical solution, the clamping part 1226 is positioned higher than the first claw drive member 1225 to avoid mechanical interference between the second claw 221 and the first claw drive member 1225 during the handover operation, thus ensuring smooth handover operation. During the handover process, the first claw 1222 and the second claw 221 will have a brief "double claw clamping" transition state, which can prevent the material 4 from falling, shifting or bumping during transfer, thereby improving the safety and stability of the handover process.

[0049] Preferably, a horizontally arranged positioning support rod 1227 is installed on the gripping part 1226. When the second gripper 221 transfers the material 4 to the first gripper 1222, the positioning groove on the connecting rod 4.1 is inserted from above and abuts against the positioning support rod 1227.

[0050] In the above technical solution, the positioning support rod 1227 can accurately position the connecting rod 4.1 during the material 4 handover process, ensuring that the second gripper 221 can accurately place the material 4 at the predetermined position of the first gripper 1222.

[0051] Example 3:

[0052] Based on Embodiment 1, the first gripper 1222 includes a first gripper body 1224 and a first gripper drive 1225 for driving the first gripper body 1224 to loosen or clamp. The first gripper body 1224 is provided with a gripping part 1226 for gripping material 4. The gripping part 1226 is located at a position lower than the lower end face of the first gripper drive 1225. The second gripper 221 includes a second gripper body 2210 and a second gripper drive 2212 for driving the second gripper body 2210 to loosen or clamp. The second gripper body 2210 is provided with a gripping part 2211 for gripping material 4. When the second gripper 221 transfers material 4 to the first gripper 1222, the gripping part 2211 is located below the first gripper drive 1225 and at the same height as the gripping part 1226.

[0053] In the above technical solution, the material 4 handover process is as follows: The robotic arm 21 drives the gripping component 22 to move to the material 4 storage location on the final assembly line, and the second claw drive 2212 drives the gripping part 2211 to clamp the connecting rod 4.1 of the material 4; then the robotic arm 21 carries the material 4 to the position corresponding to the following mechanism 1; the first claw drive 1225 drives the gripping part 1226 to open, and the robotic arm 21 finely adjusts the position of the second gripper 221 so that the gripping part 2211 is below the first claw drive 1225 and at the same horizontal height as the opened gripping part 1226; then the first claw drive 1225 drives the gripping part 1226 to clamp the connecting rod 4.1 of the material 4. After the gripping part 1226 clamps, the second claw drive 2212 drives the gripping part 2211 to slowly release, and the robotic arm 21 drives the second gripper 221 to withdraw and return to the initial position, completing a single material 4 handover. In the above technical solution, the gripping part 1226 is set lower than the first claw drive member 1225 to avoid mechanical interference between the second gripper 221 and the first claw drive member 1225 during the handover operation, thus ensuring smooth handover operation. During the handover process, the first gripper 1222 and the second gripper 221 will have a brief "double gripper holding" transition state, which can prevent the material 4 from falling, shifting or bumping during transfer, thereby improving the safety and stability of the handover process.

Claims

1. A material handling device based on following a located industrial scene, characterized in that, The following comprises a following mechanism and a grabbing mechanism, the following mechanism comprises a bottom rail, a clamping mechanism and a following driving assembly, the clamping mechanism comprises a following seat slidably connected to the bottom rail along the X-axis direction, a mounting seat slidably connected to the following seat along the Y-axis direction, a clamping assembly mounted on the mounting seat and an extension driving member for driving the mounting seat to move along the Y-axis direction, the following driving assembly drives the following seat to move along the X-axis direction, and the clamping assembly comprises a clamping frame slidably connected to the mounting seat along the Z-axis direction, a plurality of first clamping jaws mounted on the clamping frame, and a first driving member for driving the clamping frame to move along the Z-axis direction. The grabbing mechanism comprises a mechanical arm and a grabbing assembly mounted on the mechanical arm, the mechanical arm is mounted close to the bottom rail, and the grabbing assembly comprises a second clamping jaw corresponding to the first clamping jaw.

