A transfer device for profiled elements

Abstract

The application provides a transfer device for special-shaped parts, which comprises a fence, a first camera assembly, a second camera assembly, a turnover assembly, a special-shaped part transfer assembly and a robot assembly; the first camera assembly is used for shooting special-shaped parts on a special-shaped part trolley; the second camera assembly is used for shooting the special-shaped parts shot by the first camera assembly; the special-shaped parts that need to be turned over after being shot by the second camera assembly are turned over under the drive of the turnover assembly; a plurality of jigs are used for positioning the special-shaped parts after being shot by the second camera assembly; the first camera assembly, the second camera assembly, the turnover assembly and the special-shaped part transfer assembly are arranged in a ring shape; a clamping piece is connected to the robot; the clamping piece is used for clamping or releasing the special-shaped parts, so that one robot is used to transfer the special-shaped parts, the adoption of multiple robots for transfer is avoided, meanwhile, the ring-shaped arrangement is fully utilized to reduce the robot transfer path, and the working efficiency of the special-shaped part transfer device is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of transfer devices for irregularly shaped parts, and more particularly to a transfer device for irregularly shaped parts. Background Technology

[0002] With the development of technology, steering knuckles are used to transmit and bear the load at the front of a car, support and drive the front wheels to rotate around the kingpin so that the car can turn. As a type of irregular part, the blank of the steering knuckle needs to undergo multiple process transfers.

[0003] In the prior art, the existing irregular part transfer device includes a first camera assembly, a second camera assembly, a flipping assembly, an irregular part transfer assembly, and multiple robot assemblies. The first camera assembly, the second camera assembly, the flipping assembly, and the irregular part transfer assembly are arranged in a straight line. Each robot assembly corresponds to the first camera assembly, the second camera assembly, the flipping assembly, and the irregular part transfer assembly, respectively. The irregular part is transferred to various workstations through multiple robot assemblies, resulting in low working efficiency of the existing irregular part transfer device. Utility Model Content

[0004] The purpose of this utility model is to provide a transfer device for irregularly shaped parts. The device includes a fence with a designated location for irregularly shaped parts; this location is for storing irregularly shaped parts in a material cart; a first camera assembly is positioned relative to the material location; the first camera assembly is used to photograph the irregularly shaped parts in the material cart; a second camera assembly is located to one side of the first camera assembly and is used to photograph the irregularly shaped parts photographed by the first camera assembly; a flipping assembly is located to one side of the second camera assembly, and includes a support base and a flipping component, which is rotatably connected to the support base. The irregularly shaped parts that need to be flipped after being photographed by the second camera assembly are flipped by the flipping component; a transfer assembly is located to the other side of the first camera assembly, and includes a transfer conveyor line and multiple fixtures; the multiple fixtures are distributed within... The transfer conveyor system adjusts its position at different locations, driven by the conveyor. Multiple fixtures are used to position the irregularly shaped parts after being photographed by the second camera assembly. The robot assembly includes a robot and a gripper, with the robot positioned between the first camera assembly, the second camera assembly, the flipping assembly, and the irregularly shaped part transfer assembly. The first camera assembly, the second camera assembly, the flipping assembly, and the irregularly shaped part transfer assembly are arranged in a ring. The gripper is connected to the robot and passes sequentially through the first camera assembly, the second camera assembly, the flipping assembly, and the irregularly shaped part transfer assembly under the robot's drive. The gripper is used to grip or release the irregularly shaped parts, enabling one robot to transfer the irregularly shaped parts, avoiding the need for multiple robots. At the same time, the ring arrangement fully utilizes the reduced robot transfer path, improving the working efficiency of the irregularly shaped part transfer device.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a transfer device for irregularly shaped parts, comprising: The enclosure includes a designated area for irregularly shaped materials; this area is for storing irregularly shaped material carts. A first camera assembly is arranged relative to the position of the irregularly shaped material; the first camera assembly is used to photograph the irregularly shaped part in the irregularly shaped material cart. A second camera assembly is disposed on one side of the first camera assembly, and the second camera assembly is used to photograph the irregularly shaped part photographed by the first camera assembly; A flipping component is disposed on one side of the second camera component. The flipping component is provided with a support base and a flipping member. The flipping member is rotatably connected to the support base. At this time, the irregular part that needs to be flipped after being photographed by the second camera component is flipped under the action of the flipping member. An irregular part transfer assembly is disposed on the other side of the first camera assembly. The irregular part transfer assembly is provided with a transfer conveyor line and multiple fixtures. The multiple fixtures are distributed at different positions on the transfer conveyor line and are adjusted in position under the drive of the transfer conveyor line. The multiple fixtures are all used to position the irregular part after it has been flipped by the flipping assembly. A robot assembly includes a robot and a gripper. The robot is positioned between a first camera assembly, a second camera assembly, a flipping assembly, and a shaped part transfer assembly. The first camera assembly, the second camera assembly, the flipping assembly, and the shaped part transfer assembly are arranged in a ring. The gripper is connected to the robot and passes sequentially through the first camera assembly, the second camera assembly, the flipping assembly, and the shaped part transfer assembly under the drive of the robot. The gripper is used to grip or release the shaped part.

