CN114056918B

CN114056918B - Conveying system

Info

Publication number: CN114056918B
Application number: CN202010789209.6A
Authority: CN
Inventors: 张维杰; 李喜武; 戴永胜; 于兆晓; 许晋; 吴昌明; 时玄玄; 孙广源; 张仲敏; 姚洪娟; 孙新涛; 王雷
Original assignee: Kaos Digital Technology Qingdao Co ltd; Kaos Digital Technology Shanghai Co ltd; Karos Iot Technology Co ltd; Cosmoplat Industrial Intelligent Research Institute Qingdao Co Ltd
Current assignee: Kaos Digital Technology Qingdao Co ltd; Kaos Digital Technology Shanghai Co ltd; Karos Iot Technology Co ltd; Cosmoplat Industrial Intelligent Research Institute Qingdao Co Ltd
Priority date: 2020-08-07
Filing date: 2020-08-07
Publication date: 2024-01-12
Anticipated expiration: 2040-08-07
Also published as: CN114056918A

Abstract

The invention relates to the technical field of automation systems, and particularly discloses a conveying system. The conveying system comprises a hanging conveying device, a robot and a conveyor, wherein the hanging conveying device comprises a blanking station, and the hanging conveying device is used for hanging workpieces and conveying the workpieces to the blanking station; the robot is arranged at one side of the blanking station; the conveyer is arranged at one side of the robot, the robot is used for transferring the workpiece at the blanking station to the conveyer, and the conveyer is used for conveying the workpiece positioned on the conveyer. A hanging conveying device of the conveying system hangs the workpiece and conveys the workpiece to a blanking station; the robot picks up the workpiece at the blanking station and transfers the workpiece to a conveyor, which conveys the workpiece to a downstream process. The conveyor provided by the invention can replace manual conveying of workpieces, so that the conveying efficiency is improved, the labor cost is reduced, and the potential safety hazards of personnel and workpieces in the conveying process are eliminated because the problem of personnel fatigue or workpiece placement does not exist.

Description

Conveying system

Technical Field

The invention relates to the technical field of automation systems, in particular to a conveying system.

Background

When manufacturing chassis such as washing machine and clothes dryer, it is necessary to spray the chassis in a spray shop. In the prior art, the chassis which completes the spraying operation needs to be manually transported to the next working procedure from a spraying workshop. The manual conveying of the chassis leads to high labor cost and high working strength of staff, and the staff and the chassis have larger potential safety hazards in the conveying process due to fatigue of the staff or the problem of placing the chassis.

Accordingly, a conveying system is needed to solve the above technical problems.

Disclosure of Invention

The invention aims to provide a conveying system which is used for improving conveying efficiency, reducing labor cost and eliminating potential safety hazards of personnel and workpieces in the conveying process.

To achieve the purpose, the invention adopts the following technical scheme:

a delivery system, comprising:

the hanging and conveying device comprises a blanking station and is used for hanging a workpiece and conveying the workpiece to the blanking station;

the robot is arranged at one side of the blanking station;

the conveyor is arranged on one side of the robot, the robot is used for transferring the workpiece at the blanking station onto the conveyor, and the conveyor is used for conveying the workpiece on the conveyor.

Preferably, the conveying system further comprises:

the guide anti-swing device is used for limiting the swing amplitude of the workpiece positioned at the blanking station.

Preferably, the suspension conveyor includes:

a conveying frame;

the driving mechanism is connected to the conveying frame;

and the hanging mechanism is used for hanging the workpiece, and the driving mechanism is connected with the hanging mechanism so as to drive the hanging mechanism to move along the conveying frame.

Preferably, the conveying frame encloses an annular structure, and the motion track of the suspension mechanism is an annular track moving along the conveying frame.

Preferably, the suspension mechanism includes:

the upper end of the connecting rod is connected with the driving mechanism;

the upper end of the suspension is provided with an upper hook which is detachably hung on the connecting rod; the lower end of the suspension is provided with a lower hook, and the workpiece is detachably suspended on the lower hook.

Preferably, the guide anti-sway device comprises:

the limiting plates are connected with the hanging conveying device at intervals to form a limiting channel, the hanging mechanism can move along the limiting channel, and when the hanging mechanism is located at the blanking station, part of the hanging mechanism is located in the limiting channel.

Preferably, the guide anti-sway device further comprises:

the guide plates are connected with one ends of the limiting plates, the hanging mechanism enters the limiting channel from the position between the two guide plates, and the distance between the two guide plates and one end of the limiting plate is larger than the width of the limiting channel.

