CN114751188A - Conveyance mechanism and control method thereof - Google Patents

Abstract

The invention discloses a carrying mechanism and a control method thereof, wherein the carrying mechanism comprises a moving device, a clamping device and a storage device, wherein the clamping device and the storage device are arranged on the moving device; the moving device can drive the clamping device and the storage device to move; the clamping device is movably connected with the moving device and used for clamping the workpiece and conveying the workpiece to the storage device; the storing device is movably connected with the moving device, stores the workpiece clamped by the clamping device, and can move relative to the moving device to enable the workpiece to slide out of the storing device. The technical scheme provided by the carrying mechanism and the control method thereof can carry the workpieces for a long distance, can form an automatic workpiece carrying process, has high automation degree, can store the workpieces by the storage device, can carry a plurality of workpieces at one time, does not need to carry the workpieces one by one, and has high carrying efficiency.

Description

Conveyance mechanism and control method thereof

Technical Field

The invention belongs to the technical field of carrying equipment, and particularly relates to a carrying mechanism and a control method thereof.

Background

With the progress of science and technology and the development of times, the mode of replacing manual carrying by a carrying mechanism is more brought into people's lives, the carrying mechanism is used for carrying articles and comprises a power moving mechanism, a clamping and fixing mechanism and the like, a common carrying mechanism carries articles horizontally or vertically in a straight line, and a small number of the common carrying mechanisms carry articles in a rotating mode. The work is usually held by a carrying mechanism so that the work on one table is carried to another table. To two longer workstations of distance, the transport that current transport mechanism often can not convenient adaptation longer distance, and need carry the work piece one by one by one, and handling efficiency is lower.

Disclosure of Invention

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

The technical scheme for achieving the purpose comprises the following steps.

A carrying mechanism comprises a moving device, a clamping device and a storage device, wherein the clamping device and the storage device are arranged on the moving device;

the moving device can drive the clamping device and the storage device to move; the clamping device is movably connected with the moving device and used for clamping a workpiece and conveying the workpiece to the storage device; the storage device is movably connected with the moving device, stores the workpiece clamped by the clamping device, and can move relative to the moving device so that the workpiece can slide out of the storage device.

In some embodiments, the storage device comprises a storage body and a closing component movably connected with the storage body, the storage body is connected with the moving device, the storage body is provided with an opening for sliding out the workpiece, the closing component movably closes or opens the opening, the storage body receives the workpiece clamped by the clamping device for storage, and the closing component can open the opening relative to the storage body so as to enable the workpiece to slide out of the storage body.

In some embodiments, the storage body is rotatably arranged on the moving device, a plurality of placing grooves for placing workpieces are arranged on the storage body, and each placing groove is correspondingly provided with an opening and a movably connected closing component; the storing body can rotate to any place groove relative to the moving device and intersect with the tail end of the motion track of the clamping device.

In some embodiments, each of the placing groove bodies is disposed along a circumferential direction of the storage body, a first end of each of the placing groove bodies coincides with a central position of the storage body, a second end of each of the placing groove bodies is provided with the opening, and a groove bottom of each of the placing groove bodies inclines downwards along a direction from the first end to the second end to form an inclined plane structure.

In some embodiments, the storage device further comprises a roller rotatably connected with the placing groove body, the extending direction of a central shaft of the roller is crossed with the sliding-out direction of the workpiece, the groove bottom of the placing groove body is provided with a clearance groove communicated with the inner space of the placing groove body, and the roller is at least exposed in the clearance groove of the placing groove body.

In some embodiments, a sliding assistant piece is vertically arranged at a position of the placing groove body, which is far away from one end of the opening, and the sliding assistant piece is bent towards the opening of the placing groove body to form a convex arc-shaped structure.

In some of these embodiments, the closure assembly includes a first drive and a panel connected to an output of the first drive; the first driving device drives the panel to move to a first position or a second position relative to the storage body, the opening is opened when the panel is located at the first position, and the opening is closed when the panel is located at the second position.

In some embodiments, the gripping device comprises a gripper arm assembly and a turnover assembly; the turnover component is arranged on one side of the mobile device, the output end of the turnover component is connected with the clamping arm component and drives the clamping arm component to turn over up and down, and the clamping arm component is used for clamping a workpiece.

