Handling mechanism and handling device

Abstract

This application relates to the field of logistics equipment technology, and provides a handling mechanism and handling device. The handling mechanism includes an assembly base and an adsorption assembly and a clamping assembly connected to the assembly base. The clamping assembly includes at least one pair of clamping arms, a synchronization structure, a reversing structure, and a power source. Two clamping arms in the pair are arranged opposite to each other and spaced apart along a first direction, and are both movably connected to the assembly base. At least one clamping arm is connected to the power source. The reversing structure is connected between one of the clamping arms and the synchronization structure, and the synchronization structure is connected between the reversing structure and the other clamping arm. The handling mechanism provided by this application, while satisfying the requirements of palletizing and depalletizing, can improve the synchronicity of the clamping arm engagement, ensuring that the two clamping arms open and clamp as synchronously as possible, reducing the risk of material falling.

Description

Technical Field

[0001] This application relates to the field of logistics equipment technology, and in particular to a handling mechanism and handling device. Background Technology

[0002] When depalletizing, robotic arms are typically used in conjunction with end grippers and end suction devices, along with 3D vision inspection, which significantly improves handling efficiency and reduces labor costs.

[0003] In related technologies, end effectors often include at least two cooperating jaws to hold and transport materials. However, considering assembly and machining errors, as well as wear during long-term operation, the synchronicity of the movements of at least two jaws may decrease, or even lead to loosening of the grip and material falling out. Utility Model Content

[0004] Therefore, it is necessary to provide a handling mechanism that, while satisfying the requirements of destacking, palletizing, and stacking, can improve the synchronicity of the clamping arm engagement, ensuring that the two clamping arms open and clamp as synchronously as possible, thereby reducing the risk of material falling.

[0005] A conveying mechanism includes an assembly base and an adsorption assembly and a clamping assembly connected to the assembly base. The clamping assembly includes at least a pair of clamping arms, a synchronization structure, a reversing structure, and a power source. Two of the clamping arms in the pair are arranged opposite to each other and spaced apart along a first direction, and are both movably connected to the assembly base. At least one of the clamping arms is connected to the power source. The reversing structure is connected between one of the clamping arms and the synchronization structure, and the synchronization structure is connected between the reversing structure and the other clamping arm.

[0006] Understandably, the adsorption component can pick up materials for destacking and palletizing, while the clamping component can grip materials, such as for pallet stacking, to meet different handling needs. Because the two clamping arms in a pair are connected by a synchronization structure and a reversing structure, when the clamping arms are driven to move relative to the assembly base by a power source, not only can the synchronization structure maintain the synchronicity of the two clamping arms' movements, but the cooperation of the reversing and synchronization structures can also ensure that the two clamping arms clamp and open synchronously, improving the consistency of their movements and thus reducing the risk of material falling.

[0007] In some embodiments, each of the two clamping arms in a pair is provided with a rotating shaft rotatably connected to the mounting base. The clamping assembly also includes a connecting shaft. The synchronization structure is connected between one of the rotating shafts and the connecting shaft, and the reversing structure is connected between the other rotating shaft and the connecting shaft.

[0008] In some embodiments, the reversing structure includes a first reversing wheel and a second reversing wheel, which mesh and drive each other, with one connected to another of the rotating shafts and the other connected to the connecting shaft; and / or, the synchronization structure includes a first synchronizing wheel, a second synchronizing wheel, and a synchronizing belt tensioned between the first synchronizing wheel and the second synchronizing wheel, with one of the first synchronizing wheel and the second synchronizing wheel connected to one of the rotating shafts and the other connected to the connecting shaft.

[0009] In some embodiments, the clamping arm includes a rotating shaft and at least two arm bodies connected to the rotating shaft, the rotating shaft being movably connected to the mounting base, and one of the arm bodies being connected to the power source.

[0010] In some embodiments, each of the two clamping arms in a pair is provided with a corresponding power source; and / or, the clamping arm has a clamping end, and the adsorption assembly includes at least a plurality of spaced-apart nozzles, the clamping end and the plurality of nozzles being located on the same side of the assembly base and arranged on the opposite side of the power source, the synchronization structure and the reversing structure.

[0011] In some embodiments, the conveying mechanism further includes a position detection component connected to the assembly base for detecting the position of the material.

