CN114751188A - Conveyance mechanism and control method thereof - Google Patents

Abstract

The invention discloses a handling mechanism and a control method thereof. The handling mechanism comprises a moving device, a gripping device and a storage device arranged on the moving device; the moving device can drive the gripping device and the storage device to move; The device is movably connected with the moving device, the gripping device grips the workpiece and transports the workpiece to the storage device; the storage device is movably connected with the moving device, the storage device stores the workpiece gripped by the gripping device, and can move relative to the moving device to make the The workpiece slides out of the storage device. The technical solution provided by the handling mechanism and the control method can carry out long-distance handling of workpieces, and can form an automatic workpiece handling process, with a high degree of automation, and the storage device can store the workpieces, so that multiple workpieces can be handled at one time, There is no need to transport the workpieces one by one, and the handling efficiency is high.

Description

Transport mechanism and control method thereof

technical field

The invention belongs to the technical field of handling equipment, and in particular relates to a handling mechanism and a control method thereof.

Background technique

With the progress of science and technology and the development of the times, the way of handling mechanism instead of manual handling has more and more entered people's lives. The mechanism is horizontal or vertical linear transport, and a few are rotary transport. Usually, the workpiece is clamped by a transfer mechanism so that the workpiece on one worktable is transferred to another worktable. For two workbenches with a long distance, the existing handling mechanism is often unable to easily adapt to the long distance handling, and the workpieces need to be transported one by one, and the handling efficiency is low.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a conveying mechanism and a control method thereof, which can adapt to long-distance conveying, do not need to convey the workpieces one by one, and have high conveying efficiency.

The realization of the above objects includes the following technical solutions.

A transport mechanism, the transport mechanism comprises a moving device, a gripping device and a storage device arranged on the moving device;

The moving device can drive the gripping device and the storage device to move; the gripping device is movably connected with the moving device, and the gripping device grips the workpiece and transports the workpiece to the storage device; the The storage device is movably connected with the moving device, the storage device stores the workpieces gripped by the gripping device, and can move relative to the moving device to make the workpieces slide out of the storage device.

In some of these embodiments, the storage device includes a storage body and a closure assembly movably connected with the storage body, the storage body is connected with the moving device, and the storage body has a tool for the workpiece an opening that slides out, the closure assembly movably closes or opens the opening, the storage body receives the workpiece gripped by the gripping device for storage, and the closure assembly can open the opening relative to the storage body so that the workpiece slides out of the storage body.

In some embodiments, the storage body is rotatably disposed on the moving device, and the storage body is provided with a plurality of placement slots for placing workpieces, and each placement slot is provided with a corresponding one An opening and an movably connected closure component; the storage body can be rotated relative to the moving device until any one of the placement slots intersects with the end of the movement track of the gripping device.

In some of these embodiments, each of the placement slots is disposed along the circumferential direction of the storage body, and the first ends of each of the placement slots are coincident with the center of the storage body. The opening is provided at the second end of the placing groove, and the groove bottom of the placing groove is inclined downward along the direction from the first end to the second end to form a slope structure.

In some of these embodiments, the storage device further includes a roller rotatably connected to the placing trough body, the extending direction of the central axis of the roller intersecting the direction in which the workpiece slides out, and the groove of the placing trough body The bottom is provided with an escape groove communicating with the inner space of the placement groove body, and the roller is exposed at least from the escape groove of the placement groove body.

In some of the embodiments, a sliding member is vertically disposed at a position of one end of the placing groove away from the opening, and the sliding member is bent toward the opening of the placing groove to form a convex arc structure.

In some embodiments, the closing assembly includes a first driving device and a panel connected to the output end of the first driving device; the first driving device drives the panel to move relative to the storage body to a first position or second position, the panel opens the opening when the panel is in the first position and closes the opening when the panel is in the second position.

