CN113059551A

CN113059551A - Transfer equipment

Info

Publication number: CN113059551A
Application number: CN202110350725.3A
Authority: CN
Inventors: 赵荣; 王鲁钰
Original assignee: Shanghai Xuanren Technology Co ltd
Current assignee: Shanghai Xuanren Technology Co ltd
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2021-07-02

Abstract

The invention provides transfer equipment which comprises an equipment body, a clamping jaw and a driving mechanism, wherein the clamping jaw is installed on the equipment body, the driving mechanism is installed on the equipment body and used for driving the clamping jaw to move, an industrial camera is also installed on the equipment body and electrically connected with a controller, and the controller is electrically connected with the driving mechanism. In the process of grabbing articles, the article to be grabbed is shot by the aid of the industrial camera installed on the equipment body, information such as position information or outline size of the article to be grabbed is obtained, the shooting information is fed back to the controller, the controller controls the driving mechanism to execute corresponding actions according to the obtained information and the like, the clamping jaw is driven to move to a set position, the clamping jaw can accurately grab the articles, corresponding information of the articles to be grabbed is not required to be manually obtained through a visual inspection mode, instability caused by human difference in visual inspection is avoided, convenience is brought to use, and labor cost is saved.

Description

Transfer equipment

Technical Field

The invention relates to a transfer device, in particular to a transfer device which is more convenient to use.

Background

When the article to be transported is got to current transfer equipment clamp, the relative position relation of clamping jaw and article need be observed through the mode of artifical range estimation, then controls transfer equipment's motion to the drive clamping jaw carries out corresponding motion, and makes the clamping jaw remove to setting for the position, and then just can utilize the clamping jaw to snatch article. The relative position of article and clamping jaw must be observed with the help of the manual work when using to current transfer equipment, causes certain inconvenience to lead to the cost of labor to be higher, and adopts the mode of artifical range estimation, easily because of the artificial unstable factor causes range estimation result degree of accuracy, reliability lower.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention provides a transfer device that is more convenient to use and saves labor costs.

In order to achieve the purpose, the invention provides transfer equipment which comprises an equipment body, a clamping jaw and a driving mechanism, wherein the clamping jaw is installed on the equipment body, the driving mechanism is used for driving the clamping jaw to move, an industrial camera is also installed on the equipment body, the industrial camera is electrically connected with a controller, and the controller is electrically connected with the driving mechanism.

Further, still install distance measuring sensor on the equipment organism, distance measuring sensor and controller electric connection.

Further, the equipment organism is including bearing the seat and installing the frame on bearing the seat, actuating mechanism, clamping jaw and industrial camera all install in the frame, bear and be equipped with a plurality of interval distribution's stopper on the seat, form the article that is used for holding article between all stoppers and deposit the chamber, just the stopper is equipped with the spacing portion of step towards article and deposits on a lateral wall in chamber.

Furthermore, the number of the limiting blocks is at least 3, and all the limiting blocks are uniformly distributed along the circumferential direction.

Further, the equipment organism still includes the AGV chassis, bear the seat and install on the AGV chassis.

Further, the clamping jaw has two, and two clamping jaws are along left right direction interval distribution, actuating mechanism includes two sets of sharp modules of installing on the equipment organism, and two sets of sharp modules are used for driving two clamping jaws respectively and remove along left right direction, and two sharp modules all with controller electric connection.

Furthermore, the equipment body comprises an upper plate and a lower plate connected with the upper plate through a slewing bearing, the clamping jaw is installed on the lower plate, the driving mechanism comprises a rotary driving assembly installed on the upper plate, the rotary driving assembly can drive the lower plate to rotate around the central axis of the slewing bearing relative to the upper plate, and the rotary driving assembly is electrically connected with the controller.

Furthermore, the rotary driving assembly comprises a rotary motor arranged on the upper plate, a rotary gear arranged at the output end of the rotary motor, and an arc-shaped rack meshed with the rotary gear, the arc-shaped rack is fixed on the lower plate, and the rotary motor is electrically connected with the controller.

Further, the equipment body further comprises a supporting cantilever extending along the front-back direction, the upper plate is fixedly connected with one end of the supporting cantilever, the clamping jaw is movably connected with the lower plate through a hinge shaft extending along the left-right direction, and the clamping jaw can rotate around the central axis of the hinge shaft relative to the lower plate.

