A transfer device and system

Abstract

The utility model relates to mechanical technical field more specifically, relate to a kind of transfer device and system.The transfer device includes front suspension gripper mechanism and rear suspension gripper mechanism, and the front suspension gripper mechanism includes front suspension main body frame, multiple first clamping mechanisms and multiple first positioning mechanisms, multiple first clamping mechanisms and multiple first positioning mechanisms are spaced apart and installed on the front suspension main body frame;The rear suspension gripper mechanism includes rear suspension main body frame, multiple second clamping mechanisms and multiple second positioning mechanisms, multiple second clamping mechanisms and multiple second positioning mechanisms are spaced apart and installed on the rear suspension main body frame.The front suspension gripper mechanism and the rear suspension gripper mechanism cooperate with each other, thereby realizing the handling of front and rear suspension assembly, without manual operation hook, avoid causing injury to operator in the handling process, improve safety performance, also improve efficiency.

Description

Technical Field

[0001] This utility model relates to the field of mechanical technology, and more specifically, to a transfer device and system. Background Technology

[0002] In the existing solution, the front and rear suspension assemblies are transported to the transfer position via the assembly line platform. Operators move the electric hoist and transfer hooks above the assemblies, lower the electric hoist to a suitable position, and two operators work together to securely hook the assemblies with the transfer hooks. The electric hoist then rises, smoothly removing the assemblies from the assembly line platform. The electric hoist is then moved precisely to above the assembly AGV. It is lowered, and two operators work together to align the positioning holes of the assemblies with the positioning pins on the assembly AGV, placing the assemblies onto the assembly platform. Operators then remove the transfer hooks, raise the electric hoist, and move it to a safe position.

[0003] The operation of electric hoists to transfer the front and rear suspension assemblies requires a total of four operators per shift, resulting in high labor costs. The need for two operators, heavily reliant on a two-person collaborative work mechanism, creates significant safety blind spots. In actual operation, the hoist lifting and assembly positioning require real-time coordination between two employees. Delays in command transmission or misalignment can easily lead to injuries such as pinching or crushing. More seriously, if the hooks are not securely fixed or misalignment is performed, the hundreds-of-kilograms-weight front and rear suspension assemblies risk falling, potentially causing equipment damage and major safety accidents. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies, such as the difficulty in relocating the front and rear suspension assemblies and the ease with which installation accidents can occur. This invention provides a relocation device and system that effectively reduces the difficulty of operation and the probability of safety accidents.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: A transfer device is provided, including a front suspension gripper mechanism and a rear suspension gripper mechanism. The front suspension gripper mechanism includes a front suspension main frame, a plurality of first clamping mechanisms and a plurality of first positioning mechanisms, wherein the plurality of first clamping mechanisms and the plurality of first positioning mechanisms are all spaced apart and mounted on the front suspension main frame. The rear suspension gripper mechanism includes a rear suspension main frame, a plurality of second clamping mechanisms and a plurality of second positioning mechanisms, wherein the plurality of second clamping mechanisms and the plurality of second positioning mechanisms are all spaced apart and mounted on the rear suspension main frame.

[0006] This utility model discloses a transfer device in which a front suspension gripper mechanism is used to clamp and transport the front cantilever arm. It is positioned by connecting to a positioning hole on the front cantilever arm via a first positioning mechanism. After positioning, the first gripping mechanism is activated to initiate the gripping action. Similarly, a rear suspension gripper mechanism is used to clamp and transport the rear cantilever arm. It is positioned by connecting to a positioning hole on the rear cantilever arm via a second positioning mechanism. After positioning, the second gripping mechanism is activated to initiate the gripping action of the rear cantilever arm. The front and rear suspension gripper mechanisms cooperate to achieve the transport of the front and rear suspension assemblies. The device provided by this utility model eliminates the need for manual operation of hooks, avoiding injury to operators during transport, improving safety, and increasing efficiency.

[0007] Furthermore, the front suspension gripper mechanism also includes a vision camera mounted on the front suspension main frame. The vision camera captures the gripping status in real time, eliminating the need for manual visual observation; the photos or videos captured by the vision camera are transmitted to the backend control system for automatic control.