In some of the embodiments, the gripping device includes a gripping arm assembly and a flipping assembly; the flipping assembly is disposed on one side of the moving device, the output end of the flipping assembly is connected to the gripping arm assembly, and The clamping arm assembly is driven to turn up and down, and the clamping arm assembly is used for clamping the workpiece.

In some of the embodiments, the flipping assembly includes a flipping seat and a flipping drive device, the flipping base is hinged to the moving device, the flipping driving device is connected to the flipping base, and the flipping base has a holding cavity The inner wall of the clamping cavity is provided with an elastic clamping piece along its radial direction, and the clamping arm assembly is inserted into the clamping cavity and elastically abuts against the elastic clamping piece.

In some of these embodiments, the clamp arm assembly includes a first clamp arm, a second clamp arm, a second drive device and a transmission structure, and the second drive device communicates with the first clamp arm, The second clamping arms are connected, and the second driving device drives the first clamping arms and the second clamping arms to approach each other to form a clamping state or move away from each other to form a loosening state through the transmission structure.

A control method of a transport mechanism, based on the transport mechanism as described above, the control method of the transport mechanism comprises the following steps:

Controlling the moving device to reach the first position, the gripping device moves relative to the moving device to the first position and grips the workpiece, and then transports the workpiece to the storage device for storage;

The moving device is controlled to reach a second position, and the storage device moves relative to the moving device, so that the workpiece slides out of the storage device and falls into the second position.

The technical scheme provided by the present invention has the following advantages and effects:

Through the cooperation of the moving device, the clamping device and the storage device, the conveying mechanism can carry the workpiece over a long distance, wherein the moving device can reciprocate along a preset path, so as to be able to drive the clamping device and the storage device in multiple The worktables move back and forth, and the workpiece is clamped by the clamping device and transported to the storage device. The process of automatically transporting workpieces can be formed by falling down, the degree of automation is high, and the storage device can store the workpieces, so that multiple workpieces can be transported at one time, and there is no need to transport the workpieces one by one, and the transport efficiency is high.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the conveying mechanism of the embodiment of the present invention;

Fig. 2 is the top-view structure schematic diagram of the conveying mechanism of the embodiment of the present invention;

3 is a schematic diagram of the overall structure of the storage device according to the embodiment of the present invention;

4 is a schematic diagram of the overall structure of the clamp arm assembly according to the embodiment of the present invention;

5 is a cross-sectional structural schematic diagram of a partial structure of a clamping arm device according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of an elastic clip according to an embodiment of the present invention.

Description of reference numbers:

100. Handling mechanism;

1. Moving device; 11. Mounting frame; 12. Moving wheel; 2. Clamping device; 21. Clamp arm assembly; 211, First clamp arm; 212, Second clamp arm; 213, Second drive device; 214, Transmission structure; 215, the first linkage rod; 216, the second linkage rod; 217, the driving wheel; 218, the driven wheel; 219, the anti-skid layer; 22, the turning assembly; 221, the turning seat; 222, the turning driving device; 223, clamping cavity; 224, elastic clamping piece; 225, elastic piece; 226, ball; 3, storage device; 31, storage body; 311, placing slot; 312, opening; 32, closing assembly; 321, The first driving device; 322, the panel; 33, the roller; 34, the sliding member.

Detailed ways

In order to facilitate understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

Unless specifically stated or otherwise defined, "first, second..." used herein is only used to distinguish names, and does not represent a specific number or order.

As used herein, unless specifically stated or otherwise defined, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It should be noted that "fixed to" and "connected to" herein may be directly fixed or connected to an element, or may be indirectly fixed or connected to an element.

It should be noted that the conveying mechanism 100 can convey workpieces of various shapes, such as plate-shaped workpieces, box-shaped workpieces, and column-shaped workpieces, and is not particularly limited here. Preferably, in this embodiment, the transport mechanism 100 is mainly used for transporting box-shaped workpieces and column-shaped workpieces.