2. The material transfer device based on following positioning industrial scene according to claim 1, characterized in that, The first clamping jaw comprises a first clamping jaw body and a first jaw driving member for driving the first clamping jaw body to loosen or clamp, the first clamping jaw body is provided with a clamping portion for clamping materials, the clamping portion is arranged at a position higher than the upper end face of the first jaw driving member, the second clamping jaw comprises a second clamping jaw body and a second jaw driving member for driving the second clamping jaw body to loosen or clamp, and the second clamping jaw body is provided with a grabbing portion for clamping materials; when the second clamping jaw transfers the materials to the first clamping jaw, the grabbing portion is located above the first jaw driving member and is at the same height as the clamping portion.

3. A material handling device based on following positioning industrial scene according to claim 2, characterized in that, A transversely arranged positioning support rod is mounted on the clamping portion, and when the second clamping jaw transfers the materials to the first clamping jaw, the positioning recess on the connecting rod is sleeved from above and abuts against the positioning support rod.

4. The material transfer device based on following positioning industrial scene according to claim 1, characterized in that, The first clamping jaw comprises a first clamping jaw body and a first jaw driving member for driving the first clamping jaw body to loosen or clamp, the first clamping jaw body is provided with a clamping portion for clamping materials, the clamping portion is arranged at a position lower than the lower end face of the first jaw driving member, the second clamping jaw comprises a second clamping jaw body and a second jaw driving member for driving the second clamping jaw body to loosen or clamp, and the second clamping jaw body is provided with a grabbing portion for clamping materials; when the second clamping jaw transfers the materials to the first clamping jaw, the grabbing portion is located below the first jaw driving member and is at the same height as the clamping portion.

5. The material handling device based on following positioning industrial scene according to claim 1, characterized in that, The grabbing assembly further comprises a grabbing frame and a grabbing driving member, a plurality of second clamping jaws are slidably connected to the grabbing frame, and the grabbing driving member drives the plurality of second clamping jaws to slide relative to the grabbing frame and realize the approaching or moving away of the plurality of second clamping jaws.

6. A material handling device based on following positioning industrial scene according to claim 5, characterized in that, The grabbing driving member comprises a plurality of first linear driving members, two adjacent second clamping jaws are connected by one first linear driving member, and one of the second clamping jaws is fixed to the grabbing frame.

7. A material handling device based on following positioning industrial scene according to claim 5, characterized in that, The grabbing driving member comprises a second linear driving member and a plurality of telescopic rods, two adjacent second clamping jaws are connected by one telescopic rod, the first and last second clamping jaws are connected by the second linear driving member, and the last second clamping jaw is fixed to the grabbing frame. Or, the grabbing driving member comprises a third linear driving member and a plurality of elastic members, two adjacent second clamping jaws are connected by an elastic member, and the first and last second clamping jaws are connected by the third linear driving member, wherein one of the second clamping jaws is fixed to the grabbing frame, the grabbing frame is fixed with a plurality of limiting blocks for limiting the sliding stroke of the second clamping jaw, so that the second clamping jaw has an unfolded position of moving away from each other and a contracted position of moving close to each other, the elastic member drives the second clamping jaw to move towards the contracted position, or the elastic member drives the second clamping jaw to move towards the unfolded position.

8. The material handling device based on following positioning industrial scene according to claim 1, characterized in that, The clamping mechanism further comprises a hanging rod positioning assembly installed on the mounting seat, the hanging rod positioning assembly comprises a positioning frame slidingly connected to the mounting seat along the Y-axis, a positioning clamping jaw installed on the positioning frame, and a positioning driving member for driving the positioning frame to move in the Y-axis direction.

9. A material handling device based on following positioning industrial scene according to claim 8, characterized in that, The hanging rod positioning assembly further comprises a sensor installed on the positioning frame, and the sensor is located directly above or below the positioning clamping jaw.

10. The material handling device based on following positioning industrial scene according to claim 1, characterized in that, The first clamping jaws are arranged in two groups along the X-axis direction, and the first clamping jaws in each group are arranged along the Z-axis direction, the clamping frame comprises a lifting frame and two horizontal moving frames, the two horizontal moving frames are slidingly connected to the lifting frame along the X-axis direction, the lifting frame is slidingly connected to the mounting seat along the Z-axis direction, and the lifting frame is provided with a spacing driving member for driving the two horizontal moving frames to slide along the X-axis direction, so that the two horizontal moving frames move close to or away from each other, and the two groups of first clamping jaws are respectively arranged on the corresponding horizontal moving frames.

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