[0008] Furthermore, a first force control sensor is provided on the first clamping mechanism, and a second force control sensor is provided on the second clamping mechanism. The first and second force control sensors collect force information during gripping in real time. The handling and lifting will only be initiated when the force value reaches a certain range, which can effectively prevent loosening. Similarly, during the handling process, if the force value is less than a safety threshold, an alarm will be issued; when the force exceeds a certain threshold, an alarm will be issued, which can effectively prevent excessive clamping force from damaging the clamped object.

[0009] Further, the first clamping mechanism includes a first bracket, a first drive cylinder, and a first gripper; the first bracket is fixedly mounted on the front suspension main frame, the first drive cylinder is mounted on the first bracket, and one end of the first gripper is rotatably mounted on the first bracket and connected to the output end of the first drive cylinder. The first drive cylinder drives the first gripper to rotate relative to the first bracket. The first bracket is used to fix the first drive cylinder and the first gripper. The shape of the first bracket can be modified according to the shape and structure of the front and rear suspension assemblies to adapt to them. The first drive cylinder is fixedly mounted on the first bracket, and one end of the first gripper is rotatably connected to the first bracket and also connected to the drive end of the first drive cylinder. With this configuration, when the first drive cylinder moves, it drives the first gripper to rotate around the first bracket, completing the gripping action. The first gripper may have multiple fingers, which are divided into two groups, and the two groups rotate in opposite directions to achieve the gripping and releasing actions.

[0010] Furthermore, the first clamping mechanism also includes a first positioning block, one end of which is fixedly mounted on the first bracket. When the first gripper rotates relative to the first bracket, the clamping end of the first gripper rotates closer to or further away from the first positioning block. The first positioning block serves two purposes: firstly, it allows for better positioning during gripping, and secondly, it can also act as a fixed finger, moving the first gripper closer to the first positioning block to clamp the object between the gripper and the first positioning block.

[0011] Furthermore, the first positioning mechanism includes a first mounting bracket, a first positioning pin, and a first detection switch. The first mounting bracket is fixedly mounted on the front suspension main frame. The first positioning pin and the first detection switch are both mounted on the first mounting bracket. When the first gripper rotates relative to the first bracket, the gripping end of the first gripper approaches or moves away from the first positioning pin. The first positioning pin can achieve more precise positioning, enabling the first gripping mechanism to perform gripping actions more accurately. The first detection switch can be used to detect whether the first positioning pin is properly positioned and whether the workpiece to be gripped has reached the correct position. Once the workpiece is detected to be in position and the first positioning pin is properly positioned, the first gripping mechanism is activated to perform the gripping action. Similarly, during gripping, the first positioning pin acts as a fixed finger, cooperating with the first gripper to perform the gripping action.

[0012] In this utility model, the first gripper can grip independently, or it can grip in conjunction with the first positioning block or the first positioning pin. In actual operation, it can be designed according to the specific structure of the front and rear suspension assemblies, and different gripping methods can be used at different positions to enable more accurate and stable gripping.

[0013] Furthermore, the second clamping mechanism includes a second bracket, a second drive cylinder, and a second gripper. The second bracket is fixedly mounted on the rear suspension main frame, the second drive cylinder is mounted on the second bracket, and one end of the second gripper is rotatably connected to the second bracket and simultaneously connected to the drive end of the second drive cylinder. The second drive cylinder drives the second gripper to rotate relative to the second bracket. The working principle of the second clamping mechanism is similar to that of the first clamping mechanism. Similarly, the second drive cylinder is fixedly mounted on the second bracket, one end of the second gripper is rotatably connected to the second bracket and simultaneously connected to the drive end of the second drive cylinder, and the other end of the second gripper is the clamping end. The second drive cylinder drives the second finger to rotate around the second bracket. In practical applications, the second gripper can be configured as multiple fingers, which can rotate in the same direction or be divided into two groups, rotating towards or away from each other, thereby achieving the gripping or releasing action.