[0006] Optionally, the first camera assembly, the second camera assembly, the flipping assembly, the irregular part transfer assembly, and the robot assembly are all located within the fence and protected by the outer side of the fence; The first camera assembly, the second camera assembly, the flipping assembly, and the irregular part transfer assembly form an annular space, which is a non-closed space. The robot is located in the middle of the annular space and passes sequentially along different directions, passing the first camera assembly, the second camera assembly, the flipping assembly, and the irregular part transfer assembly.

[0007] Optionally, the first camera assembly includes a first frame, a first movable seat, and a first camera. The first camera is used to photograph irregularly shaped parts in an irregularly shaped parts material cart. The first movable seat is disposed on the top of the first frame and is movably connected to the first frame, and is arranged in the space above the position of the irregularly shaped parts material. The first camera is connected to the first movable seat and moves horizontally under the drive of the movable seat. The first camera is used to photograph irregularly shaped parts located in the irregularly shaped parts material cart.

[0008] Optionally, the robot transfers between the first camera assembly and the second camera assembly, and transfers the irregularly shaped parts in the irregularly shaped parts material cart to the second camera assembly.

[0009] Optionally, the second camera assembly includes a second frame, a support platform, and a second camera; the support platform is connected to the second frame and carries the irregularly shaped part after being photographed by the first camera assembly; the second camera is fixedly connected to the second frame and photographs the irregularly shaped part on the support platform; the shooting end of the second camera faces the irregularly shaped part on the support platform.

[0010] Optionally, the second camera assembly further includes a second movable base, which is movably connected to the second frame and moves along the front-rear direction of the support platform. The second movable base is connected to a baffle that moves with the movement of the second movable base to move the irregular part to the shooting position of the support platform.

[0011] Optionally, the flipping component is connected to the support base via a rotating shaft and flips along the axis of the rotating shaft. The flipping component is provided with a first positioning part, which is used to position the irregularly shaped part transferred by the robot. At this time, the irregularly shaped part is adjusted to the reverse and front sides under the flipping of the flipping component.

[0012] Optionally, the robot is a multi-axis robot and is capable of moving in multiple dimensions; the robot is provided with a support end, and the gripper is connected to the support end of the robot; The clamping member includes an mounting part, a moving part, and a clamping body; the mounting part is detachably mounted on the support end; the moving part is movably connected to the mounting part and supports the clamping body, and the clamping body is used to clamp or release irregularly shaped parts.

[0013] Optionally, the clamping body is provided with multiple clamping arms, which are arranged in a ring and can converge or move away from the center of the clamping body to clamp or release irregularly shaped parts.