In some embodiments, the turnover assembly includes a turnover seat and a turnover driving device, the turnover seat is hinged to the moving device, the turnover driving device is connected to the turnover seat, the turnover seat has a clamping cavity, an elastic clamping member is arranged on the inner wall of the clamping cavity along the radial direction of the turnover driving device, and the clamping arm assembly is inserted into the clamping cavity and elastically abuts against the elastic clamping member.

In some embodiments, the clamping arm assembly includes a first clamping arm, a second driving device and a transmission structure, the second driving device is connected to the first clamping arm and the second clamping arm through the transmission structure, and the second driving device synchronously drives the first clamping arm and the second clamping arm to approach each other to form a clamping state or to move away from each other to form a loosening state through the transmission structure.

A control method of a conveying mechanism is based on the conveying mechanism, and comprises the following steps:

the moving device is controlled to reach a first position, the clamping device moves to the first position relative to the moving device and clamps the workpiece, and then the workpiece is conveyed to the storage device to be stored;

and controlling the moving device to reach a second position, wherein 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 invention has the following advantages and effects:

this transport mechanism passes through the mobile device, press from both sides and get the cooperation of device and storing device, can carry out long distance transport to the work piece, wherein the mobile device can be along predetermined route reciprocating motion, in order to drive to press from both sides and get the device, the storing device reciprocating motion between a plurality of workstations, press from both sides through pressing from both sides and get the device and press from both sides the work piece and carry work piece to storing device, the storing device stores the work piece, and relative movement device activity is to work piece roll-off storing device and fall down automatically when reacing predetermined position, thereby can form the automatic transport work piece process, degree of automation is high, and the storing device can be stored the work piece, thereby can once only carry a plurality of work pieces, need not to carry the work piece one by one step, transport efficiency is high.

Drawings

Fig. 1 is an overall structural schematic diagram of a carrying mechanism of an embodiment of the invention;

FIG. 2 is a schematic top view of a carrying mechanism according to an embodiment of the present invention;

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

FIG. 4 is a schematic diagram of the overall construction of a clamp arm assembly according to an embodiment of the present invention;

FIG. 5 is a sectional view of a part of the structure of the clamping arm device according to the embodiment of the present invention;

fig. 6 is a schematic structural view of the resilient catch according to the embodiment of the present invention.

Description of reference numerals:

100. a carrying mechanism;

1. a mobile device; 11. a mounting frame; 12. a moving wheel; 2. a gripping device; 21. a clamp arm assembly; 211. a first clamp arm; 212. a second clamp arm; 213. a second driving device; 214. a transmission structure; 215. a first linkage rod; 216. a second linkage rod; 217. a driving wheel; 218. a driven wheel; 219. an anti-slip layer; 22. a turnover assembly; 221. a turning seat; 222. a turnover driving device; 223. a clamping cavity; 224. an elastic retaining member; 225. an elastic member; 226. a ball bearing; 3. a storage device; 31. a storage body; 311. placing a groove body; 312. an opening; 32. a closure assembly; 321. a first driving device; 322. a panel; 33. a roller; 34. a sliding aid.

Detailed Description

In order that the invention may be readily understood, specific embodiments thereof will be described in more detail below with reference to the accompanying drawings.

As used herein, unless otherwise specified or defined, "first" and "second" … are used merely to distinguish between names and do not denote a particular quantity or order.

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

It should be noted that "fixed" and "connected" in this document may be directly fixed or connected to one element or may be indirectly fixed or connected to one element.

The conveying mechanism 100 is not particularly limited as long as it can convey workpieces of various shapes, such as plate-like workpieces, box-like workpieces, and columnar workpieces. Preferably, in the present embodiment, the carrying mechanism 100 is mainly used for carrying box-shaped workpieces and columnar workpieces.

The invention provides a carrying mechanism 100, as shown in fig. 1 to 6, the carrying mechanism 100 comprises a moving device 1, and a clamping device 2 and a storage device 3 which are arranged on the moving device 1; the moving device 1 can drive the clamping device 2 and the storage device 3 to move. It can be understood that the moving device 1 can reciprocate along a preset path to drive the gripping device 2 and the storage device 3 to reciprocate among a plurality of working tables. The clamping device 2 is movably connected with the moving device 1, and the clamping device 2 clamps a workpiece and conveys 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 workpiece clamped by the clamping device 2, and can move relative to the moving device 1 to enable the workpiece to slide out of the storage device 3. Understandably, when a workpiece needs to be conveyed from one workbench to another workbench, the workpiece is clamped from the workbench through the clamping device 2 and conveyed to the storage device 3, the storage device 3 stores the workpiece, then the moving device 1 drives the clamping device 2, the storage device 3 and the workpiece to move to another workbench, and at the moment, the storage device 3 moves relative to the moving device 1 to slide out of the storage device 3 and automatically fall into the workbench or be received by other mechanisms.

