CN218490685U - Transfer device - Google Patents

Abstract

The application relates to a technical field is carried in the commodity circulation, discloses a transfer device, includes: a main body; a receiving platform disposed at the main body and configured to receive the transfer barrel; the manipulator is arranged on the main body and comprises a clamping mechanism, and the clamping mechanism is configured to open or close the cover body of the transfer barrel and clamp the articles in the transfer barrel; and the visual recognition module is arranged on the manipulator and is configured to adjust the coordinates of the manipulator so that the manipulator can place the article on the loading platform. The transfer device receives the transfer barrel through the receiving platform, and the manipulator opens the cover body of the transfer barrel through the clamping mechanism and clamps out the articles in the transfer barrel; the transfer device also adjusts the coordinates of the manipulator through a visual recognition module arranged on the manipulator, so that the clamping mechanism of the manipulator can accurately place the articles taken out of the transfer barrel on the load platform.

Description

Transfer device

Technical Field

The application relates to the technical field of logistics transportation, for example to a transfer device.

Background

The transfer device, also called an AGV (Automated Guided Vehicle) transfer robot, can automatically transport articles to a designated place through special landmark navigation, and realizes the automatic logistics transfer function. The most common guiding modes are magnetic stripe guiding, laser guiding, magnetic nail navigation and inertial navigation.

The novel AGV comprises a frame, a driving module, a grabbing module, a lifting module and a navigation module, wherein Mecanum wheels and a deceleration direct-current driving motor are respectively arranged at the two ends of the front side and the two ends of the rear side of the frame, and a battery is fixed at the front end of a chassis of the frame; the grabbing module mainly comprises a rotating platform and a manipulator, the lifting module mainly comprises two guide rods and a lifting push rod, and the push rod and the guide rods are connected with a storage box; the front and the back of the frame are provided with magnetic navigation sensors, the bottom of the frame is provided with an RFID tag radio frequency card, and one side of the bottom of the frame is provided with a first photoelectric switch.

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art: the transfer device can not directly clamp and take out the articles in the transfer barrel and accurately place the articles on a load platform on which the articles need to be placed.

SUMMERY OF THE UTILITY MODEL

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended to be a prelude to the more detailed description that is presented later.

The embodiment of the disclosure provides a transfer device, can press from both sides the bucket of transporting and get receiving platform and take out the interior article of bucket, accurately place on waiting to receive the load platform of article.

The disclosed embodiment provides a transfer device, includes:

a main body;

a receiving platform disposed at the main body and configured to receive the transfer barrel;

the manipulator is arranged on the main body and comprises a clamping mechanism, and the clamping mechanism is configured to open or close the cover body of the transfer barrel and clamp the articles in the transfer barrel;

and the visual recognition module is arranged on the manipulator and is configured to adjust the coordinates of the manipulator so that the manipulator can place the article on the loading platform.

In some embodiments, the robot comprises:

a base connected with the main body;

the connecting arm comprises a plurality of joint arms which are sequentially connected end to end, and the joint arm positioned at the initial position is rotatably connected with the base;

the clamping mechanism and the visual identification module are both arranged on a joint arm located at the tail position.

In some embodiments, the grasping mechanism is provided at a lower end of the articulated arm at the end position, and the visual recognition module is provided at an upper portion of the grasping mechanism.

In some embodiments, the camera of the visual recognition module is disposed facing downward.

In some embodiments, the receiving platform comprises:

and a conveyor belt, the front part of which extends out of the front side of the main body and is configured to receive the transfer barrel and convey the transfer barrel to a position to be clamped.

In some embodiments, the transfer device further comprises:

the accommodating mechanism is arranged in the main body and can be lifted relative to the main body, a first opening is formed in the front side of the accommodating mechanism, a second opening is formed in the top of the accommodating mechanism, an accommodating space for accommodating the transferring barrel is formed in the accommodating mechanism, and the accommodating space is communicated with the first opening and the second opening;

the receiving platform is arranged in the accommodating space, the front part of the receiving platform extends out of the first opening, and the position to be clamped corresponds to the second opening.

In some embodiments, the transfer device further comprises:

the positioning mechanism is arranged on the receiving platform and is configured to position the docking equipment with the transfer barrel, so that the receiving platform can receive the transfer barrel from the docking equipment.

In some embodiments, the receiving platform and the robot are disposed at the top of the main body, the receiving platform is disposed at the front side of the top of the main body, and the robot is disposed at the rear side of the top of the main body.

In some embodiments, the transfer device further comprises:

a transfer vehicle arranged at the bottom of the main body;

the positioning module is arranged on the transfer trolley and is configured to perform first positioning on the load table;

and the first controller is arranged on the transfer trolley and is configured to control the transfer trolley to move to a target position close to the load platform according to the first positioning.

In some embodiments, the transfer device further comprises:

and the second controller is arranged on the main body or the manipulator and is configured to adjust the coordinates of the manipulator according to the image shot by the visual recognition module so that the manipulator can place the object on the loading platform.

The transfer device that this disclosed embodiment provided can realize following technological effect: the transfer device receives the transfer barrel through the receiving platform, and the manipulator opens the cover body of the transfer barrel through the clamping mechanism and clamps out the articles in the transfer barrel; the transfer device also adjusts the coordinates of the manipulator through a visual recognition module arranged on the manipulator, so that the clamping mechanism of the manipulator can accurately place the articles taken out of the transfer barrel on the load platform.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated in the accompanying drawings, which correspond to the accompanying drawings and not in a limiting sense, in which elements having the same reference numeral designations represent like elements, and in which:

FIG. 1 is a schematic structural diagram of a transfer device provided in an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of another transfer device provided in embodiments of the present disclosure;

FIG. 3 is a schematic structural diagram of another transfer device provided by an embodiment of the disclosure;

FIG. 4 is a schematic structural diagram of another transfer device provided by an embodiment of the disclosure;

fig. 5 is an enlarged view of a portion B of fig. 4.