The present invention provides a transport mechanism 100, as shown in FIG. 1 to FIG. 6, the transport mechanism 100 includes a mobile device 1, a gripping device 2 and a storage device 3 disposed on the mobile device 1; the mobile device 1 can drive the gripping device 2 and the storage device 3 to move. Understandably, the moving device 1 can reciprocate along a preset path, so as to drive the gripping device 2 and the storage device 3 to reciprocate between multiple workbenches. The gripping device 2 is movably connected with the moving device 1, the gripping device 2 grips the workpiece and transports the workpiece to the storage device 3; the storage device 3 is movably connected with the moving device 1, The storage device 3 stores the workpieces gripped by the gripping device 2 , and can move relative to the moving device 1 to make the workpieces slide out of the storage device 3 . Understandably, when the workpiece needs to be transported from one worktable to another worktable, the workpiece is clamped from the worktable by the clamping device 2, and the workpiece is transported to the storage device 3, and the storage device 3 stores the workpiece, and then The moving device 1 drives the gripping device 2, the storage device 3 and the workpiece to move to another worktable. At this time, the storage device 3 moves relative to the moving device 1 until the workpiece slides out of the storage device 3 and automatically falls into the worktable or is moved by the moving device 1. Other agencies undertake.

Therefore, the handling mechanism 100 can carry out long-distance handling of the workpiece through the cooperation of the moving device 1, the clamping device 2 and the storage device 3, wherein the moving device 1 can reciprocate along a preset path to drive the clamping device. 2. The storage device 3 moves back and forth between multiple workbenches, and the workpiece is clamped by the gripping device 2 and transported to the storage device 3. The storage device 3 stores the workpiece and faces it when it reaches the preset position. The moving device 1 moves until the workpiece slides out of the storage device 3 and falls automatically, so that the process of automatically transporting the workpiece can be formed. The degree of automation is high, and the storage device 3 can store the workpiece, so that multiple workpieces can be transported at one time, without the need for successive workpieces. The workpieces are transported one by one, with high transport efficiency.

In some embodiments, as shown in FIGS. 1 to 3 , the storage device 3 includes a storage body 31 and a closure component 32 movably connected with the storage body 31 , and the storage body 31 is connected to the storage body 31 . The mobile device 1 is movably connected, the storage body 31 has an opening 312 for the workpiece to slide out, the closing assembly 32 is movable to close or open the opening 312, and the storage body 31 receives the clamping device 2 clip To store the collected workpieces, the closing assembly 32 can open the opening 312 relative to the storage body 31 to allow the workpieces to slide out of the storage body 31 . It can be understood that when the workpiece needs to be transported from one worktable to another worktable, the closing assembly 32 closes the opening 312 of the storage body 31 at this time, and the clamping device 2 can clamp the workpiece and transport the workpiece to the storage body 31 . For storage, the workpiece is fixed in the storage space of the storage body 31 by the blocking action of the closing component 32. After the moving device 1 drives the workpiece to the preset position, the storage body 31 moves relative to the moving device 1 to the storage space. The opening 312 of the object body 31 is staggered from the clamping device 2 to avoid the interference of the clamping device 2 on the removal process of the workpiece. In this case, the workpiece can slide out from the storage body 31 through the opening 312 and fall down. Therefore, by controlling the position of the closing assembly 32 relative to the storage body 31 and controlling the position of the storage body 31 relative to the moving device 1 , the workpiece stored in the storage body 31 can be automatically dropped without manual handling, thereby improving work efficiency.