Preferably, the conveying system further comprises:

the first sensor is used for detecting whether the workpiece exists on the blanking station or not; and/or

And the second sensor is used for detecting whether the workpiece exists at the discharge end of the guide anti-swing device.

Preferably, the robot includes:

a base;

the mechanical arm is rotationally arranged on the base;

and the adsorption component is connected to one end, far away from the base, of the mechanical arm.

Preferably, the robot further includes:

the visual mechanism is arranged on the mechanical arm.

The invention has the beneficial effects that:

a hanging conveying device of the conveying system hangs the workpiece and conveys the workpiece to a blanking station; the robot picks up the workpiece at the blanking station and transfers the workpiece to a conveyor, which conveys the workpiece to a downstream process. Because the working procedure before the workpiece is conveyed to the blanking working position is a spraying working procedure, the workpiece is hung on the hanging conveying device, so that the workpiece is sprayed, and the workpiece can be conveyed. The conveyor provided by the invention can replace manual conveying of workpieces, so that the conveying efficiency is improved, the labor cost is reduced, and the potential safety hazards of personnel and workpieces in the conveying process are eliminated because the problem of personnel fatigue or workpiece placement does not exist.

Drawings

FIG. 1 is a schematic diagram of a conveying system according to an embodiment of the present invention;

FIG. 2 is a schematic view of a portion of a hanging conveyor provided in an embodiment of the present invention;

FIG. 3 is a schematic view of a guiding anti-sway device and a portion of a hanging conveyor provided by an embodiment of the present invention;

fig. 4 is a schematic structural view of a guiding anti-swing device according to an embodiment of the present invention;

FIG. 5 is a schematic view of a portion of a conveying system according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a robot according to an embodiment of the present invention.

In the figure:

1. a hanging conveyor; 11. a conveying frame; 12. a suspension mechanism; 121. a connecting rod; 122. a suspension; 123. an upper hook; 124. a lower hook;

2. a robot; 21. a base; 22. a mechanical arm; 221. a first arm; 222. a second arm; 23. an adsorption assembly; 231. a square magnet; 232. a cylindrical magnet; 24. an adapter;

3. a conveyor;

4. a guide anti-sway device; 41. a limiting plate; 42. a guide plate; 43. a frame; 431. a first connection post; 432. a bottom plate; 433. a second connection post; 44. a limiting channel;

5. a first sensor; 6. a second sensor; 7. coaming plate;

10. a chassis.

Detailed Description

The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present invention are shown.

In the present invention, directional terms such as "upper", "lower", "left", "right", "inner" and "outer" are used for convenience of understanding, and thus do not limit the scope of the present invention unless otherwise specified.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

The present embodiment provides a conveying system for conveying workpieces such as a chassis 10 of a washing machine, but is not limited thereto, and can be used for conveying other types of workpieces, so as to improve conveying efficiency, reduce labor cost, and eliminate potential safety hazards of personnel and workpieces during transportation. In the present embodiment, description will be given taking, as an example, a chassis 10 in which a workpiece is a washing machine, a clothes dryer, or the like.

As shown in fig. 1, the conveying system provided in the present embodiment includes a hanging conveyor 1, a robot 2, and a conveyor 3. Wherein the hanging conveyor 1 is used for hanging and conveying the workpiece, the robot 2 picks up the workpiece located on the hanging conveyor 1 and transfers the workpiece to the conveyor 3, and then the conveyor 3 conveys the workpiece to a downstream process.

Specifically, the suspension conveyor 1 includes a blanking station, and the suspension conveyor 1 is configured to suspend the chassis 10 and convey the chassis 10 to the blanking station. The robot 2 is arranged on one side of the blanking station, the conveyor 3 is arranged on one side of the robot 2, the robot 2 is used for transferring the chassis 10 on the blanking station to the conveyor 3, and the conveyor 3 is used for conveying the chassis 10 on the conveyor 3.

The suspension conveying device 1 of the conveying system provided by the embodiment suspends the chassis 10 and conveys the chassis 10 to the blanking station; the robot 2 picks up the chassis 10 located at the blanking station and transfers the chassis 10 to the conveyor 3, and the conveyor 3 conveys the chassis 10 to a downstream process. Because the process before the chassis 10 is conveyed to the blanking station is a spraying process, the chassis 10 is hung on the hanging conveying device 1, so that the chassis 10 can be sprayed and the chassis 10 can be conveyed. The conveyor 3 provided in this embodiment can replace manual conveying of the chassis 10, thereby improving conveying efficiency, reducing labor cost, and eliminating potential safety hazards of personnel and workpieces in the transportation process because staff fatigue or the problem of placing the chassis 10 does not exist.