[0014] Furthermore, the second clamping mechanism also includes a second positioning block, which is fixedly mounted on the second bracket. When the second gripper rotates relative to the second bracket, the clamping end of the second gripper rotates closer to or further away from the second positioning block. The second positioning block serves two purposes: firstly, it provides positioning during gripping; secondly, mounted on the second bracket, it acts as a fixed finger, cooperating with the second gripper to perform the gripping action. During gripping, the workpiece to be gripped is positioned between the second positioning block and the second gripper, and the second gripper gradually rotates in the second positioning direction, thereby gradually clamping the workpiece.

[0015] Furthermore, the second positioning mechanism includes a second mounting bracket, a second positioning pin, and a second detection switch. The second mounting bracket is fixedly mounted on the rear suspension main frame. Both the second positioning pin and the second detection switch are mounted on the second mounting bracket. When the second gripper rotates relative to the second bracket, the gripping end of the second gripper approaches or moves away from the second positioning pin. The second positioning pin is used for positioning, and the second detection switch is used to detect whether the workpiece is in position. The second positioning mechanism can be used independently as a positioning mechanism to position the workpiece when the second gripping mechanism grips it. Of course, the second positioning pin of the second positioning mechanism can also be used as a fixed finger to cooperate with the second gripper to achieve the gripping action. In practical applications, the design can be flexibly adapted according to the specific structure of the front and rear suspension assemblies.

[0016] This utility model also provides a transfer system, including the transfer device described above, a first transfer robot, and a second transfer robot. The output end of the first transfer robot is connected to the front suspension gripper mechanism, and the output end of the second transfer robot is connected to the rear suspension gripper mechanism. The first drive cylinder of the first clamping mechanism is connected to the control system of the first transfer robot. The second drive cylinder of the second clamping mechanism is connected to the control system of the second transfer robot. The first force control sensor is connected to the control system of the first transfer robot, and the second force control sensor is connected to the control system of the second transfer robot.

[0017] This utility model provides a transfer system in which a first transfer robot controls the movement of a front suspension gripper mechanism and a second transfer robot controls the movement of a rear suspension gripper mechanism. The front suspension gripper mechanism is used to grip the front suspension portion of the front and rear suspension assemblies, and the rear suspension gripper mechanism is used to grip the rear suspension portion. A vision camera captures the gripping action in real time. Based on the photos or videos captured by the vision camera, feature points of the front and rear suspension assemblies are identified and input into the control systems of the first and second transfer robots. The control system controls the movement of the front or rear suspension gripper mechanism based on the feature points of the front and rear suspension assemblies. A first force control sensor on the front suspension gripper mechanism and a second force control sensor on the rear suspension gripper mechanism monitor the gripping force in real time. When the force control value exceeds the safety threshold, an alarm is automatically triggered to effectively avoid the risk of the assembly slipping.

[0018] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model discloses a transfer device, wherein a front suspension gripper mechanism is used to clamp and transport the front suspension arm, and is positioned by connecting to the positioning hole on the front suspension arm through a first positioning mechanism; a rear suspension gripper mechanism is used to clamp and transport the rear suspension arm, and is positioned by connecting to the positioning hole on the rear suspension arm through a second positioning mechanism; the front suspension gripper mechanism and the rear suspension gripper mechanism cooperate with each other to realize the transport of the front and rear suspension assemblies. The device provided by this utility model does not require manual operation of hooks, etc., avoiding injury to operators during the transport process, improving safety performance, and also improving efficiency; 2. In a transfer system of this utility model, a first transfer robot controls the movement of the front suspension gripper mechanism, and a second transfer robot controls the movement of the rear suspension gripper mechanism. A vision camera captures the gripping action in real time. Based on the photos or videos captured by the vision camera, feature points of the front and rear suspension assemblies are identified and input into the control systems of the first and second transfer robots. The control system controls the movement of the front or rear suspension gripper mechanism based on the feature points of the front and rear suspension assemblies. The first force control sensor on the front suspension gripper mechanism and the second force control sensor on the rear suspension gripper mechanism monitor the gripping force in real time. When the force control value exceeds the safety threshold, an alarm is automatically triggered to effectively avoid the risk of the assembly slipping. Attached Figure Description

[0019] Figure 1 This is a first-view structural diagram of the front suspension grabber mechanism in one embodiment; Figure 2 This is a schematic diagram of the front suspension gripper mechanism from a second perspective in one embodiment; Figure 3 This is a first-view structural diagram of the rear suspension grabber mechanism in one embodiment; Figure 4 This is a second-view structural schematic diagram of the rear suspension gripper mechanism in one embodiment.