[0012] In some embodiments, the position detection assembly includes a sensing structure and a sensor, the sensor being disposed on the assembly base, the sensing structure being movably connected to the assembly base, and the sensing structure being configured to move relative to the assembly base in response to material action to trigger the sensor.

[0013] In some embodiments, the sensing structure includes a first plate, a second plate, and a connecting shaft. The first plate and the second plate are arranged opposite to each other and spaced apart along the thickness direction of the mounting base. The connecting shaft connects the first plate and the second plate. The first plate is used to trigger the sensor, and the second plate is used to sense materials.

[0014] In some embodiments, the first plate and the second plate are disposed on opposite sides of the assembly base, and the sensing structure further includes an elastic element connected between the assembly base and the second plate.

[0015] In some embodiments, the conveying mechanism further includes a material detector mounted on the assembly base for detecting the presence or absence of material.

[0016] This application also provides a handling device, including a robotic arm and the aforementioned handling mechanism, wherein an assembly base in the handling mechanism is connected to the end of the robotic arm. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of a conveying mechanism provided in an embodiment of this application from a top view;

[0019] Figure 2 A schematic diagram of a conveying mechanism provided in an embodiment of this application from a bottom-view perspective;

[0020] Figure 3 A partial schematic diagram of a conveying mechanism provided in an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of a position detection component in a conveying mechanism provided in an embodiment of this application.

[0022] Reference numerals: 10, Assembly base; 20, Adsorption assembly; 21, Adsorption substrate; 22, Nozzle; 30, Clamping assembly; 31, Clamping arm; 31a, First clamping arm; 31b, Second clamping arm; 32, Synchronization structure; 33, Reversing structure; 34, Power source; 35, Connecting shaft; 36, Spherical bearing; 37, Mating shaft; 40, Position detection assembly; 41, Sensor; 42, Sensing structure; 50, Material detector; 60, Mounting flange; 101, First bearing seat; 102, Second bearing seat; 103, Tensioning structure; 311, Rotating shaft; 311a 311b, First rotating shaft; 312, Second rotating shaft; 312a, Arm body; 312b, Second arm body; 321, First synchronous pulley; 322, Second synchronous pulley; 323, Synchronous belt; 331, First reversing pulley; 332, Second reversing pulley; 421, First plate; 422, Second plate; 423, Connecting shaft; 424, Elastic element; 425, Guide seat; 426, Assembly seat; 1031, Seat body; 1032, Tensioning pulley; 3101, Clamping end; 3121, Inclined section; 3122, Vertical section; 3123, Horizontal section. Detailed Implementation

[0023] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0024] It should be noted that when a component is referred to as being "fixed to" or "attached to" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application's specification are for illustrative purposes only and do not represent the only possible implementation.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0028] Please see Figures 1 to 3This application provides a conveying mechanism that improves the synchronicity of the clamping arms 31 during clamping, ensuring that the two clamping arms 31 open and clamp as synchronously as possible, reducing the risk of material falling. Specifically, the conveying mechanism includes an assembly base 10 and an adsorption assembly 20 and a clamping assembly 30 connected to the assembly base 10. The clamping assembly 30 includes at least one pair of clamping arms 31, a synchronization structure 32, a reversing structure 33, and a power source 34. The two clamping arms 31 in the pair are arranged opposite to each other and spaced apart along a first direction, and are both movably connected to the assembly base 10. At least one clamping arm 31 is connected to the power source 34. The reversing structure 33 is connected between one of the clamping arms 31 and the synchronization structure 32, and the synchronization structure 32 is connected between the reversing structure 33 and the other clamping arm 31. The first direction is the X-axis direction.