As shown in fig. 1, in order to improve the safety performance of the conveying system, preferably, the conveying system further includes a plurality of coamings 7, and the coamings 7 enclose an operation space, the robot 2, the suspension conveying device 1 and a part of the conveyor 3 are disposed in the operation space, the operation space is provided with a through hole, and the other part of the conveyor 3 extends out of the operation space through the through hole to convey the chassis 10 to a downstream process.

As shown in fig. 2, the hanging conveyor 1 preferably includes a conveyor rack 11, a driving mechanism (not shown in the figure), and a hanging mechanism 12. Wherein the driving mechanism is connected to the transfer frame 11. The suspension mechanism 12 is used for suspending the chassis 10, and the driving mechanism is connected with the suspension mechanism 12 to drive the suspension mechanism 12 to move along the conveying frame 11. The suspension mechanism 12 is driven to move along the conveying frame 11 by the driving mechanism, so that the automatic movement of the suspension mechanism 12 is realized. Preferably, a plurality of suspension mechanisms 12 are provided at intervals on the drive mechanism to improve the conveying efficiency of the chassis 10.

Preferably, the conveyor frame 11 encloses a loop-shaped structure (fig. 1-3 only show part of the hanging conveyor 1), the movement track of the hanging mechanism 12 being a loop-shaped track moving along the conveyor frame 11. The conveying frame 11 encloses into an annular structure to realize the circulation of the hanging mechanism 12, that is, a part of the conveying frame 11 can be positioned in an upstream workshop (such as a spraying workshop), the hanging mechanism 12 is conveyed to the upstream workshop by the driving mechanism, the chassis 10 is hung on the hanging mechanism 12 by the upstream workshop, then the hanging mechanism 12 is driven by the driving mechanism to move to the blanking station, the chassis 10 on the hanging mechanism 12 is taken down by the robot 2, and then the empty hanging mechanism 12 is driven by the driving mechanism to move to the upstream workshop again, so that one circulation of the hanging mechanism 12 is realized.

The driving mechanism may include a motor, a driving sprocket, a driven sprocket and a chain, the motor is connected to the conveying frame 11, and an output shaft of the motor is connected to the driving sprocket to drive the driving sprocket to rotate, and the driven sprocket is rotatably disposed on the conveying frame 11. The chain is sleeved outside the driving chain wheel and the driven chain wheel so as to drive the chain to move. The suspension mechanism 12 is fixedly connected with the chain, so that the suspension mechanism 12 is driven to move when the chain moves. Of course, in other embodiments, the driving mechanism may not include a sprocket and a chain, and the driving mechanism includes a motor, a driving pulley, a driven pulley and a belt, where the motor is connected to the conveying frame 11, and an output shaft of the motor is in driving connection with the driving pulley to drive the driving pulley to rotate, and the driven pulley is rotatably disposed on the conveying frame 11. The belt is sleeved outside the driving belt pulley and the driven belt pulley to drive the belt to move.

As shown in fig. 2, preferably, the suspension mechanism 12 includes a link 121 and a suspension 122, and an upper end of the link 121 is connected to the driving mechanism. The lower end of the connection rod 121 is connected with the suspension 122, and specifically, the upper end of the suspension 122 is provided with an upper hook 123, and the upper hook 123 is detachably suspended from the connection rod 121. The lower end of the suspension 122 is provided with a lower hook 124, and the chassis 10 is detachably suspended from the lower hook 124. Preferably, two lower hooks 124 are provided at the lower end of the suspension 122, and the two lower hooks 124 hang the two ends of the chassis 10 respectively, so as to improve the suspension stability of the chassis 10 and prevent the chassis 10 from falling.

The suspension 122 and the connecting rod 121 of the conveying system provided in this embodiment are detachably connected, so that different suspensions 122 can be selected according to chassis 10 to be conveyed with different specifications, thereby improving the applicability of the conveying system.