Therefore, this transport mechanism 100 passes through mobile device 1, press from both sides and get device 2 and the cooperation of storing device 3, can carry out long distance transport to the work piece, wherein mobile device 1 can be along predetermined route reciprocating motion, in order to drive press from both sides and get device 2, storing device 3 is reciprocating motion between a plurality of workstations, press from both sides through pressing from both sides and get the work piece and carry work piece to storing device 3 of device 2 clamp, storing device 3 stores the work piece, and relative mobile device 1 activity to work piece roll-off storing device 3 and fall down automatically when reaching the predetermined position, thereby can form the automatic transport work piece process, and degree of automation is high, and storing device 3 can save the work piece, thereby can once only carry a plurality of work pieces, need not to carry the work piece one by one in proper order, transport efficiency is high.

In some embodiments, as shown in fig. 1 to 3, the storage device 3 includes a storage body 31 and a closing component 32 movably connected to the storage body 31, the storage body 31 is movably connected to the moving device 1, the storage body 31 has an opening 312 for sliding out a workpiece, the closing component 32 movably closes or opens the opening 312, the storage body 31 receives the workpiece clamped by the clamping device 2 for storage, and the closing component 32 can open the opening 312 relative to the storage body 31 to slide out the workpiece out of the storage body 31. It can be understood that, when a workpiece needs to be transported from one workstation to another workstation, at this time, the closing component 32 closes the opening 312 of the storage body 31, the clamping device 2 can clamp the workpiece and transport the workpiece to the storage body 31 for storage, at this time, the workpiece is fixed in the storage space of the storage body 31 through the blocking effect of the closing component 32, after the moving device 1 drives the workpiece to the preset position, at this time, the storage body 31 moves relative to the moving device 1 to the opening 312 of the storage body 31 and is staggered with the clamping device 2, so as to avoid interference of the clamping device 2 on the unloading process of the workpiece, the closing component 32 moves relative to the storage body 31 to open the opening 312, the blocking effect of the closing component 32 on the workpiece is cancelled, and at this time, the workpiece can slide out and fall from the storage body 31 through the opening 312. Therefore, by controlling the position of the closing component 32 relative to the storing body 31 and the position of the storing body 31 relative to the moving device 1, the workpieces stored in the storing body 31 can automatically fall down, manual carrying is not needed, and the working efficiency is improved.

In some embodiments, as shown in fig. 1 to fig. 3, the storage body 31 is rotatably disposed on the mobile device 1, a plurality of placing grooves 311 for placing a workpiece are disposed on the storage body 31, and each placing groove 311 is correspondingly provided with an opening 312 and the movably connected closing component 32; the storage body 31 can rotate relative to the moving device 1 to any place the groove 311 to intersect with the tail end of the motion track of the clamping device 2. As can be understood, each placing trough 311 can place one workpiece, so that a plurality of workpieces can be stored and transported in one storing body 31 at the same time by arranging a plurality of placing troughs 311 on the storing body 31, and during the transportation process, the placing troughs 311 rotate relative to the moving device 1 so that the placing troughs 311 can be sequentially opposite to or staggered with respect to the clamping device 2, so that the clamping device 2 can sequentially clamp and transport the workpieces to the corresponding placing troughs 311; therefore, a plurality of workpieces can be conveyed at one time, the conveying efficiency is high, the workpieces are placed in different areas, each placing groove body 311 is correspondingly provided with one opening 312 and one closing component 32, the positions of the closing components 32 corresponding to the placing groove bodies 311 can be controlled to sequentially discharge the workpieces placed in the placing groove bodies 311, and the control is flexible and convenient.