[0029] Understandably, this handling mechanism can be connected to the end of a robotic arm for destacking, stacking, and palletizing of materials. The adsorption component 20 can adsorb materials that need to be destacking or stacked, and then the robotic arm drives the handling mechanism to move the materials to the target location; furthermore, the clamping component 30 can clamp the destacking pallets for stacking. In this way, the handling mechanism can maintain destacking and stacking while also possessing pallet unstacking functionality, improving practicality. Simultaneously, the clamping component 30 can be driven by a power source 34 to clamp and open at least one pair of clamping arms 31 to achieve clamping and releasing of the pallet. Since a synchronization structure 32 and a reversing structure 33 connect the two clamping arms 31 in a pair, when the power source 34 drives the clamping arms 31 to move relative to the assembly base 10, the synchronization structure 32 can maintain the synchronous movement of the two clamping arms 31 in a pair; and, by utilizing the cooperation of the reversing structure 33 and the synchronization structure 32, the two clamping arms 31 can be kept to clamp and open synchronously. In this way, the motion consistency of the two clamping arms 31 can be improved, and the risk of material falling off can be reduced.

[0030] It can be explained that the reversal here refers to the switching between the two clamping arms 31 moving towards each other to clamp and moving away from each other to open. For example, when the two clamping arms 31 are rotatably connected to the assembly base 10, one clamping arm 31 needs to rotate clockwise and the other clamping arm 31 needs to rotate counterclockwise when moving towards each other to clamp or moving away from each other to open. Therefore, the reversal structure 33 is needed to convert the motion driving one clamping arm 31 to rotate clockwise into the motion driving the other clamping arm 31 to rotate counterclockwise. If the two clamping arms 31 are slidably connected to the assembly base 10, with the X-axis direction as the left and right direction in the figure, when moving towards each other to clamp or moving away from each other to open, one clamping arm 31 needs to move to the left and the other clamping arm 31 needs to move to the right. The reversal structure 33 can convert the leftward movement into the rightward movement of the other clamping arm 31. In this process, the synchronization structure 32 is also set to maintain the same movement speed of the two clamping arms 31 and improve the synchronization of movement.

[0031] The adsorption assembly 20 includes an adsorption substrate 21 and multiple suction nozzles 22. The multiple suction nozzles 22 are connected to the adsorption substrate 21 and arranged at intervals, and material adsorption is achieved through the cooperation of the multiple suction nozzles 22. The adsorption substrate 21 is connected to the assembly base 10. Multiple adsorption substrates 21 can be provided and arranged at intervals. Each adsorption substrate 21 corresponds to a suction nozzle group composed of multiple spaced suction nozzles. Each suction nozzle group corresponds to a control valve, which is connected to a pneumatic power source via an air pipe. This arrangement allows the control valve to control the opening and closing of the suction nozzle groups on the corresponding adsorption substrate 21, thereby changing the actual adsorption range of the adsorption assembly 20, suitable for materials of different sizes. The adsorption substrate 21 has air passages connecting each suction nozzle 22, which are connected to the control valve to realize the opening and closing control of the multiple suction nozzles 22. The multiple adsorption substrates 21 can be arranged at intervals along the X-axis, along the Y-axis, or in a matrix array. The multiple suction nozzles 22 on each adsorption substrate 21 can be arranged in a rectangular array or any two adjacent rows of suction nozzles can be staggered. It only needs to be able to stably adsorb the material; this is just an example.

[0032] Please see Figures 1 to 3In actual use, each clamping arm 31 has a clamping end 3101. The clamping end 3101 and the suction nozzle 22 are located on the same side of the assembly base 10, and arranged on opposite sides of the power source 34, the synchronization structure 32, and the reversing structure 33. Taking the thickness direction of the assembly base 10 as the Z-axis direction as an example, the clamping end 3101 and the suction nozzle 22 can be located below the assembly base 10 along the Z-axis direction, while the aforementioned power source 34, synchronization structure 32, and reversing structure 33 can be located above the assembly base 10 along the Z-axis direction. That is to say, by separating the part that directly acts on the material from the driving part used for driving on both sides of the assembly base 10 along its own thickness direction, interference is reduced, and the space on both sides of the thickness direction of the assembly base 10 is fully utilized.

[0033] Furthermore, each of the two clamping arms 31 in a pair is equipped with a corresponding power source 34. This arrangement reduces the driving load of a single power source 34 and facilitates the synchronous clamping and opening of the two clamping arms 31. The power source 34 can be a cylinder, motor, electric actuator, etc., as long as it can satisfy the movement of the two clamping arms 31 relative to the mounting base 10. Alternatively, one clamping arm 31 in the pair can be connected to the power source 34, and the other clamping arm 31 can be driven to move synchronously through the synchronization structure 32; that is, the two clamping arms 31 in a pair share a single power source 34. This is merely an example.