As shown in fig. 3 and 4, in order to avoid that the chassis 10 is still swayed to a large extent when being transported to the blanking station, the robot 2 cannot accurately pick up the chassis 10, and preferably, the conveying system further comprises a guiding anti-sway device 4. The guide anti-swing device 4 is used for limiting the swing amplitude of the chassis 10 positioned at the blanking station. Specifically, the suspension mechanism 12 is able to enter and exit the guide anti-sway device 4, thereby limiting the amplitude of the sway of the suspension mechanism 12 and thereby controlling the amplitude of the sway of the chassis 10.

As shown in fig. 3 and 4, the guiding anti-sway device 4 is preferably provided on the hanging conveyor 1 so as not to interfere with the robot 2 picking up the chassis 10 at the blanking station. Preferably, the guiding anti-swing device 4 comprises two limiting plates 41, the two limiting plates 41 are connected to the hanging conveying device 1 at intervals and form a limiting channel 44, the hanging mechanism 12 can move along the limiting channel 44, and when the hanging mechanism 12 is located at the blanking station, part of the hanging mechanism 12 is located in the limiting channel 44, so that the swing amplitude of the hanging mechanism 12 is limited.

Preferably, the limiting plate 41 is a strip-shaped plate, the limiting plate 41 can be aligned with the lower end of the suspension 122, the lower hook 124 extends out of the lower end of the guiding anti-swing device 4, i.e. the lower hook 124 extends out of the lower end of the limiting plate 41, so that the chassis 10 is not affected by the robot 2 to take off the chassis 10 from the lower hook 124.

As shown in fig. 3 and 4, the guide anti-sway device 4 may further comprise a mounting bracket, preferably for facilitating the mounting of the limiting plate 41. Specifically, the mounting frame includes two frames 43, and the two frames 43 are spaced apart along the moving direction of the suspension mechanism 12. Each frame 43 includes a first connection post 431, a bottom plate 432 and a second connection post 433 connected in sequence in a U-shaped structure, wherein the inner wall of the bottom plate 432 is connected with the conveying frame 11, the opening of the frame 43 faces downwards, and two limiting plates 41 are respectively connected to the inner sides of the first connection post 431 and the second connection post 433.

This arrangement of the frame 43, and the connection of the frame 43 to the conveyor 11, allows the suspension 12 to enter and leave the restraint channel 44 via the first and second connection posts 431, 433 without affecting the movement of the suspension 12 and the chassis 10.

As shown in fig. 4, since the width of the limiting channel 44 is small, the suspension mechanism 12 is not easily accessed from the inlet end of the limiting channel 44, and in order to solve the above problem, the guide anti-sway device 4 preferably further comprises a guide plate 42. One end of each of the two limiting plates 41 is connected with a guide plate 42, the hanging mechanism 12 enters the limiting channel 44 from between the two guide plates 42, and the distance between one ends of the two guide plates 42 away from the limiting plates 41 is larger than the width of the limiting channel 44.

Since the lower end of the suspension mechanism 12 enters between the two guide plates 42 from the end of the two guide plates 42 away from the limiting plate 41, the swing amplitude of the suspension mechanism 12 between the two guide plates 42 is large, and therefore, the distance between the ends of the two guide plates 42 away from the limiting plate 41 is larger than the width of the limiting channel 44, so that the suspension mechanism 12 can easily enter between the two guide plates 42. The distance between the ends of the two guide plates 42 away from the limiting plate 41 may be designed according to the swing amplitude of the suspension mechanism 12 between the two guide plates 42, which is not particularly limited herein. The suspension mechanism 12 continues to move between the two guide plates 42 and can enter the limiting channel 44 and stop moving at the blanking station waiting for the robot 2 to pick up the chassis 10.

As shown in fig. 4, it is preferable that both the guide plates 42 are disposed obliquely, and the interval between the guide plates 42 is gradually reduced from one end away from the limiting plate 41 to the other end close to the limiting plate 41, so that the amplitude of the shake of the suspension mechanism 12 is gradually reduced. It should be understood that the arrangement of the two guide plates 42 is not limited thereto, and the suspension mechanism 12 may not be stopped at the connection portion between the guide plates 42 and the limiting plate 41 as long as the guide plates 42 and the limiting plate 41 are smoothly connected.

Of course, in other embodiments, the guide anti-sway device 4 may be provided below the hanging conveyor 1 instead of being connected to the hanging conveyor 1, the guide anti-sway device 4 having a passage allowing the chassis 10 to pass through, which passage may also limit the sway amplitude of the chassis 10. The guide anti-swing device 4 is provided with a through hole at a position corresponding to the blanking station, so that the robot 2 can take down the chassis 10 from the hanging conveying device 1 through the through hole. It will be appreciated that modifications and variations to the specific structure of the guide anti-sway device 4 are not departing from the principles and scope of the present invention and are intended to be within the scope of the present invention.