In some embodiments, as shown in fig. 3, each placing slot 311 is disposed along a circumferential direction of the storage body 31, and a first end of each placing slot 311 coincides with a central position of the storage body 31. Specifically in this embodiment, this place cell body 311 includes first curb plate and second curb plate, and on two vertical settings storing body 31 of curb plate, two curb plates and the cooperation of storing body 31 formed open square groove structure, and place the first end of cell body 311 communicate each other and coincide in storing body 31's central point puts, and the opening 312 of second end is closed or is opened through closing component 32. Each the second end of placing the cell body 311 has been seted up opening 312, the tank bottom of placing the cell body 311 forms the inclined plane structure along the direction downward sloping of self first end to the second end, and the tank bottom of placing the cell body 311 is located the height that highly is higher than self second end of self first end promptly to form the decurrent inclined plane of slope, the work piece can be along with the extending direction of inclined plane landing downwards when placing last. Understandably, the arrangement of the placing groove body 311 along the circumferential direction of the storage body 31 can improve the structural compactness, and the placing groove body 311 can intersect with the tail end of the motion track of the clamping device 2 by rotating the storage body 31 for a certain angle, so that the operation is convenient; when the work piece is stored in placing the cell body 311, form the inclined plane structure along the first end of self downward sloping to the direction of second end through the cell bottom of placing the cell body 311, the inclined plane structure can form the guide effect to the work piece, and when this opening 312 was opened in the activity of closing component 32, the work piece can slide to this opening 312 of roll-off automatically through the effect of inclined plane structure to form automatic whereabouts operation.

In some embodiments, as shown in fig. 1 and fig. 2, the gripping device 2 is provided with two gripping devices 2, and the two gripping devices 2 are respectively arranged on two sides of the moving device 1, so that the work efficiency can be further improved by simultaneously gripping and conveying the work pieces to the plurality of placing grooves 311 of the storing device 3 by the two gripping devices 2.

In some embodiments, as shown in fig. 1 to fig. 3, the storage device 3 further includes a roller 33 rotatably connected to the placing groove 311, an extending direction of a central axis of the roller 33 intersects with a sliding direction of the workpiece, a clearance groove communicated with an inner space of the placing groove 311 is formed in a groove bottom of the placing groove 311, and the roller 33 is at least exposed in the clearance groove of the placing groove 311. Understandably, in the sliding process of the relatively placing groove body 311, the friction force between the workpiece and the placing groove body 311 is reduced through the rolling action of the rolling shaft 33, so that the sliding smoothness of the workpiece can be improved, the workpiece can smoothly slide out of the placing groove body 311 conveniently, the sliding smoothness of the workpiece can be further improved by matching with the inclined plane structure at the bottom of the placing groove body 311, and the friction force between the placing groove body 311 and the workpiece is effectively reduced to prevent the workpiece from sliding off.

In some embodiments, as shown in fig. 1 to fig. 3, an auxiliary slider 34 is vertically disposed at a position of one end of the placing slot 311 away from the opening 312, and the auxiliary slider 34 is bent towards the opening 312 of the placing slot 311 to form a convex arc structure. It can be understood that the sliding aid 34 is used for the workpiece to abut against, when the clamping device 2 clamps the workpiece to the placing groove 311, the closing component 32 closes the opening 312 of the placing groove 311, one end of the workpiece abuts against the closing component 32, and the other end abuts against the sliding aid 34, so as to form an inclined leaning state, when the closing component 32 opens the opening 312 of the placing groove 311, the inclined leaning workpiece loses the obstruction of the closing component 32 and slides out from the opening 312 of the placing groove 311 under the sliding aid of the sliding aid 34, and the convex arc structure of the sliding aid 34 guides the workpiece to slide down smoothly. Of course, in other embodiments, the structure of the sliding aid member 34 is not limited to the convex arc structure described above, and other suitable structures such as bending structures may be applied.

In some embodiments, as shown in fig. 1 to 3, the closing assembly 32 includes a first driving device 321 and a panel 322 connected to an output end of the first driving device 321; the first driving device 321 drives the panel 322 to move to a first position or a second position relative to the storage body 31, the opening 312 is opened when the panel 322 is located at the first position, and the opening 312 is closed when the panel 322 is located at the second position. Specifically, the panel 322 may be a partial structure or an entire structure, and is movable relative to the storage body 31 to change its state to a first position or a second position, for example, the panel 322 may be partially turned relative to the storage body 31 to the first position or the second position, or the panel 322 may be entirely slid relative to the storage body 31 to the first position or the second position, without any particular limitation, so as to change the position of the panel 322 according to the loading and unloading requirements of the workpiece, the opening 312 is opened when the panel 322 is located at the first position to unload the workpiece from the storage body 31, and the opening 312 is closed when the panel 322 is located at the second position to allow the workpiece to be stored in the storage body 31 for transportation.