[0034] In other embodiments, the assembly base 10 may be provided with two pairs or three pairs of equal clamping arms 31, with two or more pairs of clamping arms 31 arranged at intervals along a second direction. The first direction is the X-axis direction, and the second direction is the Y-axis direction. By using multiple pairs of clamping arms 31, the clamping range relative to the pallet can be increased, and the clamping stability can be improved. Each pair of clamping arms 31 is provided with a synchronization structure 32, a reversing structure 33, and a power source 34. This is only an example for illustration.

[0035] Please see Figure 1 and Figure 3 In some embodiments, each of the two clamping arms 31 in a pair is provided with a rotating shaft 311 rotatably connected to the mounting base 10. The clamping assembly 30 also includes a connecting shaft 35. A synchronization structure 32 is connected between one of the rotating shafts 311 and the connecting shaft 35, and a reversing structure 33 is connected between the other rotating shaft 311 and the connecting shaft 35.

[0036] Specifically, the clamping arm 31 includes a rotating shaft 311 and at least two arm bodies 312 connected to the rotating shaft 311. The at least two arm bodies 312 are spaced apart along the axial direction of the rotating shaft 311, which is along the Y-axis. The mounting base 10 has at least two first bearing seats 101 spaced apart along the Y-axis. The rotating shaft 311 passes through the at least two first bearing seats 101 and is rotatably supported by bearings. Simultaneously, the mounting base 10 also has at least two second bearing seats 102 spaced apart along the Y-axis. The connecting shaft 35 passes through the at least two second bearing seats 102 and is rotatably supported by bearings.

[0037] For ease of description, the two clamping arms 31 in a pair are referred to as the first clamping arm 31a and the second clamping arm 31b, respectively. The first clamping arm 31a corresponds to the first rotating shaft 311a and the first arm body 312a, and the second clamping arm 31b corresponds to the second rotating shaft 311b and the second arm body 312b. The reversing structure 33 is connected between the connecting shaft 35 and the first rotating shaft 311a, and the synchronization structure 32 is connected between the connecting shaft 35 and the second rotating shaft 311b. The power source 34 can be connected to the first rotating shaft 311a and is used to rotate around its own axis with the first rotating shaft 311a to drive the first arm body 312a to swing synchronously. Moreover, the first rotating shaft 311a drives the synchronization structure 32 to run through the reversing structure 33 and the connecting shaft 35. The synchronization structure 32 drives the second rotating shaft 311b to rotate, and the second rotating shaft 311b can then drive the second arm body 312b to swing synchronously, realizing the synchronous opening and clamping of the first clamping arm 31a and the second clamping arm 31b.

[0038] Understandably, by rotating the arm 312 relative to the assembly base 10 through the rotating shaft 311, the pallet can be clamped and released. This provides more stable and larger contact area and more uniform pressure distribution, reduces local stress concentration, and lowers the risk of pinching or deformation.

[0039] Please see Figure 1 and Figure 3In some embodiments, the reversing structure 33 includes a first reversing wheel 331 and a second reversing wheel 332, which mesh and drive each other. One of them is connected to another rotating shaft 311, and the other is connected to a connecting shaft 35. Specifically, the first reversing wheel 331 can be sleeved on the outside of the first rotating shaft 311a and keyed, and the second reversing wheel 332 can be sleeved on the outside of the connecting shaft 35 and keyed. The synchronizing structure 32 is connected between the second reversing wheel 332 and the second rotating shaft 311b. Both the first reversing wheel 331 and the second reversing wheel 332 are gears and have the same diameter. When the power source 34 drives the first rotating shaft 311a to rotate clockwise, the first rotating shaft 311a drives the first arm 312a to swing clockwise toward the direction closer to the second arm 312b. The first rotating shaft 311a drives the second reversing wheel 332 to rotate counterclockwise via the first reversing wheel 331. The second reversing wheel 332 drives the second rotating shaft 311b to rotate counterclockwise via the synchronization structure 32. The second rotating shaft 311b drives the second arm 312b to swing counterclockwise toward the direction closer to the second arm 312b, achieving synchronous clamping of the first arm 312a and the second arm 312b. Conversely, when the first rotating shaft 311a rotates counterclockwise, it causes the first arm 312a to swing counterclockwise toward the direction away from the second arm 312b. Under the meshing action of the first reversing wheel 331, the second reversing wheel 332 rotates clockwise, driving the second rotating shaft 311b to rotate clockwise via the synchronization structure 32. The second arm 312b then swings clockwise toward the direction away from the first arm 312a, achieving synchronous opening of the first arm 312a and the second arm 312b.