[0020] In the attached diagram: 100, front suspension gripper; 110, front suspension main frame; 120, first clamping mechanism; 121, first bracket; 122, first drive cylinder; 123, first gripper; 124, first positioning block; 130, first positioning mechanism; 131, first mounting bracket; 132, first positioning pin; 133, first detection switch; 200, rear suspension gripper mechanism; 210, rear suspension main frame; 220, second clamping mechanism; 221, second bracket; 222, second drive cylinder; 223, second gripper; 224, second positioning block; 230, second positioning mechanism; 231, second mounting bracket; 232, second positioning pin; 233, second detection switch. Detailed Implementation

[0021] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the present invention. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0022] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0023] Example 1 This embodiment is a first embodiment of a transfer device, such as... Figures 1 to 4 As shown, the device includes a front suspension gripper 100 and a rear suspension gripper 200. The front suspension gripper 100 includes a front suspension main frame 110, a plurality of first clamping mechanisms 120 and a plurality of first positioning mechanisms 130, which are all spaced apart on the front suspension main frame 110. The rear suspension gripper 200 includes a rear suspension main frame 210, a plurality of second clamping mechanisms 220 and a plurality of second positioning mechanisms 230, which are all spaced apart on the rear suspension main frame 210.

[0024] In this embodiment, the front-mounted gripper 100 also includes a vision camera mounted on the front-mounted main frame 110. The vision camera captures real-time images of the gripping state, eliminating the need for manual visual observation; the photos or videos captured by the vision camera are transmitted to the back-end control system for automatic control.

[0025] In this embodiment, a first force control sensor is provided on the first clamping mechanism 120, and a second force control sensor is provided on the second clamping mechanism 220. The first and second force control sensors collect the force information during gripping in real time. The handling and lifting will only be initiated when the force value reaches a certain range, which can effectively prevent loosening. Similarly, during the handling process, if the force value is less than the safety threshold, an alarm will be issued; when the force exceeds a certain threshold, an alarm will be issued, which can effectively prevent excessive clamping force from damaging the clamped object.

[0026] like Figure 1 and Figure 2 As shown, the first clamping mechanism 120 includes a first bracket 121, a first drive cylinder 122, and a first gripper 123. The first bracket 121 is fixedly mounted on the front suspension main frame 110, the first drive cylinder 122 is mounted on the first bracket 121, and one end of the first gripper 123 is rotatably mounted on the first bracket 121 and connected to the output end of the first drive cylinder 122. The first drive cylinder 122 drives the first gripper 123 to rotate relative to the first bracket 121. The first bracket 121 is used to fix the first drive cylinder 122 and the first gripper 123. The first bracket 121 is fixed on the front suspension main frame 110. The shape of the first bracket 121 can be modified according to the shape and structure of the front and rear suspension assemblies to adapt to them. The first drive cylinder 122 is fixedly installed on the first bracket 121. One end of the first gripper 123 is rotatably connected to the first bracket 121 and at the same time connected to the drive end of the first drive cylinder 122. With this configuration, when the first drive cylinder 122 moves, it will drive the first gripper 123 to rotate around the first bracket 121 to complete the gripping action. The first gripper 123 may have multiple fingers, which are divided into two groups. The two groups rotate in opposite directions to realize the gripping and releasing actions.

[0027] like Figure 1 and Figure 2 As shown, the first clamping mechanism 120 also includes a first positioning block 124. One end of the first positioning block 124 is fixedly mounted on the first bracket 121. When the first gripper 123 rotates relative to the first bracket 121, the clamping end of the first gripper 123 rotates closer to or further away from the first positioning block 124. The first positioning block 124 serves two purposes: firstly, it allows for better positioning during gripping; secondly, it can also act as a fixed finger, moving closer to the first positioning block 124 when the first gripper 123 grips, clamping the object to be gripped between the first gripper 123 and the first positioning block 124.