[0014] Optionally, the transfer conveyor line is provided with a conveying part, the bottom of the fixture is supported by the conveying part, the conveying part drives the fixture to adjust its position during rotation, and the fixture is provided with a second positioning part, which is used to position the irregular part.

[0015] Compared with the prior art, the beneficial effects of this utility model are: This utility model provides a transfer device for irregularly shaped parts. A fence is provided with a material location for the irregularly shaped parts; this location is for storing irregularly shaped parts in a material cart; a first camera assembly is arranged relative to the material location; the first camera assembly is used to photograph the irregularly shaped parts in the material cart; a second camera assembly is located to one side of the first camera assembly and is used to photograph the irregularly shaped parts photographed by the first camera assembly; a flipping assembly is located to one side of the second camera assembly, and includes a support base and a flipping component, the flipping component being rotatably connected to the support base. When photographed by the second camera assembly, the irregularly shaped parts that need to be flipped are flipped under the action of the flipping component; an irregularly shaped part transfer assembly is located to the other side of the first camera assembly, and includes a transfer conveyor line and multiple fixtures; the multiple fixtures are distributed along the transfer conveyor line. The feed line is positioned at different locations and its position is adjusted under the drive of the transfer conveyor line; multiple fixtures are used to position the irregularly shaped parts after being photographed by the second camera component; the robot component includes a robot and a gripper, with the robot positioned between the first camera component, the second camera component, the flipping component, and the irregularly shaped part transfer component; the first camera component, the second camera component, the flipping component, and the irregularly shaped part transfer component are arranged in a ring; the gripper is connected to the robot and passes through the first camera component, the second camera component, the flipping component, and the irregularly shaped part transfer component in sequence under the drive of the robot; the gripper is used to grip or release the irregularly shaped parts, realizing the transfer of irregularly shaped parts by one robot, avoiding the use of multiple robots for transfer, and at the same time, making full use of the ring arrangement to reduce the robot transfer path and improve the working efficiency of the irregularly shaped part transfer device. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0017] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0018] Figure 1 A schematic diagram of a transfer device for irregularly shaped parts according to an embodiment of this application is shown.

[0019] Figure 2 A schematic diagram of the first camera assembly of a transfer device for irregularly shaped parts according to an embodiment of this application is shown.

[0020] Figure 3 A schematic diagram of the second camera assembly of a transfer device for irregularly shaped parts according to an embodiment of this application is shown.

[0021] Figure 4 It shows Figure 3 A magnified view of a portion of point A in the middle.

[0022] Figure 5 A schematic diagram of a flipping assembly of a transfer device for irregularly shaped parts according to an embodiment of this application is shown.

[0023] Figure 6 A schematic diagram of a shaped part transfer assembly of a shaped part transfer device according to an embodiment of this application is shown.

[0024] Figure 7 It shows Figure 6 A magnified view of a section at point B in the middle.

[0025] Figure 8 A schematic diagram of a robotic assembly of a transfer device for irregularly shaped parts according to an embodiment of this application is shown.

[0026] Figure Labels 100. Transfer device for irregularly shaped parts; 10. Fence; 11. Location of irregularly shaped materials; 20. First camera assembly; 21. First frame; 22. First movable base; 23. First camera; 30. Second camera assembly; 31. Second frame; 32. Support platform; 33. Second camera; 34. Second movable base; 341. Baffle; 40. Flipping assembly; 41. Support base; 42. Flipping component; 421. First positioning part; 50. Irregular part transfer assembly; 51. Transfer conveyor line; 511. Conveying unit; 52. Fixture; 521. Second positioning unit; 60. Robot component; 61. Robot; 611. Support end; 62. Clamping component; 621. Mounting part; 622. Moving part; 623. Clamping body; 6231. Clamping arm. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0028] Please refer to the attached document. Figures 1-8 This application provides a device 100 for transferring irregularly shaped parts, which is used to transfer irregularly shaped parts.