In some embodiments, as shown in FIGS. 1 to 3 , the storage body 31 is rotatably disposed on the mobile device 1 , and the storage body 31 is provided with a plurality of placing slots 311 for placing workpieces , each of the placing troughs 311 is correspondingly provided with an opening 312 and an movably connected closure component 32 ; the storage body 31 can be rotated relative to the mobile device 1 to any of the placing troughs 311 and 32 . The ends of the motion trajectories of the gripping device 2 intersect. It can be understood that each placing slot 311 can place one workpiece. Therefore, by arranging a plurality of placing slots 311 on the storage body 31, multiple workpieces can be stored and transported in one storage body 31 at the same time. During the transportation process , by rotating the placing trough body 311 relative to the moving device 1 so that the placing trough body 311 can be opposed to or staggered from the clamping device 2 in sequence, so that the clamping device 2 can sequentially clamp the workpiece and transport the workpiece to the corresponding placing trough body 311 Therefore, multiple workpieces can be transported at one time, the handling efficiency is high, and each workpiece can be placed in zones, and each placing slot 311 is correspondingly provided with an opening 312 and a closing component 32, so it can be controlled by controlling the corresponding closing of each placement slot 311. The position of the assembly 32 is to discharge the workpieces in the respective troughs 311 in sequence, and the control is flexible and convenient.

In some embodiments, as shown in FIG. 3 , each of the placing troughs 311 is disposed along the circumferential direction of the storage body 31 , and the first ends of each of the placing troughs 311 overlap with the storage The center position of the body 31 . Specifically in this embodiment, the placing slot 311 includes a first side plate and a second side plate, the two side plates are vertically arranged on the storage body 31, and the two side plates cooperate with the storage body 31 to form an open A square slot structure, and the first ends of the placement slot 311 communicate with each other and overlap with the central position of the storage body 31 , and the opening 312 at the second end is closed or opened by the closing component 32 . The opening 312 is formed at the second end of each of the placing grooves 311 , and the bottom of the placing groove 311 is inclined downward along the direction from the first end to the second end to form a slope structure, that is, the bottom of the placing groove 311 is inclined downward. The height of the groove bottom at the first end of the groove is higher than the height of the second end of the groove to form an inclined downward inclined plane, and the workpiece can slide down along the extending direction of the inclined plane when placed on it. It can be understood that the arrangement of the placing groove body 311 along the circumferential direction of the storage body 31 can improve the compactness of the structure, and the movement track of the placing groove body 311 and the clamping device 2 can be made by rotating the storage body 31 by a certain angle. The ends intersect, and the operation is convenient; when the workpiece is stored in the placing groove body 311, the groove bottom of the placing groove body 311 is inclined downward along the direction from the first end to the second end to form an inclined surface structure, and the inclined surface structure can form a guiding effect on the workpiece. , when the closing assembly 32 moves to open the opening 312 , the workpiece can slide down automatically to slide out of the opening 312 through the action of the inclined surface structure, so as to form an automatic falling operation.

In some embodiments, as shown in FIG. 1 and FIG. 2 , there are two gripping devices 2 , and the two gripping devices 2 are arranged on two sides of the mobile device 1 , so that the two gripping devices 2 can be used at the same time. The workpiece is clamped and transported to the plurality of placing troughs 311 of the storage device 3 to further improve work efficiency.

In some embodiments, as shown in FIG. 1 to FIG. 3 , the storage device 3 further includes a roller 33 rotatably connected with the placing slot body 311 , and the extension direction of the central axis of the roller 33 is slidable with the workpiece. The groove bottom of the placing groove body 311 is provided with an escape groove that communicates with the inner space of the placing groove body 311 , and the roller 33 is exposed at least in the escape groove of the placing groove body 311 . It can be understood that during the sliding process of the workpiece relative to the placement groove body 311, the friction between the workpiece and the placement groove body 311 is reduced through the rolling action of the rollers 33, thereby improving the smoothness of the workpiece sliding and facilitating the smooth movement of the workpiece from the placement. The groove body 311 slides out and cooperates with the above-mentioned inclined surface structure at the bottom of the placing groove body 311, which can further improve the smoothness of the workpiece sliding, and effectively reduce the friction between the placing groove body 311 and the workpiece and hinder the workpiece from sliding down.