In some embodiments, as shown in fig. 1, along an end of the storage body 31 away from the opening 312 to an end close to the opening 312, the first driving device 321 is disposed on the storage body 31 in a downward inclined manner, and the first driving device 321 drives the panel 322 to move back and forth to drive the panel 322 to abut against the opening 312 of the storage body 31, or to be disposed in a staggered manner relative to the opening 312 of the storage body 31. It can be understood that the first driving device 321 is disposed obliquely, and the driving force output by the first driving device also acts on the panel 322 along the oblique direction to drive the panel 322 to move upwards along the oblique direction to abut against the opening 312 of the storage body 31, so as to close the opening 312 of the storage body 31, or drive the panel 322 to move downwards along the oblique direction to be staggered with respect to the opening 312 of the storage body 31, so as to open the opening 312 of the storage body 31. Therefore, the first driving device 321 linearly drives the panel 322 to reciprocate along the inclined direction, so as to smoothly drive the panel 322 to close or open the opening 312 of the storage body 31. Of course, in other embodiments, the first driving device 321 may also drive the panel 322 to turn over or move up and down to close or open the opening 312 of the storage body 31 through the panel 322, which is not limited herein.

In some embodiments, as shown in fig. 1 and 4, said gripping device 2 comprises a gripping arm assembly 21 and a turning assembly 22; the overturning component 22 is arranged at one side of the mobile device 1; specifically, in the present embodiment, the flipping unit 22 and the clamping arm unit 21 are disposed at one side of the mobile device 1, and the storage device 3 is disposed at the top of the mobile device 1, so that the clamping arm unit 21 flips upward to transport the workpiece to the storage device 3. The output end of the turnover component 22 is connected with the clamping arm component 21 and drives the clamping arm component 21 to turn over up and down, and the clamping arm component 21 is used for clamping a workpiece. It can understand ground, drive arm lock subassembly 21 through upset subassembly 22 and overturn from top to bottom, can make arm lock subassembly 21 overturn downwards in order to press from both sides the work piece to upwards overturn the work piece of pressing from both sides and store in order to carry work piece to storing device 3 with the work piece of pressing from both sides, upset subassembly 22 drive arm lock subassembly 21 overturns from top to bottom in order to realize pressing from both sides the action of getting the work piece and transporting the work piece.