[0029] Please refer to the attached document. Figures 1-8 In this embodiment, the irregular part transfer device 100 includes a fence 10, a first camera assembly 20, a second camera assembly 30, a flipping assembly 40, an irregular part transfer assembly 50, and a robot assembly 60. The fence 10 has an irregular part material location 11 for storing irregular part material carts. The first camera assembly 20 is arranged relative to the irregular part material location 11 and is used to photograph irregular parts in the irregular part material cart. The second camera assembly 30 is located on one side of the first camera assembly 20 and is used to photograph irregular parts photographed by the first camera assembly 20. The flipping assembly 40 is located on one side of the second camera assembly 30 and has a support base 41 and a flipping element 42. The flipping element 42 is rotatably connected to the support base 41. At this time, the irregular part that needs to be flipped after being photographed by the second camera assembly 30 is flipped under the action of the flipping element 42. The irregular part transfer assembly 50 is located on the other side of the first camera assembly 20 and has a transfer conveying function. The transfer conveyor 51 consists of a line 51 and multiple fixtures 52. The fixtures 52 are distributed at different positions on the transfer conveyor 51 and are adjusted in position by the line 51. All fixtures 52 are used to position the irregularly shaped parts after being photographed by the second camera assembly 30. The robot assembly 60 includes a robot 61 and a gripper 62. The robot 61 is positioned between the first camera assembly 20, the second camera assembly 30, the flip assembly 40, and the irregularly shaped part transfer assembly 50. The first camera assembly 20, the second camera assembly 30, the flip assembly 40, and the irregularly shaped part transfer assembly 50 are arranged in a ring. The gripper 62 is connected to the robot 61 and passes sequentially through the first camera assembly 20, the second camera assembly 30, the flip assembly 40, and the irregularly shaped part transfer assembly 50 under the influence of the robot 61. The gripper 62 is used to grip or release the irregularly shaped parts, enabling one robot 61 to transfer the irregularly shaped parts, avoiding the need for multiple robots 61. Simultaneously, the ring arrangement reduces the transfer path of the robot 61, improving the working efficiency of the irregularly shaped part transfer device 100.

[0030] Please refer to the attached document. Figures 1-8In this embodiment of the application, the fence 10 is provided with a non-standard material location 11; the non-standard material location 11 is used for storing non-standard material carts; thus ensuring the storage location of non-standard material carts.

[0031] The first camera assembly 20 is arranged relative to the irregular part material position 11; the first camera assembly 20 is used to photograph the irregular parts in the irregular part material cart; so that the first camera assembly 20 can photograph and record each irregular part in the irregular part material cart, thereby making it easier to identify the position of the irregular parts.

[0032] The second camera assembly 30 is disposed on one side of the first camera assembly 20. The second camera assembly 30 is used to photograph the irregularly shaped part photographed by the first camera assembly 20. This allows the second camera assembly 30 to record the irregularly shaped part after it has been photographed by the first camera assembly 20, thereby making it easier to identify whether the front or back of the irregularly shaped part is facing up.

[0033] The flipping component 40 is disposed on one side of the second camera component 30. The flipping component 40 is provided with a support base 41 and a flipping element 42. The flipping element 42 is rotatably connected to the support base 41 so as to adjust the position of the flipping element 42 relative to the support base 41. At this time, the irregular parts that need to be flipped after being photographed by the second camera component 30 are flipped under the action of the flipping element 42. This allows the irregular parts that are in the reverse face-up state to be flipped, avoiding the irregular parts that are in the reverse face-up state from being flipped under human intervention, and ensuring that the front of each irregular part is facing up.

[0034] The irregular part transfer assembly 50 is located on the other side of the first camera assembly 20. The irregular part transfer assembly 50 is provided with a transfer conveyor line 51 and multiple fixtures 52. The multiple fixtures 52 are distributed at different positions on the transfer conveyor line 51 and are adjusted in position under the drive of the transfer conveyor line 51. The multiple fixtures 52 are all used to position the irregular part after it has been flipped by the flipping assembly 40. This ensures the positional accuracy of the irregular part after it has been flipped by the flipping assembly 40 relative to each fixture 52, thereby facilitating the transfer of the irregular part to the designated position under the action of the transfer conveyor line 51.