In some embodiments, as shown in FIGS. 1 to 3 , a sliding member 34 is vertically disposed at a position of the placing groove 311 away from one end of the opening 312 , and the sliding member 34 faces the placing groove. The opening 312 of 311 is bent to form a convex arc structure. It can be understood that the sliding member 34 is used for the workpiece to abut. After the clamping device 2 clamps the workpiece to the placing groove body 311 , the closing assembly 32 closes the opening 312 of the placing groove body 311 , and one end of the workpiece is connected to the closing assembly 32 . Abutting, the other end abuts against the sliding member 34 to form a state of leaning and leaning. When the closing component 32 opens the opening 312 of the placing groove body 311, the workpiece leaning on the tilting loses the obstruction of the closing component 32, and is in the position of the sliding member 34. Under the action of the sliding aid, it slides out from the opening 312 of the placing groove body 311 , and the convex arc-shaped structure of the sliding aid 34 guides the workpiece to slide down smoothly. Of course, in other embodiments, the structure of the sliding member 34 is not limited to the above-described convex arc-shaped structure, and other suitable structures, such as a bending structure, can be applied.

In some embodiments, as shown in FIG. 1 to FIG. 3 , the closing assembly 32 includes a first driving device 321 and a panel 322 connected with the output end of the first driving device 321 ; the first driving device 321 drives The panel 322 moves to the first position or the second position relative to the storage body 31 . When the panel 322 is in the first position, the opening 312 is opened, and when the panel 322 is in the second position, the opening 312 is closed. . Specifically, the panel 322 may be a partial structure or a whole structure and move relative to the storage body 31 to change its state to move to the first position or the second position. For example, the panel 322 may be partially flipped relative to the storage body 31 to the first position or The second position, or the panel 322 can be slid to the first position or the second position as a whole relative to the storage body 31, which is not particularly limited here, so that the position of the panel 322 can be changed accordingly according to the needs of loading and unloading the workpiece, the panel 322 When in the first position, the opening 312 is opened to remove the workpiece from the storage body 31 , and when the panel 322 is in the second position, the opening 312 is closed so that the workpiece is stored in the storage body 31 for transport.

In some embodiments, as shown in FIG. 1 , along the end of the storage body 31 away from the opening 312 to the end close to the opening 312 , the first driving device 321 is inclined downward and disposed on the storage body 31 . On the storage body 31 , the first driving device 321 drives the panel 322 to move back and forth, so as to drive the panel 322 to abut against the opening 312 of the storage body 31 , or relative to the opening of the storage body 31 312 Staggered settings. It can be understood that the first driving device 321 is inclined and the output driving force also acts on the panel 322 along the inclined direction, so as to drive the panel 322 to move upward along the inclined direction to abut against the opening 312 of the storage body 31 , thereby closing the opening 312 of the storage body 31 , or driving the panel 322 to move downward along the inclined direction to a staggered arrangement relative to the opening 312 of the storage body 31 , so as to open the opening 312 of the storage body 31 . Therefore, by the first driving device 321 linearly driving the panel 322 to reciprocate along the inclined direction, the panel 322 can be smoothly driven to close or open the opening 312 of the storage body 31 . Of course, it should be noted that, in other embodiments, the first driving device 321 can also drive the panel 322 to turn over or move up and down to make the panel 322 close or open the opening 312 of the storage body 31, which is not specially described here. limits.

In some embodiments, as shown in FIG. 1 and FIG. 4 , the gripping device 2 includes a gripping arm assembly 21 and a flipping assembly 22; the flipping assembly 22 is provided on one side of the moving device 1; In the embodiment, the flipping assembly 22 and the clamping arm assembly 21 are arranged on one side of the mobile device 1 , and the storage device 3 is arranged on the top of the mobile device 1 , so that the clamping arm assembly 21 can be turned upward to transport the workpiece to the storage device 3 . . The output end of the turning assembly 22 is connected to the clamping arm assembly 21, and drives the clamping arm assembly 21 to turn up and down, and the clamping arm assembly 21 is used for clamping the workpiece. It can be understood that by driving the clamping arm assembly 21 to turn up and down through the turning assembly 22, the clamping arm assembly 21 can be turned downward to clamp the workpiece, and the clamped workpiece can be turned upward to transport the workpiece to the storage device 3 for storage. The assembly 22 drives the clamping arm assembly 21 to turn up and down to realize the actions of clamping the workpiece and transferring the workpiece.