As shown in fig. 5, the conveying system further comprises a first sensor 5, and the first sensor 5 is used for detecting whether the chassis 10 exists on the blanking station. Preferably, in the present embodiment, the first sensor 5 is disposed on the first connection post 431 or the second connection post 433 of the frame 43. The first sensor 5 may be a photoelectric sensor, a distance sensor, or the like, as long as it can detect whether the chassis 10 is present on the blanking station.

Preferably, the transport system may further comprise a controller electrically connected to the first sensor 5 and the robot 2. When the first sensor 5 detects that the chassis 10 exists at the blanking station, information is transmitted to the controller, and the controller controls the robot 2 to act so as to take down the chassis 10 at the blanking station. In this embodiment, the controller may be centralized or distributed, for example, the controller may be a single-chip microcomputer, or may be formed by multiple distributed single-chip microcomputers, where a control program may be run to control the above components to implement functions thereof.

Preferably, the conveyor system may further comprise a second sensor 6, the second sensor 6 being adapted to detect the presence of the chassis 10 at the discharge end of the guide anti-sway device 4. Preferably, in the present embodiment, the second sensor 6 is disposed on the first connection post 431 or the second connection post 433 of the mounting bracket. The second sensor 6 may be a photoelectric sensor, a distance sensor, or the like, as long as it can detect whether the chassis 10 is present at the discharge end of the guide anti-sway device 4. The second sensor 6 can effectively prevent the chassis 10 from turning back to the upstream workshop again, which brings inconvenience to the operation of the upstream workshop.

The second sensor 6 is electrically connected with the controller, and if the chassis 10 is detected to exist at the discharge end of the guiding anti-swing device 4, the second sensor 6 transmits information to the controller, the controller controls the driving mechanism to work, and then the hanging mechanism 12 is driven to rotate to the blanking station again, and the robot 2 takes out the chassis 10 at the blanking station. Or the suspension mechanism 12 is kept stationary in guiding the outfeed of the anti-sway device 4, the robot 2 is moved to this position, and the chassis 10 is removed. In the present embodiment, the transport system is provided with both the first sensor 5 and the second sensor 6, but of course, in other embodiments, only the first sensor 5 or the second sensor 6 may be provided.

As shown in fig. 6, the robot 2 preferably includes a base 21, a robot arm 22, and an adsorption assembly 23. The mechanical arm 22 is rotatably disposed on the base 21. To increase the range of rotation of the robotic arm 22, the robotic arm 22 preferably includes a first arm 221 and a second arm 222 rotatably coupled. The lower end of the first arm 221 is rotatably connected to the base 21, and the upper end of the first arm 221 is rotatably connected to the second arm 222. The adsorption assembly 23 is connected to an end of the mechanical arm 22 away from the base 21, i.e. the adsorption assembly 23 is connected to an end of the second arm 222 away from the first arm 221.

In this embodiment, the adsorption component 23 is a magnet, and since the surface structure of the chassis 10 is concave-convex, in order to better facilitate the adsorption of the magnet, the stress area is increased, and the risk of falling a workpiece in the adsorption process is reduced, the adsorption component 23 is provided with two square magnets 231 and a cylindrical magnet 232.

When the robot 2 picks up the chassis 10 hung on the hanging mechanism 12, the manual picking action is simulated, and the phenomenon that the chassis 10 cannot be separated from the hanging mechanism 12 is avoided.

As shown in fig. 2 and 3, each suspension mechanism 12 may sequentially suspend three chassis 10, so that the three chassis 10 can be simultaneously removed, as shown in fig. 6, one end of the mechanical arm 22 away from the base 21 is connected with three groups of adsorption assemblies 23, and the three groups of adsorption assemblies 23 adsorb the three groups of chassis 10 respectively. Of course, it is understood that the number of chassis 10 that each suspension mechanism 12 may sequentially suspend is not limited to three, but may be one, two, or more than three. The number of the adsorption assemblies 23 is identical to the number of the chassis 10 hung by each hanging mechanism 12.