[0035] The robot assembly 60 includes a robot 61 and a gripper 62. The robot 61 is positioned between the first camera assembly 20, the second camera assembly 30, the flip assembly 40, and the irregular part transfer assembly 50. The first camera assembly 20, the second camera assembly 30, the flip assembly 40, and the irregular part transfer assembly 50 are arranged in a ring. The gripper 62 is connected to the robot 61 and passes through the first camera assembly 20, the second camera assembly 30, the flip assembly 40, and the irregular part transfer assembly 50 in sequence under the drive of the robot 61. The gripper 62 is used to grip or release the irregular part, realizing the transfer of the irregular part by one robot 61, avoiding the use of multiple robots 61 for transfer. At the same time, the ring arrangement is fully utilized to reduce the transfer path of the robot 61 and improve the working efficiency of the irregular part transfer device 100.

[0036] Please refer to the attached document. Figures 1-8 In this embodiment of the application, the first camera assembly 20, the second camera assembly 30, the flipping assembly 40, the irregular part transfer assembly 50, and the robot assembly 60 are all located inside the fence 10 and are protected by the outside of the fence 10 to prevent the first camera assembly 20, the second camera assembly 30, the flipping assembly 40, the irregular part transfer assembly 50, and the robot assembly 60 from being directly impacted by the outside.

[0037] The first camera assembly 20, the second camera assembly 30, the flip assembly 40, and the irregular part transfer assembly 50 form an annular space, which is an open space; this allows maintenance personnel to enter the annular space to perform maintenance on the first camera assembly 20, the second camera assembly 30, the flip assembly 40, and the irregular part transfer assembly 50, thus improving maintenance convenience.

[0038] The robot 61 is located in the middle of the annular space and passes through the first camera assembly 20, the second camera assembly 30, the flipping assembly 40, and the irregular part transfer assembly 50 in different directions in sequence. This realizes the transfer of irregular parts by one robot 61, avoiding the use of multiple robots 61 for transfer. At the same time, the annular arrangement makes full use of the reduced transfer path of the robot 61 and improves the working efficiency of the irregular part transfer device 100.

[0039] Please refer to the attached document. Figures 1-2In this embodiment, the first camera assembly 20 includes a first frame 21, a first movable base 22, and a first camera 23. The first camera 23 is used to photograph irregularly shaped parts located on the irregularly shaped parts material cart. The first movable base 22 is disposed on the top of the first frame 21 and is movably connected to the first frame 21 to facilitate adjustment of the position of the first movable base 22 relative to the first frame 21. The first movable base 22 is arranged in the space above the irregularly shaped parts material position 11. The first camera 23 is connected to the first movable base 22 and moves horizontally under the drive of the movable base to facilitate adjustment of the position of the first camera 23 relative to the irregularly shaped parts material cart. The first camera 23 is used to photograph the irregularly shaped parts located on the irregularly shaped parts material cart, so that the first camera 23 can photograph each irregularly shaped part located at different positions on the irregularly shaped parts material cart during the movement, ensuring that each irregularly shaped part on the irregularly shaped parts material cart is photographed and recorded. Optionally, the first movable base 22 can move relative to the first frame 21 through a linear motion module.

[0040] Please refer to the attached document. Figure 1 and 8 In this embodiment of the application, the robot 61 moves between the first camera assembly 20 and the second camera assembly 30, and moves the irregularly shaped parts in the irregularly shaped parts material cart to the second camera assembly 30, so that the robot 61 can move the irregularly shaped parts to the second camera assembly 30 after the position of the irregularly shaped parts is identified by the first camera assembly 20, thereby achieving the effect of transferring the irregularly shaped parts in the irregularly shaped parts material cart.