[0040] Furthermore, the synchronization structure 32 includes a first synchronization pulley 321, a second synchronization pulley 322, and a synchronization belt 323 tensioned between the first synchronization pulley 321 and the second synchronization pulley 322. One of the first synchronization pulley 321 and the second synchronization pulley 322 is connected to one of the rotating shafts 311, and the other is connected to the connecting shaft 35. That is, by using the synchronous belt 323 for transmission, the synchronous clamping and synchronous opening of the first clamping arm 31a and the second clamping arm 31b are satisfied. The structure is simple and can maintain consistent speed even under high load conditions. The first synchronization pulley 321 and the second reversing pulley 332 are both sleeved on the connecting shaft 35 and arranged at intervals along the axial direction of the connecting shaft 35. The second synchronization pulley 322 is sleeved on the outside of the second rotating shaft 311b and keyed.

[0041] The assembly base 10 is also provided with a tensioning structure 103. The tensioning structure 103 includes a seat 1031 connected to the assembly base 10 and a tensioning wheel 1032 rotatably connected to the seat 1031. The tensioning wheel 1032 cooperates with the synchronous belt 323 to adjust the tension of the synchronous belt 323, thereby maintaining the same rotation speed of the first synchronous wheel 321 and the second synchronous wheel 322.

[0042] Alternatively, the synchronization structure 32 can also adopt a chain drive structure.

[0043] Please see Figure 1 and Figure 3 In some embodiments, the clamping arm 31 includes a rotating shaft 311 and at least two arm bodies 312 connected to the rotating shaft 311. The rotating shaft 311 is movably connected to the mounting base 10, and one of the arm bodies 312 is connected to a power source 34. Taking a cylinder as an example, the cylinder body is hinged to the side of the mounting base 10 away from the suction nozzle 22. The piston rod of the cylinder is connected to a spherical bearing 36 and a mating shaft 37 connected to the spherical bearing 36. The other end of the mating shaft 37 is connected to one of the first arm bodies 312a, thereby driving the first rotating shaft 311a to rotate through the first arm body 312a. When there are two power sources 34, the piston rod of the other power source 34 is connected to one of the corresponding second arm bodies 312b through the spherical bearing 36 and the mating shaft 37, thereby driving the second rotating shaft 311b to rotate through the second arm body 312b. The lengths of the first arm 312a and the second arm 312b used for connecting with the mating shaft 37 are both greater than the lengths of the other first arm 312a and second arm 312b.

[0044] like Figure 3 As shown, each arm 312 further includes an inclined section 3121, a vertical section 3122, and a horizontal section 3123, which are connected in sequence. The inclined section 3121 is connected to the rotation shaft 311. The vertical section 3122 can be clamped and positioned from the side wall of the pallet, and the horizontal section 3123 can be clamped and positioned from the bottom surface of the pallet, thereby improving clamping stability. The vertical section 3122 and the horizontal section 3123 together form the clamping end 3101. It is only necessary to ensure that the end of each arm 312 is set in a hook shape; this is merely an example.

[0045] In other embodiments, the clamping arms 31 may also be slidably connected to the assembly base 10, so that the clamping and releasing of the pallet can be achieved by the translation of the two clamping arms 31 along the X-axis. In this case, the synchronization structure 32 may adopt a rack and pinion mechanism, with the gear having two racks, each rack being connected to a corresponding clamping arm 31. This is only an example.

[0046] Please see Figure 1 , Figure 2 and Figure 4 In some embodiments, the conveying mechanism further includes a position detection component 40, which is connected to the assembly base 10 and used to detect the material position. That is, the material position, such as the height of the material, can be determined by the detection signal of the position detection component 40, thereby facilitating the adjustment of the position of the conveying mechanism relative to the material to meet the clamping requirements of materials at different heights.