In some embodiments, as shown in FIG. 1 , FIG. 4 and FIG. 5 , the turning assembly 22 includes a turning base 221 and a turning driving device 222 , the turning base 221 is hinged to the moving device 1 , and the turning driving device 222 The device 222 is connected with the inversion seat 221, so that the inversion driving device 222 can drive the inversion seat 221 to rotate to drive the clamp arm assembly 21 to turn up and down, wherein the inversion driving device 222 can be a rotating motor, etc. The inner wall of the clamping cavity 223 is provided with an elastic clamping member 224 along its radial direction, and the clamping arm assembly 21 is inserted into the clamping cavity 223, and is connected with the elastic clamping member 223. The holding pieces 224 are elastically offset against each other. It can be understood that, by arranging the elastic clamping member 224 on the inner wall of the clamping cavity 223 , the clamping space in the clamping cavity 223 can be adapted to change, and the clamping arm assemblies 21 of different sizes are inserted into the clamping cavity 223 At the time of clamping, they can be fastened against the outer peripheral wall of the clamping arm assembly 21 by the elastic action of the elastic clamping member 224, so that the clamping arm assemblies 21 of different sizes can be firmly clamped in the clamping cavity 223, which is convenient for The clamp arm assembly 21 can be modified according to the size or type of the workpiece to improve versatility. Specifically, in this embodiment, there are a plurality of the elastic holding members 224 , and the plurality of elastic holding members 224 are evenly arranged along the circumferential wall direction of the holding cavity 223 , so as to be able to evenly clamp the clamping arm assembly 21 . Specifically in this embodiment, the elastic holding member 224 includes an elastic member 225 and a ball 226 , wherein the elastic member 225 can be a spring or other elastic components, and the ball 226 is connected to the holding cavity 223 through the elastic member 225 , through the ball 226 abutting against the clamping arm assembly 21 , on the one hand, a better clamping force can be ensured, and on the other hand, the clamping arm assembly 21 can be smoothly inserted into the clamping cavity 223 .

In some embodiments, as shown in FIGS. 1 and 4 , the clamping arm assembly 21 includes a first clamping arm 211 , a second clamping arm 212 , a second driving device 213 and a transmission structure 214 , the second driving device 213 is connected with the first clamp arm 211 and the second clamp arm 212 through the transmission structure 214 , and the second drive device 213 drives the first clamp arm 211 and the second clamp synchronously through the transmission structure 214 . The arms 212 approach each other to form a clamped state or move away from each other to form a released state. It can be understood that, the first clamping arm 211 and the second clamping arm 212 are cooperatively arranged, which can firmly hold the workpiece, and the clamping space can be adjusted by the first clamping arm 211 and the second clamping arm 212 approaching each other or moving away from each other. Thus, the workpiece can be clamped or released according to the needs of transportation. The second driving device 213 may be a rotating motor, and the rotating motor drives the transmission structure 214 to synchronously drive the first clamping arm 211 and the second clamping arm 212 to approach each other to form a clamped state or to move away from each other to form a released state.

In some embodiments, as shown in FIG. 4 , the transmission structure 214 includes a first linkage rod 215 , a second linkage rod 216 , and a driving wheel 217 and a driven wheel 218 that are meshed and arranged; the second driving device 213 and the driving wheel 217 is connected, the driving wheel 217 is connected with the first clamping arm 211, the driven wheel 218 is connected with the second clamping arm 212, the opposite ends of the first linkage rod 215 are respectively hinged with the flip seat 221 and the first clamping arm 211, and the second linkage The opposite ends of the rod 216 are hinged with the flip seat 221 and the second clamping arm 212 respectively. The first clamping arm 211 and the second clamping arm 212 are driven closer to each other or away from each other under the rotational driving of the clamp, so as to form a state of clamping the workpiece or releasing the workpiece. It should be noted that the driving wheel 217 and the driven wheel 218 are both incomplete gears, that is, the driving wheel 217 and the driven wheel 218 are only provided with partially continuous teeth to limit the first clamping arm 211 and the second clamping arm 212 Opening and closing angles.