Furthermore, the driving mechanism further comprises a lifting driving assembly installed on the equipment body and a translation driving assembly connected with the lifting driving assembly, the translation driving assembly is connected with the other end of the supporting cantilever, the lifting driving assembly can drive the translation driving assembly and the supporting cantilever to move in the up-down direction, and the translation driving assembly can drive the supporting cantilever to move in the front-back direction.

As described above, the transfer device according to the present invention has the following advantages:

in the process of grabbing articles, the article to be grabbed is shot by the aid of the industrial camera installed on the equipment body, information such as position information or outline size of the article to be grabbed is obtained, the shooting information is fed back to the controller, the controller controls the driving mechanism to execute corresponding actions according to the obtained information and the like, the clamping jaw is driven to move to a set position, the clamping jaw can accurately grab the articles, corresponding information of the articles to be grabbed is not required to be manually obtained through a visual inspection mode, instability caused by human difference in visual inspection is avoided, convenience is brought to use, and labor cost is saved.

Drawings

Fig. 1 is a perspective view of a transfer apparatus at a first viewing angle in an embodiment of the present invention.

Fig. 2 is a perspective view of a transfer device at a second viewing angle in an embodiment of the present invention.

Figure 3 is a schematic view of a gripper according to an embodiment of the present invention gripping an article.

Description of the element reference numerals

1 equipment body 13 AGV Chassis

11 bearing seat 131 laser radar

111 stop block 2 jaw

112 limiting part 21 hinge shaft

12-frame 3 industrial camera

121 upper plate 4 distance measuring sensor

122 slewing bearing 51 linear module

123 lower plate 521 rotating electric machine

124 support boom 6 item

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used for limiting the conditions of the present disclosure, so that the present disclosure is not limited to the technical essence, and any modifications of the structures, changes of the ratios, or adjustments of the sizes, can still fall within the scope of the present disclosure without affecting the function and the achievable purpose of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description only, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention unless otherwise specified.

As shown in fig. 1 to fig. 3, the present embodiment provides a transfer device, which includes a device body 1, a clamping jaw 2 installed on the device body 1, and a driving mechanism installed on the device body 1, wherein the driving mechanism is used for driving the clamping jaw 2 to move, the device body 1 is further provided with an industrial camera 3, the industrial camera 3 is electrically connected to a controller, and the controller is electrically connected to the driving mechanism. In the process of grabbing articles 6, the industrial camera 3 installed on the equipment body 1 is utilized by the transfer equipment to shoot the articles 6 to be grabbed, so that information such as position information or outline size of the articles 6 to be grabbed is obtained, the shooting information is fed back to the controller, the controller controls the driving mechanism to execute corresponding action according to the obtained information and the like, so that the clamping jaw 2 is driven to move to a set position, the clamping jaw 2 can accurately grab the articles 6, the corresponding information of the articles 6 to be grabbed is not required to be manually obtained in a visual inspection mode, instability caused by human difference in visual inspection is avoided, the use is facilitated, and the labor cost is saved.

As shown in fig. 1 and fig. 2, the apparatus body 1 in this embodiment includes a bearing seat 11 and a frame 12 installed on the bearing seat 11, the driving mechanism, the clamping jaw 2 and the industrial camera 3 are all installed on the frame 12, a plurality of spacing blocks 111 are disposed on the bearing seat 11, an article storage cavity for accommodating the article 6 is formed between all the spacing blocks 111, and a side wall of the spacing block 111 facing the article storage cavity is provided with a stepped limiting portion 112. In the 6 in-process of transshipment article, utilize clamping jaw 2 to snatch article 6 after, deposit the chamber with article 6 temporarily placed the article on bearing seat 11, utilize whole stopper 111 to effectively restrict article 6 along bearing seat 11 surface slip, prevent that article 6 from dropping from bearing seat 11, treat this transfer apparatus and remove to the settlement position after, article 6 in the chamber is deposited with article again to clamping jaw 2 takes out, and place in settlement position department, this kind of mode is avoided in the transfer process, article 6 is the easy problem that drops of clamping jaw 2 centre gripping all the time, and prevent that clamping jaw 2 from bearing great weight and easy deformation for a long time. Meanwhile, a stepped limiting part 112 is arranged on one side wall of the limiting block 111 facing the article storage cavity in the embodiment, so that the article storage cavity can store articles 6 of various specifications and sizes, and the limiting requirements on the articles 6 of various specifications and sizes are met. As shown in the figure, there are 3 limiting blocks 111 in this embodiment, and all limiting blocks 111 are uniformly distributed along the circumferential direction. In this embodiment, the limiting portion 112 of the limiting block 111 is specifically provided with 3 steps, and in other embodiments, the number of the steps can be set according to requirements. The object 6 to be gripped in this embodiment may be a can body in the shape of a circle. The limiting block 111 on the bearing seat 11 forms a tank buffer point for buffering tanks with different diameters.