In some embodiments, as shown in fig. 1, 4 and 5, the flipping unit 22 includes a flipping base 221 and a flipping driving device 222, the flipping base 221 is hinged to the moving device 1, the flipping driving device 222 is connected to the flipping base 221, so that the flipping driving device 222 can drive the flipping base 221 to rotate to drive the clamping arm unit 21 to flip up and down, where the flipping driving device 222 may be a rotating motor, and the like, the flipping base 221 has a clamping cavity 223, an elastic clamping member 224 is disposed on an inner wall of the clamping cavity 223 along a radial direction thereof, and the clamping arm unit 21 is inserted into the clamping cavity 223 and elastically abuts against the elastic clamping member 224. It can be understood that, through set up the elasticity card at the inner wall of holding cavity 223 and hold piece 224, consequently can adapt to the card space of holding that changes in holding cavity 223, when different size arm lock subassembly 21 is pegged graft in holding cavity 223, the homoenergetic is fastened and is supported in the periphery wall of arm lock subassembly 21 under the elastic action of this elasticity card piece 224 to different size arm lock subassemblies 21 all can firmly be held in this card and hold cavity 223, be convenient for change arm lock subassembly 21 according to the size or the type of work piece, improve the commonality. Specifically, in the present embodiment, the plurality of elastic clamping members 224 are provided, and the plurality of elastic clamping members 224 are uniformly arranged along the circumferential wall direction of the clamping cavity 223, so as to uniformly clamp the clamp arm assembly 21. Specifically, in the embodiment, the elastic clamping member 224 includes an elastic member 225 and a ball 226, wherein the elastic member 225 may be a spring or other elastic member, and the ball 226 is connected to the clamping cavity 223 through the elastic member 225, and abuts against the clamping arm assembly 21 through the ball 226, so that on 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 fig. 1 and 4, the gripper arm assembly 21 includes a first gripper arm 211, a second gripper arm 212, a second driving device 213, and a transmission structure 214, the second driving device 213 is connected to the first gripper arm 211 and the second gripper arm 212 through the transmission structure 214, and the second driving device 213 drives the first gripper arm 211 and the second gripper arm 212 to move close to each other or move away from each other to move away from each other through the transmission structure 214 to form a clamping state or a releasing state. It can understand, first arm lock 211 and second arm lock 212 cooperation setting can stabilize to the work piece and hug closely, and are close to each other or keep away from each other through first arm lock 211 and second arm lock 212, can adjust the clamp space to can press from both sides tightly or release the work piece according to the transport needs. 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 clamping state or to move away from each other to form a releasing 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 arranged in a meshing manner; the second driving device 213 is connected with the driving wheel 217, the driving wheel 217 is connected with the first clamping arm 211, the driven wheel 218 is connected with the second clamping arm 212, two opposite ends of the first linkage rod 215 are respectively hinged with the turnover seat 221 and the first clamping arm 211, two opposite ends of the second linkage rod 216 are respectively hinged with the turnover seat 221 and the second clamping arm 212, and the first clamping arm 211 and the second clamping arm 212 can be driven to be close to or away from each other under the rotation driving of the second driving device 213 through the matching effect of the driving wheel 217, the driven wheel 218, the first linkage rod 215 and the second linkage rod 216, so that a workpiece clamping state or a workpiece loosening state is formed. It should be noted that the driving pulley 217 and the driven pulley 218 are both incomplete gears, that is, only partially continuous teeth are disposed on both the driving pulley 217 and the driven pulley 218 to limit the opening and closing angles of the first clamping arm 211 and the second clamping arm 212.

In some embodiments, as shown in fig. 4, the first clip arm 211 and the second clip arm 212 are provided with an anti-slip layer 219 at their respective clip mouth ends. Specifically, in this embodiment, the respective clamping opening ends of the first clamping arm 211 and the second clamping arm 212 form an anti-skid groove structure, wherein the anti-skid groove is the anti-skid layer 219, so as to increase the friction force and stably clamp the workpiece. 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 force and form a stable clamping on the workpiece.

In some embodiments, as shown in fig. 1, the moving device 1 includes a mounting frame 11 and a moving wheel 12 disposed at the bottom of the mounting frame 11, and the gripping device 2 and the storage device 3 are disposed on the mounting frame 11 and moved from one work table to another work table by the moving wheel 12. Wherein the moving wheel 12 may be a mecanum wheel that is not constrained by a fixed position and is more flexible to perform different tasks.

In some embodiments, the carrying mechanism 100 further includes a grayscale sensor disposed on the mobile device 1, and the carrying mechanism 100 can automatically perform tracking along the designated optimal path by the grayscale sensor.

The carrying mechanism 100 further comprises a color sensor, a camera, a power detection sensor, an infrared signal sensor and a network signal receiving sensor which are arranged on the mobile device 1, and the carrying mechanism 100 can automatically identify the color and the external shape of the goods and accurately identify the goods to be carried. The two-dimensional code can be identified and scanned through the camera to carry out human-computer interaction and various path selections. The power supply detection sensor is used for detecting the electric quantity of the user, and the infrared signal sensor and the network signal receiving sensor are used for automatically and wirelessly charging.

The present invention further provides a method for controlling the conveying mechanism 100, wherein based on the conveying mechanism 100, the method for controlling the conveying mechanism 100 comprises the following steps:

controlling the moving device 1 to reach a first position, moving the clamping device 2 to the first position relative to the moving device 1, clamping the workpiece, and then conveying the workpiece to the storage device 3 for storage;

the moving device 1 is controlled to reach a 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 a workpiece needs to be transported from a first position to a second position, for example, from one workbench to another workbench, the workpiece is gripped from the workbench by the gripping device 2 and 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 which 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 workbench or is received by other mechanisms.