[0028] like Figure 1 and Figure 2As shown, the first positioning mechanism 130 includes a first mounting bracket 131, a first positioning pin 132, and a first detection switch 133. The first mounting bracket 131 is fixedly mounted on the front suspension main frame 110. The first positioning pin 132 and the first detection switch 133 are both mounted on the first mounting bracket 131. When the first gripper 123 rotates relative to the first bracket 121, the gripping end of the first gripper 123 moves closer to or further away from the first positioning pin 132. The first positioning pin 132 can achieve more precise positioning, enabling the first gripping mechanism 120 to perform gripping actions more accurately. The first detection switch 133 can be used to detect whether the first positioning pin 132 is properly positioned and whether the workpiece to be gripped has reached the correct position. Once the workpiece is detected to be in position and the first positioning pin 132 is properly positioned, the first gripping mechanism 120 is activated to perform the gripping action. Similarly, during gripping, the first positioning pin 132 acts as a fixed finger, cooperating with the first gripper 123 to perform the gripping action.

[0029] like Figure 1 and Figure 2 As shown, the first gripper 123 can grip independently, or in conjunction with the first positioning block 124, or in conjunction with the first positioning pin 132. In actual operation, the design can be tailored to the specific structure of the front and rear suspension assemblies, employing different gripping methods at different positions to achieve more precise and stable gripping. In this embodiment, as shown in the figure, there are two sets of the first gripper 123 in conjunction with the first positioning block 124, two sets of the first gripper 123 in conjunction with the first positioning pin 132, and two sets of the first gripper 123 gripping independently. Each set is spaced apart on the left and right, with the gripper gripping independently located in the middle. This provides four positioning points: the first positioning pin 132 at the front and the first positioning block 124 at the rear, resulting in more precise and stable gripping.

[0030] When the vehicle model is changed and the structure of the front and rear suspension assemblies is altered, the first clamping mechanism 120 and the first positioning mechanism 130 can be designed according to the actual situation. The quantity and how they work together to achieve gripping can be changed as needed.

[0031] In this embodiment, as Figure 3 and Figure 4As shown, the second clamping mechanism 220 includes a second bracket 221, a second drive cylinder 222, and a second gripper 223. The second bracket 221 is fixedly mounted on the rear suspension main frame 210. The second drive cylinder 222 is mounted on the second bracket 221. One end of the second gripper 223 is rotatably connected to the second bracket 221 and simultaneously connected to the drive end of the second drive cylinder 222. The second drive cylinder 222 drives the second gripper 223 to rotate relative to the second bracket 221. The working principle of the second clamping mechanism 220 is similar to that of the first clamping mechanism 120. Similarly, the second drive cylinder 222 is fixedly mounted on the second bracket 221, one end of the second gripper 223 is rotatably connected to the second bracket 221 and simultaneously connected to the drive end of the second drive cylinder 222, and the other end of the second gripper 223 is the clamping end. The second drive cylinder 222 drives the second finger to rotate around the second bracket 221. In practical applications, the second gripper 223 can be configured with multiple fingers, which can rotate in the same direction or be divided into two groups that rotate in opposite directions or in opposite directions, thereby achieving the gripping or releasing action.

[0032] like Figure 3 and Figure 4 As shown, the second clamping mechanism 220 also includes a second positioning block 224, which is fixedly mounted on the second bracket 221. When the second gripper 223 rotates relative to the second bracket 221, the clamping end of the second gripper 223 rotates closer to or further away from the second positioning block 224. The second positioning block 224 is used for positioning during gripping. On the other hand, the second positioning block 224 is mounted on the second bracket 221 as a fixed finger, cooperating with the second gripper 223 to grip. During gripping, the workpiece to be gripped is located between the second positioning block 224 and the second gripper 223. The second gripper 223 gradually rotates in the second positioning direction, thereby gradually clamping the workpiece.