[0047] In some embodiments, the position detection assembly 40 includes a sensing structure 42 and a sensor 41. The sensor 41 is disposed on the assembly base 10, and the sensing structure 42 is movably connected to the assembly base 10. The sensing structure 42 is configured to move relative to the assembly base 10 in response to material action to trigger the sensor 41. In the initial state, the sensing structure 42 can be suspended below the assembly base 10. When the sensing structure 42 comes into contact with the material, the material pushes the sensing structure 42 upward, thereby changing the distance between it and the sensor 41 to trigger the sensor 41. The sensor 41 transmits a detection signal to a controller or host computer, etc., to facilitate control of the robotic arm to adjust the height of the conveying mechanism. For example, the sensor 41 can be a laser rangefinder sensor.

[0048] Please continue reading. Figure 1 , Figure 2 and Figure 4 Furthermore, the sensing structure 42 includes a first plate 421, a second plate 422, and a connecting shaft 423. The first plate 421 and the second plate 422 are arranged vertically opposite each other and spaced apart. The connecting shaft 423 connects the first plate 421 and the second plate 422. The first plate 421 is used to trigger the sensor 41, and the second plate 422 is used to sense materials. The sensor 41 can be installed above the assembly base 10. The first plate 421 is located above the assembly base 10, and the second plate 422 is located below the assembly base 10, used to sense materials. When the conveying mechanism moves to the target position, if the target pallet is higher than the reference pallet, the target pallet will push the second plate 422 upward. The second plate 422 drives the first plate 421 to move upward synchronously through the connecting shaft 423. The height of the first plate 421's upward movement can be detected by the sensor 41 and transmitted to the controller or host computer. After analysis and processing, an adjustment command is issued to the robotic arm. In this way, adaptive stacking can be performed according to different pallet heights, reducing stacking interference between any two adjacent pallets.

[0049] The assembly base 10 has an assembly hole for the connecting shaft 423 to pass through. A guide seat 425 is fixed in the assembly hole and sleeved on the outside of the connecting shaft 423 to guide the lifting and lowering of the connecting shaft 423 and reduce the offset of the first plate 421. The guide seat 425 can be a linear bearing. At least two spaced connecting shafts 423 are connected between the first plate 421 and the second plate 422 to ensure uniform force distribution. The sensor 41 is fixed above the assembly base 426 via a sensor 41 seat.

[0050] Please continue reading. Figure 1 , Figure 2 and Figure 4Furthermore, the first plate 421 and the second plate 422 are respectively located on opposite sides of the assembly base 10. The sensing structure 42 also includes an elastic element 424, which is connected between the assembly base 10 and the second plate 422. That is, the elastic element 424 facilitates the reset of the sensing structure 42 after the conveying mechanism moves away from the pallet. When the second plate 422 moves upward under the action of the pallet, it will compress and deform the elastic element 424. When the second plate 422 moves away from the pallet, it moves downward under the elastic recovery action of the elastic element 424, and drives the first plate 421 to reset through the connecting shaft 423. Moreover, the elastic element 424 can also absorb the impact when the second plate 422 contacts the pallet, reducing the risk of damage to the second plate 422 and the pallet. The elastic element 424 can be pre-pressed between the second plate 422 and the guide seat 425.

[0051] like Figure 1 As shown, in some embodiments, the handling mechanism further includes a material detector 50, which is mounted on the assembly base 10 and used to detect the presence or absence of material. When the adsorption component 20 or the clamping component 30 picks up material, the material detector 50 will detect a material presence signal. If material detachment occurs, the material detector 50 will not detect any material and will send a no-material signal to the controller or host computer. The controller or host computer can then promptly send an instruction to the alarm structure, which will prompt the operator to terminate the handling operation. The material detector 50 may be a laser sensor.

[0052] Please see Figures 1 to 4 This application also provides a handling device, including a robotic arm and the aforementioned handling mechanism, wherein an assembly base 10 in the handling mechanism is connected to the end of the robotic arm. Specifically, a mounting flange 60 is connected above the assembly base 10, and the mounting flange 60 is connected to the end of the robotic arm, for example, by fastening with screws, so that the robotic arm can drive the handling mechanism to move to the target position. In actual use, a 3D camera is also installed at the end of the robotic arm to take pictures of the material, and then transmit the coordinate information of the material to the robotic arm, so that the robotic arm can drive the handling mechanism to move according to the coordinate information.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.