As shown in fig. 6, the suction assembly 23 is preferably connected to the mechanical arm 22 through the adaptor 24, and the suction assembly 23 may be fixedly connected to the adaptor 24 or may be slidably connected to the adaptor 24. When the plurality of groups of adsorption assemblies 23 are slidably connected to the adapter 24, the distance between two adjacent groups of adsorption assemblies 23 can be properly adjusted according to the specification of the workpiece conveyed by the conveying system, so that the application range of the robot 2 is improved.

Preferably, the robot 2 further comprises a vision mechanism provided on the arm 22 for providing guidance for the movement of the arm 22. The vision mechanism may be a mechanism such as a CCD camera that can capture images, and the vision mechanism may detect whether the suction assembly 23 is moving in place or interfering with other components during the movement. Preferably, the vision mechanism is electrically connected to the controller, and the vision mechanism transmits the acquired image information to the controller, which controls the movement of the robotic arm 22 based on the image information.

As shown in fig. 1, the conveyor 3 is a belt conveying mechanism, and comprises a motor, a driving pulley, a driven pulley and a conveying belt, wherein the motor is connected with the driving pulley and drives the driving pulley to rotate, and the conveying belt is sleeved on the driving pulley and the driven pulley, so that the movement of the conveying belt is realized. Of course, in other embodiments, the conveyor 3 may be a roller conveyor mechanism, etc., and such adjustments and changes to the specific structure of the conveyor 3 do not depart from the principles and scope of the present invention, and should be limited to the protection scope of the present invention.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. A delivery system, comprising:

the hanging and conveying device (1) comprises a blanking station, and the hanging and conveying device (1) is used for hanging a workpiece and conveying the workpiece to the blanking station;

the robot (2) is arranged at one side of the blanking station;

a conveyor (3) arranged on one side of the robot (2), wherein the robot (2) is used for transferring the workpiece at the blanking station onto the conveyor (3), and the conveyor (3) is used for conveying the workpiece positioned on the conveyor;

the delivery system further comprises:

the guiding anti-swing device (4) is used for limiting the swing amplitude of the workpiece positioned at the blanking station;

the suspension conveyor (1) comprises:

a conveying rack (11);

a driving mechanism connected to the conveying frame (11);

a suspension mechanism (12) for suspending the workpiece, the driving mechanism being connected to the suspension mechanism (12) to drive the suspension mechanism (12) to move along the conveying frame (11);

the suspension mechanism (12) comprises:

a connecting rod (121) the upper end of which is connected with the driving mechanism;

the upper end of the suspension bracket (122) is provided with an upper hook (123), and the upper hook (123) is detachably hung on the connecting rod (121); a lower hook (124) is arranged at the lower end of the suspension (122), and the workpiece is detachably hung on the lower hook (124);

the lower end of the suspension (122) is provided with two lower hooks (124), and the two lower hooks (124) are respectively used for suspending two ends of the workpiece;

the guide anti-sway device (4) comprises:

the limiting plates (41), the two limiting plates (41) are connected to the hanging conveying device (1) at intervals, a limiting channel (44) is formed, the hanging mechanism (12) can move along the limiting channel (44), and when the hanging mechanism (12) is located at the blanking station, part of the hanging mechanism (12) is located in the limiting channel (44);

the limiting plate (41) is a strip-shaped plate, the limiting plate (41) is opposite to the lower end of the suspension (122), and the lower hook (124) extends out of the lower end of the guide anti-swing device (4).

2. A conveyor system according to claim 1, characterized in that the conveyor frame (11) encloses a ring-shaped structure, the movement path of the suspension means (12) being a ring-shaped path moving along the conveyor frame (11).

3. The transport system according to claim 1, wherein the guiding anti-sway device (4) further comprises:

the guide plates (42), two one ends of the limiting plates (41) are connected with the guide plates (42), the hanging mechanism (12) enters the limiting channel (44) from between the two guide plates (42), and the distance between the two ends, away from the limiting plates (41), of the guide plates (42) is larger than the width of the limiting channel (44).

4. The delivery system of claim 1, wherein the delivery system further comprises:

the first sensor (5) is used for detecting whether the workpiece exists on the blanking station or not; and/or

And the second sensor (6) is used for detecting whether the workpiece exists at the discharge end of the guide anti-swing device (4).

5. The transport system according to claim 1, characterized in that the robot (2) comprises:

a base (21);

the mechanical arm (22) is rotatably arranged on the base (21);

and the adsorption assembly (23) is connected to one end of the mechanical arm (22) away from the base (21).

6. The transport system according to claim 5, wherein the robot (2) further comprises:

and the vision mechanism is arranged on the mechanical arm (22).