Meanwhile, as shown in fig. 1 and 2, the apparatus body 1 in this embodiment further includes an AGV chassis 13, and the bearing seat 11 is installed on the AGV chassis 13, so that the AGV chassis 13 has an automatic navigation function to drive the bearing seat 11 and the rack 12 to automatically move to a set position.

As shown in fig. 1 and 2, in the present embodiment, the frame 12 of the equipment body 1 includes an upper plate 121 and a lower plate 123 connected to the upper plate 121 through a slewing bearing 122, the clamping jaw 2 is mounted on the lower plate 123, the driving mechanism includes a rotation driving assembly mounted on the upper plate 121, the rotation driving assembly can drive the lower plate 123 to rotate around a central axis of the slewing bearing 122 relative to the upper plate 121, and the rotation driving assembly is electrically connected to the controller. Specifically, as shown in the figure, the rotation driving assembly in this embodiment includes a rotation motor 521 installed on the upper plate 121, a rotation gear installed at an output end of the rotation motor 521, and an arc-shaped rack engaged with the rotation gear, the arc-shaped rack is fixed on the lower plate 123, and the rotation motor 521 is electrically connected to the controller. When the transfer equipment runs to the grabbing position, the industrial camera 3 is used for shooting the object 6 to be grabbed to obtain specific position information of the object 6 or profile information of the object 6, if the relative position relation between the object 6 and the clamping jaw 2 does not accurately meet the set requirement due to positioning errors of the AGV chassis 13, for example, when the clamping jaw 2 has position deviation relative to the object 6 along the circumferential direction of the slewing bearing 122, the controller controls the rotating motor 521 to run, the rotating motor 521 drives the lower plate 123 and the clamping jaw 2 to rotate around the central axis of the slewing bearing 122 through the rotating gear and the arc-shaped rack until the relative position between the clamping jaw 2 and the object 6 meets the set requirement, and then the controller controls the driving mechanism to act to drive the clamping jaw 2 to grab the object 6.

As shown in fig. 1 and 2, in the present embodiment, there are two clamping jaws 2, the two clamping jaws 2 are distributed at intervals along the left-right direction and are respectively installed at the left end and the right end of the lower plate 123, the driving mechanism includes two sets of linear modules 51 installed on the lower plate 123, the two sets of linear modules 51 are respectively used for driving the two clamping jaws 2 to move along the left-right direction, and both the two linear modules 51 are electrically connected to the controller. The two linear modules 51 can respectively drive the two clamping jaws 2 to approach each other or to be away from each other, and the two linear modules 51 can also respectively drive the two clamping jaws 2 to move leftwards or rightwards synchronously, so that the deviation along the left-right direction when the AGV chassis 13 is positioned can be compensated. The linear module 51 in this embodiment includes a jaw motor electrically connected to the controller. The jaw 2 is driven by a jaw motor to move in the left-right direction. In this embodiment, the central axis of the rotary bearing 122 is located between the two clamping jaws 2, and when the lower plate 123 rotates around the central axis of the rotary bearing 122, the two clamping jaws 2 are driven to synchronously rotate around the central axis of the rotary bearing 122. In this embodiment, the upper plate 121 and the lower plate 123 are both flat plates. The center axis of the slewing bearing 122 is perpendicular to the upper plate 121 and the lower plate 123, and coincides with the center of the upper plate 121 and the lower plate 123.