Claims

1. A carrying mechanism characterized by, The assembly includes an assembly base (10) and an adsorption assembly (20) and a clamping assembly (30) connected to the assembly base (10). The clamping assembly (30) includes at least a pair of clamping arms (31), a synchronization structure (32), a reversing structure (33), and a power source (34). Two of the clamping arms (31) in the pair are arranged opposite to each other and spaced apart along a first direction, and are movably connected to the assembly base (10). At least one of the clamping arms (31) is connected to the power source (34). The reversing structure (33) is connected between one of the clamping arms (31) and the synchronization structure (32). The synchronization structure (32) is connected between the reversing structure (33) and the other clamping arm (31).

2. The carrying mechanism according to claim 1, characterized in that Each of the two clamping arms (31) in a pair is provided with a rotating shaft (311) rotatably connected to the assembly base (10). The clamping assembly (30) also includes a connecting shaft (35). The synchronization structure (32) is connected between one of the rotating shafts (311) and the connecting shaft (35). The reversing structure (33) is connected between the other rotating shaft (311) and the connecting shaft (35).

3. The carrying mechanism according to claim 2, wherein The reversing structure (33) includes a first reversing wheel (331) and a second reversing wheel (332), which mesh and drive each other, with one connected to another of the rotating shafts (311) and the other connected to the connecting shaft (35); and / or, The synchronization structure (32) includes a first synchronization pulley (321), a second synchronization pulley (322), and a synchronization belt (323) tensioned between the first synchronization pulley (321) and the second synchronization pulley (322). One of the first synchronization pulley (321) and the second synchronization pulley (322) is connected to one of the rotating shafts (311), and the other is connected to the connecting shaft (35).

4. The conveying mechanism according to claim 2, characterized in that, The clamping arm (31) includes a rotating shaft (311) and at least two arm bodies (312) connected to the rotating shaft (311). The rotating shaft (311) is movably connected to the assembly base (10), and one of the arm bodies (312) is connected to the power source (34).

5. The conveying mechanism according to claim 1, characterized in that, Both clamping arms (31) in a pair are respectively provided with the power source (34); and / or, The clamping arm (31) has a clamping end (3101), and the adsorption assembly (20) includes at least a plurality of spaced suction nozzles (22). The clamping end (3101) and the plurality of suction nozzles (22) are located on the same side of the assembly base (10) and are arranged on the opposite side of the power source (34), the synchronization structure (32) and the reversing structure (33).

6. The conveying mechanism according to claim 1, characterized in that, The conveying mechanism also includes a position detection component (40), which is connected to the assembly base (10) and is used to detect the position of the material.

7. The conveying mechanism according to claim 6, characterized in that, The position detection component (40) includes a sensing structure (42) and a sensor (41), the sensor (41) being disposed on the assembly base (10), the sensing structure (42) being movably connected to the assembly base (10), and the sensing structure (42) being configured to move relative to the assembly base (10) in response to material action to trigger the sensor (41).

8. The conveying mechanism according to claim 7, characterized in that, The sensing structure (42) includes a first plate (421), a second plate (422), and a connecting shaft (423). The first plate (421) and the second plate (422) are arranged opposite to each other and spaced apart along the thickness direction of the assembly base (10). The connecting shaft (423) connects the first plate (421) and the second plate (422). The first plate (421) is used to trigger the sensor (41), and the second plate (422) is used to sense materials.

9. The conveying mechanism according to claim 8, characterized in that, The first plate (421) and the second plate (422) are respectively disposed on opposite sides of the assembly base (10). The sensing structure (42) also includes an elastic element (424), which is connected between the assembly base (10) and the second plate (422).

10. The conveying mechanism according to claim 1, characterized in that, The handling mechanism also includes a material detector (50), which is installed on the assembly base (10) and is used to detect the presence or absence of material.

11. A conveying device, characterized in that, It includes a robotic arm and a handling mechanism according to any one of claims 1 to 10, wherein the assembly base (10) in the handling mechanism is connected to the end of the robotic arm.

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