[0033] like Figure 3 and Figure 4 As shown, the second positioning mechanism 230 includes a second mounting bracket 231, a second positioning pin 232, and a second detection switch 233. The second mounting bracket 231 is fixedly mounted on the rear suspension main frame 210. The second positioning pin 232 and the second detection switch 233 are both mounted on the second mounting bracket 231. When the second gripper 223 rotates relative to the second bracket 221, the clamping end of the second gripper 223 approaches or moves away from the second positioning pin 232. The second positioning pin 232 is used for positioning, and the second detection switch 233 is used to detect whether the workpiece is in position. The second positioning mechanism 230 can be used independently as a positioning mechanism to position the workpiece when the second clamping mechanism 220 grips it. Of course, the second positioning pin 232 of the second positioning mechanism 230 can also be used as a fixed finger to cooperate with the second gripper 223 to achieve the gripping action. In practical applications, the design can be flexibly adjusted according to the specific structure of the front and rear suspension assemblies.

[0034] like Figure 3 and Figure 4 As shown, in this embodiment, the second clamping mechanism 220 has four sets, and the second grippers 223 all cooperate with the second positioning blocks 224 to achieve positioning and gripping actions; the second positioning mechanism 230 performs positioning and detection independently, and there are also two sets of the second positioning mechanism 230; the second positioning pin 232 cooperates with the positioning block on the rear cantilever and is inserted into the positioning hole to achieve positioning; the second detection switch 233 checks whether the rear cantilever is in place and whether the second positioning pin 232 is properly positioned; after positioning, the second clamping mechanism 220 is activated to perform the gripping action, and the second positioning block 224 can also play a positioning role during gripping.

[0035] This utility model discloses a transfer device in which the front suspension gripper 100 is used to clamp and transport the front cantilever arm. It is positioned by connecting to the positioning hole on the front cantilever arm via a first positioning mechanism 130. After positioning, the first clamping mechanism 120 is activated to initiate the clamping action. Similarly, the rear suspension gripper 200 is used to clamp and transport the rear cantilever arm. It is positioned by connecting to the positioning hole on the rear cantilever arm via a second positioning mechanism 230. After positioning, the second clamping mechanism 220 is activated to initiate the clamping action. The front suspension gripper 100 and the rear suspension gripper 200 cooperate to achieve the transport of the front and rear suspension assemblies. The device provided by this utility model eliminates the need for manual operation of hooks, avoiding injury to operators during transport, improving safety, and increasing efficiency.

[0036] Example 2 This embodiment is a second embodiment of a transfer device. Similar to the first embodiment, the difference lies in that each finger of the first gripper 123 and the second gripper 223 is equipped with a force control sensor to further improve detection accuracy and avoid the risk of loosening and falling during the gripping process. As shown in the figure, the fingers of the first gripper 123 and the second gripper 223 are all hook-shaped, facilitating the hooking and gripping of the workpiece. The force control sensor is located at the fingertip.

[0037] Example 3 This embodiment is an example of a transfer system, including the transfer device of Embodiment 1 or Embodiment 2, and also includes a first transfer robot and a second transfer robot. The output end of the first transfer robot is connected to the front suspended gripper 100 mechanism, and the output end of the second transfer robot is connected to the rear suspended gripper mechanism 200. The first drive cylinder 122 of the first clamping mechanism 120 is connected to the control system of the first transfer robot; the second drive cylinder 222 of the second clamping mechanism 220 is connected to the control system of the second transfer robot; the first force control sensor is connected to the control system of the first transfer robot, and the second force control sensor is connected to the control system of the second transfer robot.

[0038] This utility model provides a transfer system in which a first transfer robot controls the movement of a front-mounted gripper 100 and a second transfer robot controls the movement of a rear-mounted gripper 200. The front-mounted gripper 100 is used to grip the front suspension portion of the front-to-rear suspension assembly, and the rear-mounted gripper 200 is used to grip the rear suspension portion. A vision camera captures the gripping action in real time. Based on the photos or videos captured by the vision camera, feature points of the front-to-rear suspension assembly are identified and input into the control systems of the first and second transfer robots. The control system controls the movement of the front-mounted gripper 100 or the rear-mounted gripper 200 based on the feature points of the front-to-rear suspension assembly. A first force control sensor on the front-mounted gripper 100 and a second force control sensor on the rear-mounted gripper 200 monitor the gripping force in real time. When the force control value exceeds a safety threshold, an alarm is automatically triggered, effectively avoiding the risk of the assembly slipping.