As shown in fig. 1 and fig. 2, in the present embodiment, the frame 12 of the equipment body 1 further includes a support cantilever 124 extending in the front-rear direction, the upper plate 121 is fixedly connected to the front end of the support cantilever 124, the clamping jaw 2 is movably connected to the lower plate 123 through a hinge shaft 21 extending in the left-right direction, and the clamping jaw 2 can rotate around the central axis of the hinge shaft 21 relative to the lower plate 123. When the clamping jaw 2 grabs a heavy object 6, the front end of the supporting cantilever 124 is slightly deformed to drop downwards under the action of the gravity of the object 6, the upper plate 121 and the lower plate 123 are inclined to a certain extent, and the clamping jaw 2 can rotate relative to the lower plate 123 around the central axis of the hinge shaft 21, so that the clamping jaw 2 can be prevented from inclining along with the lower plate 123, the clamping jaw 2 can be kept in a normal hanging state, and a good clamping fit relation with the object 6 can be kept. Meanwhile, in the present embodiment, the limiting member is mounted on the lower plate 123, and the limiting member can limit the rotation angle range of the clamping jaw 2 relative to the lower plate 123. The jaw 2 in this embodiment is rotatable within a range of 3 degrees relative to the lower plate 123.

In this embodiment, the driving mechanism further includes a lifting driving component installed on the frame 12 of the device body 1 and a translation driving component connected to the lifting driving component, the translation driving component is connected to the rear end of the supporting cantilever 124, the lifting driving component can drive the translation driving component and the supporting cantilever 124 to move in the up-down direction, and the translation driving component can drive the supporting cantilever 124 to move in the front-back direction. Translation drive assembly and lift drive assembly all with controller electric connection, snatching article 6 in-processes, the controller can control translation drive assembly action as required to drive clamping jaw 2 along the fore-and-aft direction translation through supporting cantilever 124, the controller also can control lift drive assembly action as required, in order to drive translation drive assembly and clamping jaw 2 and remove along upper and lower direction. In this embodiment, the driving mechanism can drive the clamping jaw 2 to move along the up-down direction, the front-back direction and the left-right direction, and the driving mechanism can also drive the clamping jaw 2 to rotate along the horizontal direction through the rotary driving component, and the clamping jaw 2 can also generate certain floating rotation relative to the lower plate 123.

As shown in fig. 1 and fig. 2, in this embodiment, a distance measuring sensor 4 is further installed on the device body 1, and the distance measuring sensor 4 is electrically connected to the controller. But this embodiment utilizes range sensor 4 vertical downward to range, and will record the distance and feed back to the controller, the controller carries out corresponding function according to the distance control actuating mechanism who obtains, and until measuring the distance and reaching the settlement distance, the height of shooing of industrial camera 3 reaches the settlement height this moment, realizes the accurate positioning of the height of shooing industrial camera 3. The industrial camera 3 in this embodiment is specifically mounted on the rear side edge of the upper plate 121, and is located in the middle of the upper plate 121 in the left-right direction; the distance measuring sensor 4 is specifically installed at the front side of the lower plate 123 and is located at the middle of the lower plate 123 in the left-right direction.

As shown in fig. 1 and 2, in this embodiment, two laser radars 131 are respectively disposed at the front and rear ends of the AGV chassis 13, and each laser radar 131 scans and covers a range of 270 °, so as to realize SLAM positioning. In the embodiment, the AGV chassis 13 is flexible in configuration, parameters such as kinematics dynamics and the like can be flexibly adjusted, and the AGV chassis has rich control interfaces and rich visual and auditory early warning effects; the precision is high, and stability is good, possesses millimeter level positioning accuracy, possesses lower motion control delay rate and extremely low fault rate.