In some embodiments, as shown in FIG. 4 , an anti-slip layer 219 is provided at the respective clamping mouth ends of the first clamping arm 211 and the second clamping arm 212 . Specifically, in this embodiment, each of the jaw ends of the first clamping arm 211 and the second clamping arm 212 is formed with an anti-slip groove structure, wherein the anti-slip groove is the above-mentioned anti-slip layer 219, so as to increase the friction force, Thus, the workpiece is firmly clamped. In addition, in some embodiments, the clamping arm assembly 21 is a double-layer clamping arm structure, so as to increase the clamping area and strength, and form a stable clamping for the workpiece.

In some embodiments, as shown in FIG. 1 , the moving device 1 includes a mounting frame 11 and a moving wheel 12 arranged at the bottom of the mounting frame 11 , and the gripping device 2 and the storage device 3 are both arranged on the mounting frame 11 , And driven by the moving wheel 12 to move from one worktable to another worktable. Wherein the moving wheel 12 can be a Mecanum wheel, which is not limited by a fixed position and can perform different tasks more flexibly.

In some embodiments, the transport mechanism 100 further includes a grayscale sensor disposed on the mobile device 1 , and the transport mechanism 100 can automatically follow the planned optimal path through the grayscale sensor.

The handling mechanism 100 further includes a color sensor, a camera, a power detection sensor, an infrared signal sensor and a network signal receiving sensor arranged on the mobile device 1. The handling mechanism 100 can automatically identify the color of the goods and their external shape, and accurately identify the required handling. of goods. Through the camera, the QR code can be recognized and scanned for human-computer interaction and various path selection. It detects its own power through the power detection sensor, and performs automatic wireless charging through the infrared signal sensor and the network signal receiving sensor.

The present invention also provides a control method for the transport mechanism 100, based on the transport mechanism 100 described above, the control method for the transport mechanism 100 includes the following steps:

Control the moving device 1 to reach the first position, the gripping device 2 moves relative to the moving device 1 to the first position and grips the workpiece, and then transports the workpiece to the storage device 3 for storage;

The moving device 1 is controlled to reach the second position, and the storage device 3 moves relative to the moving device 1, so that the workpiece slides out of the storage device 3 and falls into the second position.

It can be understood that when the workpiece needs to be transported from the first position to the second position, for example, when the workpiece is transported from one worktable to another worktable, the workpiece is clamped from the worktable by the clamping device 2, and the workpiece is transported to the storage device. 3. The storage device 3 stores the workpiece, and then the moving device 1 drives the gripping device 2, the storage device 3 and the workpiece to move to another workbench. At this time, the storage device 3 moves relative to the moving device 1 until the workpiece slides out of the storage. The object device 3 is automatically dropped into the workbench or taken over by other mechanisms.

Therefore, the control method of the handling mechanism 100 can carry out long-distance handling of the workpiece by controlling the movement of the moving device 1, the gripping device 2 and the storage device 3, wherein the moving device 1 can reciprocate along a preset path to It can drive the clamping device 2 and the storage device 3 to move back and forth between multiple workbenches, and the workpiece is clamped by the clamping device 2 and transported to the storage device 3. The storage device 3 stores the workpiece and arrives at it. In the preset position, the relative moving device 1 moves until the workpiece slides out of the storage device 3 and automatically falls, so that the process of automatically transporting the workpiece can be formed, and the degree of automation is high, and the storage device 3 can store the workpiece, so that it can transport more than one piece at a time. There is no need to transport the workpieces one by one, and the handling efficiency is high.