[0039] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0040] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A transfer device, characterized in that, The device includes a front suspension gripper (100) and a rear suspension gripper (200). The front suspension gripper (100) includes a front suspension main frame (110), a plurality of first clamping mechanisms (120) and a plurality of first positioning mechanisms (130). The plurality of first clamping mechanisms (120) and the plurality of first positioning mechanisms (130) are all spaced apart and installed on the front suspension main frame (110). The rear suspension gripper (200) includes a rear suspension main frame (210), a plurality of second clamping mechanisms (220) and a plurality of second positioning mechanisms (230). The plurality of second clamping mechanisms (220) and the plurality of second positioning mechanisms (230) are all spaced apart and installed on the rear suspension main frame (210).

2. The transfer device according to claim 1, characterized in that, The front-mounted gripper (100) also includes a vision camera mounted on the front-mounted main frame (110).

3. The transfer device according to claim 2, characterized in that, A first force control sensor is provided on the first clamping mechanism (120), and a second force control sensor is provided on the second clamping mechanism (220).

4. The transfer device according to claim 3, characterized in that, The first clamping mechanism (120) includes a first bracket (121), a first drive cylinder (122), and a first gripper (123); the first bracket (121) is fixedly mounted on the front suspension main frame (110), the first drive cylinder (122) is mounted on the first bracket (121), one end of the first gripper (123) is rotatably mounted on the first bracket (121) and connected to the output end of the first drive cylinder (122), and the first drive cylinder (122) drives the first gripper (123) to rotate relative to the first bracket (121).

5. The transfer device according to claim 4, characterized in that, The first clamping mechanism (120) further includes a first positioning block (124), one end of which is fixedly mounted on the first bracket (121). When the first gripper (123) rotates relative to the first bracket (121), the clamping end of the first gripper (123) rotates closer to or further away from the first positioning block (124).

6. The transfer device according to claim 4, characterized in that, The first positioning mechanism (130) includes a first mounting bracket (131), a first positioning pin (132), and a first detection switch (133). The first mounting bracket (131) is fixedly mounted on the front suspension main frame (110). The first positioning pin (132) and the first detection switch (133) are both mounted on the first mounting bracket (131). When the first gripper (123) rotates relative to the first bracket (121), the clamping end of the first gripper (123) approaches or moves away from the first positioning pin (132).

7. The transfer device according to claim 3, characterized in that, The second clamping mechanism (220) includes a second bracket (221), a second drive cylinder (222), and a second gripper (223). The second bracket (221) is fixedly mounted on the rear suspension main frame (210). The second drive cylinder (222) is mounted on the second bracket (221). One end of the second gripper (223) is rotatably connected to the second bracket (221) and simultaneously connected to the drive end of the second drive cylinder (222). The second drive cylinder (222) drives the second gripper (223) to rotate relative to the second bracket (221).

8. The transfer device according to claim 7, characterized in that, The second clamping mechanism (220) further includes a second positioning block (224), which is fixedly installed on the second bracket (221). When the second gripper (223) rotates relative to the second bracket (221), the clamping end of the second gripper (223) rotates closer to or further away from the second positioning block (224).

9. The transfer device according to claim 7, characterized in that, The second positioning mechanism (230) includes a second mounting bracket (231), a second positioning pin (232), and a second detection switch (233). The second mounting bracket (231) is fixedly mounted on the rear suspension main frame (210). The second positioning pin (232) and the second detection switch (233) are both mounted on the second mounting bracket (231). When the second gripper (223) rotates relative to the second bracket (221), the clamping end of the second gripper (223) approaches or moves away from the second positioning pin (232).

10. A transfer system, characterized in that, The device includes the transfer device according to any one of claims 3 to 9, and further includes a first transfer robot and a second transfer robot, wherein the output end of the first transfer robot is connected to the front suspension gripper (100) and the output end of the second transfer robot is connected to the rear suspension gripper (200); the first drive cylinder (122) of the first clamping mechanism (120) is connected to the control system of the first transfer robot; the second drive cylinder (222) of the second clamping mechanism (220) is connected to the control system of the second transfer robot; the first force control sensor is connected to the control system of the first transfer robot and the second force control sensor is connected to the control system of the second transfer robot.

Images