[0041] Please refer to the attached document. Figure 1 and 3 ~4. In this embodiment, the second camera assembly 30 includes a second frame 31, a support platform 32, and a second camera 33. The support platform 32 is connected to the second frame 31 and carries the irregularly shaped part photographed by the first camera assembly 20, so that the irregularly shaped part photographed by the first camera assembly 20 can be placed on the support platform 32. The second camera 33 is fixedly connected to the second frame 31 and photographs the irregularly shaped part on the support platform 32. The shooting end of the second camera 33 faces the irregularly shaped part on the support platform 32, so that the second camera 33 can photograph and record the irregularly shaped part on the support platform 32, thereby facilitating the identification of whether the irregularly shaped part on the support platform 32 is in a frontal or backal state. At this time, after the first camera 23 takes a picture to determine the position of the irregularly shaped part, the robot 61 removes the irregularly shaped part and places it on the support platform 32, and the second camera 33 takes a picture to determine whether the irregularly shaped part is in a frontal or backal state.

[0042] Please refer to the attached document. Figure 1 and 3~4. In this embodiment, the second camera assembly 30 further includes a second movable base 34, which is movably connected to the second frame 31 to facilitate adjustment of the position of the second movable base 34 relative to the second frame 31. The second movable base 34 moves along the front-rear direction of the support platform 32. The second movable base 34 is connected to a baffle 341, which moves with the movement of the second movable base 34 to move the irregular part to the shooting position of the support platform 32, ensuring that the second camera 33 can shoot the irregular part located on the support platform 32. Optionally, the second movable base 34 can move relative to the second frame 31 via a slide rail.

[0043] Please refer to the attached document. Figure 1 and 5 In this embodiment, the flipping member 42 is connected to the support base 41 via a rotating shaft and flips along the axis of the rotating shaft to allow the flipping member 42 to rotate 180 degrees. The flipping member 42 is provided with a first positioning part 421, which is used to position the irregular part transferred by the robot 61 so that the flipping member 42 can restrict the irregular part transferred by the robot 61 through the first positioning part 421, ensuring the positional accuracy of the irregular part relative to the flipping member 42. At this time, the irregular part is adjusted to the reverse and forward sides under the flipping of the flipping member 42. When the irregular part is facing upward, the flipping member 42 does not need to flip the irregular part. When the irregular part is facing downward, the flipping member 42 flips the irregular part 180 degrees so that the irregular part can be adjusted from the reverse state to the forward state.

[0044] Please refer to the attached document. Figure 1 and 8 In this embodiment, the robot 61 is a multi-axis robot 61, which can move in multiple dimensions, thus improving the flexibility of the robot 61; the robot 61 is provided with a support end 611, and the clamping member 62 is connected to the support end 611 of the robot 61; so that the robot 61 can be connected to the clamping member 62 through the support end 611.

[0045] The clamping component 62 includes a mounting part 621, a moving part 622, and a clamping body 623. The mounting part 621 is detachably mounted on the support end 611 so that the mounting part 621 can be connected to or detached from the support end 611, improving the ease of loading and unloading the clamping component 62. The moving part 622 is movably connected to the mounting part 621 and supports the clamping body 623 so that the moving part 622 can drive the clamping body 623 to move, thereby facilitating the adjustment of the position of the clamping body 623. The clamping body 623 is used to clamp or release irregularly shaped parts. When the clamping body 623 clamps the irregularly shaped parts, the robot 61 moves the irregularly shaped parts through the clamping body 623. When the clamping body 623 releases the irregularly shaped parts, the irregularly shaped parts can be placed in a designated position.

[0046] Please refer to the attached document. Figure 1 and 8 In this embodiment of the application, the clamping body 623 is provided with a plurality of clamping arms 6231, which are arranged in a ring so that the inner contour of the plurality of clamping arms 6231 can be adapted to the outer contour of the irregular part. The plurality of clamping arms 6231 can converge toward or move away from the center of the clamping body 623 to clamp or release the irregular part, so that the clamping or releasing of the irregular part can be achieved by the plurality of clamping arms 6231 moving closer to or further away from each other.