The above embodiments are not exhaustive listings based on the present invention, and there may also be a number of other implementations that are not listed. Any substitutions and improvements made on the basis of not violating the concept of the present invention fall within the protection scope of the present invention.

Claims (10)

1. A conveying mechanism, characterized in that, the conveying mechanism comprises a moving device, a gripping device and a storage device arranged on the moving device; The moving device can drive the gripping device and the storage device to move; the gripping device is movably connected with the moving device, and the gripping device grips the workpiece and transports the workpiece to the storage device; the The storage device is movably connected with the moving device, the storage device stores the workpieces gripped by the gripping device, and can move relative to the moving device to make the workpieces slide out of the storage device. 2 . The transport mechanism according to claim 1 , wherein the storage device comprises a storage body and a closure assembly movably connected with the storage body, and the storage body is connected with the moving device, 2 . The storage body has an opening for the workpiece to slide out, the closure assembly movably closes or opens the opening, the storage body receives the workpiece gripped by the gripping device for storage, and the closure assembly can be relatively The storage body opens the opening to allow the workpiece to slide out of the storage body. 3. The transport mechanism according to claim 2, wherein the storage body is rotatably arranged on the moving device, and the storage body is provided with a plurality of placing grooves for placing workpieces, each The placing slot body is correspondingly provided with an opening and an movably connected closure component; the storage body can be rotated relative to the moving device until any one of the placing slot intersects with the end of the movement track of the gripping device . 4 . The conveying mechanism according to claim 3 , wherein each of the placing troughs is disposed along the circumferential direction of the storage body, and the first ends of each of the placing troughs overlap with the storage body. 5 . In the center position of the object body, the opening is provided at the second end of each placing slot body, and the slot bottom of the placing slot body is inclined downward along the direction from the first end to the second end to form a slope structure. 5 . The conveying mechanism according to claim 3 , wherein the storage device further comprises a roller rotatably connected with the placing trough body, and the extension direction of the central axis of the roller is the same as the direction in which the workpiece slides out. 6 . At the intersection, the groove bottom of the placing groove body is provided with an escape groove communicating with the inner space of the placing groove body, and the roller is at least exposed to the air escape groove of the placing groove body. 6 . The conveying mechanism according to claim 3 , wherein a sliding member is vertically arranged at a position of the placing groove away from one end of the opening, and the sliding member is folded toward the opening of the placing groove. 7 . Bend to form a convex arc-like structure. 7. The conveying mechanism according to claim 2, wherein the closing assembly comprises a first driving device and a panel connected with the output end of the first driving device; the first driving device drives the panel to be opposite The storage body moves to a first position or a second position, the panel opens the opening when the panel is in the first position, and closes the opening when the panel is in the second position. 8. The conveying mechanism according to any one of claims 1 to 7, wherein the gripping device comprises a gripping arm assembly and a turning assembly; the turning assembly is arranged on one side of the moving device, and the The output end of the turning assembly is connected with the clamping arm assembly, and drives the clamping arm assembly to turn up and down, and the clamping arm assembly is used for clamping the workpiece. 9 . The transport mechanism according to claim 8 , wherein the turning assembly comprises a turning seat and a turning driving device, the turning seat is hinged to the moving device, and the turning driving device is connected to the turning seat. 10 . , the flip seat has a clamping cavity, the inner wall of the clamping cavity is provided with an elastic clamping member along its radial direction, the clamping arm assembly is inserted into the clamping cavity, and is connected with the clamping cavity. The elastic clips are elastically offset. 10. A control method for a conveying mechanism, characterized in that, based on the conveying mechanism according to any one of claims 1 to 9, the control method for the conveying mechanism comprises the following steps: Controlling the moving device to reach the first position, the gripping device moves relative to the moving device to the first position and grips the workpiece, and then transports the workpiece to the storage device for storage; The moving device is controlled to reach a second position, and the storage device moves relative to the moving device, so that the workpiece slides out of the storage device and falls into the second position.

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