Therefore, the control method of the carrying mechanism 100 can carry out long-distance carrying on the workpiece by controlling the moving device 1, the clamping device 2 and the storage device 3 to move, wherein the moving device 1 can reciprocate along a preset path to drive the clamping device 2 and the storage device 3 to reciprocate among a plurality of working tables, the clamping device 2 is used for clamping the workpiece and conveying the workpiece to the storage device 3, the storage device 3 stores the workpiece and moves relative to the moving device 1 to the workpiece sliding-out storage device 3 when reaching the preset position and automatically falls down, so that an automatic workpiece carrying process can be formed, the degree of automation is high, the storage device 3 can store the workpiece, so that a plurality of workpieces can be carried at one time, the workpieces do not need to be carried one by one, and the carrying efficiency is high.

The above examples are not intended to be exhaustive list based on the present invention, and there may be many other embodiments other than those listed. Any replacement or improvement made without departing from the concept of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. The carrying mechanism is characterized by comprising a moving device, a clamping device and a storage device, wherein the clamping device and the storage device are arranged on the moving device;

The moving device can drive the clamping device and the storage device to move; the clamping device is movably connected with the moving device and used for clamping a workpiece and conveying the workpiece to the storage device; the storage device is movably connected with the moving device, stores the workpiece clamped by the clamping device and can move relative to the moving device so that the workpiece slides out of the storage device.

2. The carrying mechanism as claimed in claim 1, wherein the storage device comprises a storage body and a closing component movably connected with the storage body, the storage body is connected with the moving device, the storage body is provided with an opening for sliding out the workpiece, the closing component movably closes or opens the opening, the storage body receives the workpiece clamped by the clamping device for storage, and the closing component can open the opening relative to the storage body so as to enable the workpiece to slide out of the storage body.

3. The carrying mechanism as claimed in claim 2, wherein the storage body is rotatably disposed on the moving device, a plurality of placing grooves for placing workpieces are disposed on the storage body, and each placing groove is correspondingly provided with an opening and a movably connected closing assembly; the storage body can rotate relative to the moving device to a position where any one of the placing grooves intersects with the tail end of the motion track of the clamping device.

4. The carrying mechanism as claimed in claim 3, wherein each of the plurality of accommodating slots is disposed along a circumferential direction of the storage body, a first end of each of the plurality of accommodating slots is overlapped with a central position of the storage body, a second end of each of the plurality of accommodating slots is provided with the opening, and a bottom of each of the plurality of accommodating slots is inclined downwards along a direction from the first end to the second end thereof to form an inclined plane structure.

5. The carrying mechanism according to claim 3, wherein the storage device further comprises a roller rotatably connected with the accommodating groove body, the extending direction of a central shaft of the roller intersects with the sliding-out direction of the workpiece, a clearance groove communicated with the inner space of the accommodating groove body is formed in the bottom of the accommodating groove body, and the roller is at least exposed out of the clearance groove of the accommodating groove body.

6. The carrying mechanism as claimed in claim 3, wherein a sliding aid is vertically disposed at a position of the placing slot far away from one end of the opening, and the sliding aid is bent towards the opening of the placing slot to form a convex arc structure.

7. The handling mechanism of claim 2, wherein the closure assembly includes a first drive and a panel connected to an output of the first drive; the first driving device drives the panel to move to a first position or a second position relative to the storage body, the opening is opened when the panel is located at the first position, and the opening is closed when the panel is located at the second position.

8. The handling mechanism as claimed in any one of claims 1 to 7, wherein the gripping means comprises a gripper arm assembly and a turnover assembly; the turnover component is arranged on one side of the mobile device, the output end of the turnover component is connected with the clamping arm component and drives the clamping arm component to turn over up and down, and the clamping arm component is used for clamping a workpiece.

9. The carrying mechanism as claimed in claim 8, wherein the turnover assembly includes a turnover seat and a turnover driving device, the turnover seat is hinged to the moving device, the turnover driving device is connected to the turnover seat, the turnover seat has a clamping cavity, an elastic clamping member is arranged on the inner wall of the clamping cavity along the radial direction of the clamping cavity, and the clamping arm assembly is inserted into the clamping cavity and elastically abuts against the elastic clamping member.

10. A method for controlling a conveyance mechanism, based on the conveyance mechanism according to any one of claims 1 to 9, the method comprising:

the moving device is controlled to reach a first position, the clamping device moves to the first position relative to the moving device and clamps the workpiece, and then the workpiece is conveyed to the storage device to be stored;

And controlling the moving device to reach a second position, wherein 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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