[0047] Please refer to the attached document. Figure 1 and 6 ~7. In this embodiment of the application, the transfer conveyor line 51 is provided with a conveying section 511, which is arranged in a horizontal direction. The bottom of the fixture 52 is supported by the conveying section 511. During the rotation of the conveying section 511, the fixture 52 is driven to adjust its position. The fixture 52 is provided with a second positioning section 521, which is used to position the irregular part so that the fixture 52 can limit the position of the irregular part through the second positioning section 521, and ensure the positional accuracy of the irregular part relative to the fixture 52. The fixture 52 is transferred along with the conveying section 511 so that the irregular part can be transferred to the designated position.

[0048] Compared with the prior art, the beneficial effects of this utility model are: This utility model provides a transfer device 100 for irregularly shaped parts. A fence 10 has an irregularly shaped part material location 11 for storing irregularly shaped part carts. A first camera assembly 20 is arranged relative to the irregularly shaped part material location 11 and is used to photograph the irregularly shaped parts in the cart. A second camera assembly 30 is located on one side of the first camera assembly 20 and is used to photograph the irregularly shaped parts photographed by the first camera assembly 20. A flipping assembly 40 is located on one side of the second camera assembly 30 and includes a support base 41 and a flipping element 42. The flipping element 42 is rotatably connected to the support base 41. When photographed by the second camera assembly 30, the irregularly shaped parts that need to be flipped are flipped under the action of the flipping element 42. An irregularly shaped part transfer assembly 50 is located on the other side of the first camera assembly 20 and includes a transfer conveyor line 51 and multiple fixtures 52. The multiple fixtures 52 are distributed along the transfer conveyor line. The different positions of 51 are adjusted under the drive of the transfer conveyor line 51; multiple fixtures 52 are used to position the irregular parts after being photographed by the second camera assembly 30; the robot assembly 60 includes a robot 61 and a clamping member 62. The robot 61 is located between the first camera assembly 20, the second camera assembly 30, the flipping assembly 40 and the irregular part transfer assembly 50; the first camera assembly 20, the second camera assembly 30, the flipping assembly 40 and the irregular part transfer assembly 50 are arranged in a ring; the clamping member 62 is connected to the robot 61 and passes through the first camera assembly 20, the second camera assembly 30, the flipping assembly 40 and the irregular part transfer assembly 50 in sequence under the drive of the robot 61; the clamping member 62 is used to clamp or release the irregular parts, realizing the transfer of irregular parts by one robot 61, avoiding the use of multiple robots 61 for transfer. At the same time, the ring arrangement is fully utilized to reduce the transfer path of the robot 61 and improve the working efficiency of the irregular part transfer device 100.

[0049] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0050] In the description of this application, 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, features defined with "first" and "second" may explicitly or implicitly include one or more features.

[0051] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A transfer device for irregularly shaped parts, characterized in that, include: The enclosure includes a designated area for irregularly shaped materials; this area is for storing irregularly shaped material carts. A first camera assembly is arranged relative to the position of the irregularly shaped material; the first camera assembly is used to photograph the irregularly shaped part in the irregularly shaped material cart. A second camera assembly is disposed on one side of the first camera assembly, and the second camera assembly is used to photograph the irregularly shaped part photographed by the first camera assembly; A flipping component is disposed on one side of the second camera component. The flipping component is provided with a support base and a flipping member. The flipping member is rotatably connected to the support base. At this time, the irregular part that needs to be flipped after being photographed by the second camera component is flipped under the action of the flipping member. An irregular part transfer assembly is disposed on the other side of the first camera assembly. The irregular part transfer assembly is provided with a transfer conveyor line and multiple fixtures. The multiple fixtures are distributed at different positions on the transfer conveyor line and are adjusted in position under the drive of the transfer conveyor line. The multiple fixtures are all used to position the irregular part after it has been flipped by the flipping assembly. A robot assembly includes a robot and a gripper. The robot is positioned between a first camera assembly, a second camera assembly, a flipping assembly, and a shaped part transfer assembly. The first camera assembly, the second camera assembly, the flipping assembly, and the shaped part transfer assembly are arranged in a ring. The gripper is connected to the robot and passes sequentially through the first camera assembly, the second camera assembly, the flipping assembly, and the shaped part transfer assembly under the drive of the robot. The gripper is used to grip or release the shaped part.