The transfer equipment utilizes the industrial camera 3 to shoot, position and grab a target and provide deviation correction data for each driving motor. And this transfer equipment realizes automatic navigation based on AGV chassis 13. This transfer equipment utilizes the translation drive assembly that is located inside rear frame 12 to drive support cantilever 124 and the place ahead clamping jaw mechanism and stretch out and draw back along the straight line along the horizontal direction for compensate AGV chassis 13 front and back deviation when navigation location. The lower plate 123 carries the lower pair of jaws 2 and rotates about the vertical axis of the center point of the lower plate 123 to compensate for any rotational misalignment of the AGV chassis 13 during navigation positioning. The two linear modules 51 drive the two clamping jaws 2 to be opened or tightened independently or synchronously, and the clamping jaws can also move synchronously in the same direction, so that the grabbing flexibility is high, and the left and right deviations of the AGV chassis 13 during navigation and positioning can be compensated. The lifting drive assembly located inside the rear frame 12 can drive the entire translation drive assembly, the support cantilever 124, and the jaw mechanism to move vertically and linearly.

In conclusion, the present invention effectively overcomes various disadvantages of the prior art and has high industrial utilization value.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The utility model provides a transfer apparatus, includes equipment organism (1), installs clamping jaw (2) on equipment organism (1) and installs the actuating mechanism on equipment organism (1), actuating mechanism is used for driving clamping jaw (2) and removes, a serial communication port, still install industry camera (3) on equipment organism (1), industry camera (3) and controller electric connection, controller and actuating mechanism electric connection.

2. The transfer apparatus according to claim 1, wherein a distance measuring sensor (4) is further mounted on the apparatus body (1), and the distance measuring sensor (4) is electrically connected with the controller.

3. The transfer device according to claim 1, wherein the device body (1) comprises a bearing seat (11) and a frame (12) mounted on the bearing seat (11), the driving mechanism, the clamping jaw (2) and the industrial camera (3) are mounted on the frame (12), a plurality of limiting blocks (111) are arranged on the bearing seat (11) at intervals, an article storage cavity for accommodating the articles (6) is formed between all the limiting blocks (111), and a stepped limiting part (112) is arranged on one side wall of the limiting blocks (111) facing the article storage cavity.

4. The transfer apparatus according to claim 3, wherein the number of the stoppers (111) is at least 3, and all the stoppers (111) are uniformly distributed along the circumferential direction.

5. Transshipment apparatus according to claim 3, characterized in that the apparatus body (1) further comprises an AGV chassis (13), the load carrier (11) being mounted on the AGV chassis (13).

6. The transfer apparatus according to claim 1, wherein there are two clamping jaws (2), the two clamping jaws (2) are spaced apart from each other in the left-right direction, the driving mechanism includes two sets of linear modules (51) mounted on the apparatus body (1), the two sets of linear modules (51) are respectively used for driving the two clamping jaws (2) to move in the left-right direction, and the two linear modules (51) are electrically connected to the controller.

7. Transfer device according to claim 1, wherein the device body (1) comprises an upper plate (121) and a lower plate (123) connected to the upper plate (121) by means of a slew bearing (122), the gripping jaws (2) being mounted on the lower plate (123), the drive mechanism comprising a rotary drive assembly mounted on the upper plate (121) and capable of driving the lower plate (123) in rotation with respect to the upper plate (121) about the central axis of the slew bearing (122), the rotary drive assembly being electrically connected to the controller.

8. The transfer apparatus according to claim 7, wherein the rotary driving assembly comprises a rotary motor (521) mounted on the upper plate (121), a rotary gear mounted at an output end of the rotary motor (521), and an arc-shaped rack engaged with the rotary gear, the arc-shaped rack is fixed on the lower plate (123), and the rotary motor (521) is electrically connected with the controller.

9. Transfer device according to claim 7, wherein the device body (1) further comprises a support cantilever (124) extending in a front-rear direction, the upper plate (121) is fixedly connected to one end of the support cantilever (124), the clamping jaw (2) is movably connected to the lower plate (123) through a hinge shaft (21) extending in a left-right direction, and the clamping jaw (2) can rotate relative to the lower plate (123) around a central axis of the hinge shaft (21).

10. The transfer apparatus according to claim 9, wherein the driving mechanism further comprises a lifting driving assembly mounted on the apparatus body (1) and a translational driving assembly connected to the lifting driving assembly, the translational driving assembly is connected to the other end of the supporting arm (124), the lifting driving assembly can drive the translational driving assembly and the supporting arm (124) to move in the up-and-down direction, and the translational driving assembly can drive the supporting arm (124) to move in the front-and-back direction.