2. The transfer device for irregularly shaped parts according to claim 1, characterized in that, The first camera assembly, the second camera assembly, the flipping assembly, the irregular part transfer assembly, and the robot assembly are all located within the fence and protected by the outer side of the fence; The first camera assembly, the second camera assembly, the flipping assembly, and the irregular part transfer assembly form an annular space, which is a non-closed space. The robot is located in the middle of the annular space and passes sequentially along different directions, passing the first camera assembly, the second camera assembly, the flipping assembly, and the irregular part transfer assembly.

3. The transfer device for irregularly shaped parts according to claim 2, characterized in that, The first camera assembly includes a first frame, a first movable seat, and a first camera. The first camera is used to photograph irregularly shaped parts in an irregularly shaped parts material cart. The first movable seat is disposed on the top of the first frame and is movably connected to the first frame, and is arranged in the space above the position of the irregularly shaped parts material. The first camera is connected to the first movable seat and moves horizontally under the drive of the movable seat. The first camera is used to photograph irregularly shaped parts located in the irregularly shaped parts material cart.

4. The transfer device for irregularly shaped parts according to claim 2, characterized in that, The robot moves between the first camera assembly and the second camera assembly, and transfers the irregularly shaped parts in the irregularly shaped parts material cart to the second camera assembly.

5. The transfer device for irregularly shaped parts according to claim 4, characterized in that, The second camera assembly includes a second frame, a support platform, and a second camera; the support platform is connected to the second frame and carries the irregularly shaped part after being photographed by the first camera assembly; the second camera is fixedly connected to the second frame and photographs the irregularly shaped part on the support platform; the shooting end of the second camera faces the irregularly shaped part on the support platform.

6. The transfer device for irregularly shaped parts according to claim 5, characterized in that, The second camera assembly further includes a second movable base, which is movably connected to the second frame and moves along the front-rear direction of the support platform. The second movable base is connected to a baffle that moves with the movement of the second movable base to move the irregular part to the shooting position of the support platform.

7. The transfer device for irregularly shaped parts according to claim 2, characterized in that, The flipping component is connected to the support base via a rotating shaft and flips along the axis of the rotating shaft. The flipping component is provided with a first positioning part, which is used to position the irregularly shaped part transferred by the robot. At this time, the irregularly shaped part is adjusted to the reverse and front sides under the flipping of the flipping component.

8. The transfer device for irregularly shaped parts according to claim 2, characterized in that, The robot is a multi-axis robot and is capable of moving in multiple dimensions; the robot is provided with a support end, and the gripper is connected to the support end of the robot; The clamping member includes an mounting part, a moving part, and a clamping body; the mounting part is detachably mounted on the support end; the moving part is movably connected to the mounting part and supports the clamping body, and the clamping body is used to clamp or release irregularly shaped parts.

9. The transfer device for irregularly shaped parts according to claim 8, characterized in that, The clamping body is provided with multiple clamping arms, which are arranged in a ring and can converge or move away from the center of the clamping body to clamp or release irregularly shaped parts.

10. The transfer device for irregularly shaped parts according to claim 9, characterized in that, The transfer conveyor line is provided with a conveying part, and the bottom of the fixture is supported by the conveying part. During the rotation of the conveying part, the fixture is driven to adjust its position. The fixture is provided with a second positioning part, which is used to position irregular parts.

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