Reference numerals are as follows:

10. a main body; 20. a receiving platform; 30. a manipulator; 310. a base; 320. a connecting arm; 330. a gripping mechanism; 40. a transfer barrel; 50. a visual recognition module; 510. an aperture; 520. a camera; 60. an accommodating mechanism; 601. a first opening; 602. a second opening; 70. a transfer trolley; 80. a storage device; 810. a load table; 820. a corner portion.

Detailed Description

So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other cases, well-known structures and tanks may be used to simplify the illustration.

The terms "first," "second," and the like in the description and claims of the embodiments of the disclosure and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.

In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the disclosed embodiments and embodiments thereof, and are not intended to limit the indicated tanks, elements or components to a particular orientation or to be constructed and operated in a particular orientation. Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In addition, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; either directly or indirectly through an intermediary, or internal communication between two tanks, elements or components. Specific meanings of the above terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art according to specific situations.

The term "plurality" means two or more unless otherwise specified.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

With reference to fig. 1 and 2, an embodiment of the present disclosure provides a transfer device, including: a main body 10, a receiving platform 20, a robot 30, and a vision recognition module 50; the receiving platform 20 is disposed on the main body 10 and configured to receive the transfer bucket 40; the robot 30 is disposed in the main body 10, and includes a gripping mechanism 330, and the gripping mechanism 330 is configured to open or close the cover of the transfer bucket 40 and grip out the articles in the transfer bucket 40; the vision recognition module 50 is provided to the robot 30 and is configured to adjust coordinates of the robot 30 so that the robot 30 places the article on the load table 810.

In this embodiment, receiving platform 20 is capable of receiving a transfer drum 40 from a docking facility. The docking facility stores a plurality of transfer buckets 40, and can transport the transfer buckets 40 one by one to the outside. The transfer drum 40 of the docking apparatus can be transferred onto the receiving platform 20 when the transfer device is moved into the vicinity of the docking apparatus.

In this embodiment, the gripping mechanism 330 of the robot 30 can grip and release the article, and the robot 30 can generate a movement trajectory of the gripped article such as ascending, descending, translation, and the like. The manipulator 30 can also open and close the cover of the transfer bucket 40, for example, the clamping mechanism 330 can clamp the cover of the transfer bucket 40 and move the cover upwards, and can open the cover on the opening of the transfer bucket 40; the clamping mechanism 330 clamps the cover body to move the cover body downward to the opening of the transfer barrel 40 and releases the cover body, so that the cover body can be closed. Specifically, the robot 30 includes a plurality of articulated arms rotatably connected, and the gripping action is achieved by relative movement between the articulated arms. The specific structure and operation principle of the manipulator 30 belong to the prior art, and are not described in detail herein.

In this embodiment, the vision recognition module 50 is capable of image capture to enable the transfer device to adjust the coordinates of the robot 30 so that the robot 30 can accurately place an item on the load table 810. The vision recognition module 50 is provided in the robot 30, and can photograph a scene near the robot 30 and adjust coordinates of the robot 30 so that the robot 30 can accurately place an article on the load table 810. Specifically, when the transfer device moves to a target position near the load platform 810, the vision recognition module 50 captures an image of the load platform 810, the load platform 810 is positioned secondly, the clamping coordinate of the manipulator 30 is determined, if the clamping coordinate of the manipulator 30 deviates, the vision recognition module 50 can output the deviation coordinate, and the transfer device can adjust the motion of the manipulator 30 according to the deviation coordinate, so that the manipulator 30 can accurately place an article on the load platform 810, and the placement accuracy of the transfer device is improved. Similarly, when the clamping mechanism 330 of the manipulator 30 is to clamp the articles in the transfer barrel 40, the vision recognition module 50 can also adjust the clamping coordinates of the manipulator 30, so that the manipulator 30 can accurately clamp the articles in the transfer barrel 40, thereby improving the clamping precision of the transfer device.

In this embodiment, the item may be a pharmaceutical, a biological sample, or the like. The transfer bucket 40 refers to an object capable of containing objects, and the transfer bucket 40 has a cover body that can be opened and closed.

Optionally, the transfer device further comprises a controller that adjusts the movement of the robot 30 according to the second positioning of the load table 810 detected by the vision recognition module 50, so that the robot 30 can accurately perform the grabbing and placing actions.

Optionally, a load station 810 is provided to the storage device 80. The storage device 80 is a device capable of storing the articles in the transfer bucket 40, and the loading platform 810 is provided in the storage device 80, and the loading platform 810 can transport the articles to the storage device 80 for storage after receiving the articles.

In the actual transferring process, the transferring device moves to the docking equipment, the docking equipment stores a plurality of transferring buckets 40, the receiving platform 20 receives one of the transferring buckets 40, the manipulator 30 opens the bucket covers of the transferring buckets 40 on the receiving platform 20 through the clamping mechanism 330, and then the articles in the transferring buckets 40 are clamped out; the transfer device moves to a target position close to the load table 810, the vision recognition module 50 captures an image of the load table 810 to determine a second position of the load table 810, and the transfer device adjusts the coordinates of the robot 30 accordingly, so that the robot 30 can accurately place the object on the load table 810.

The transfer device provided by the embodiment of the present disclosure receives the transfer barrel 40 through the receiving platform 20, and the manipulator 30 opens the cover of the transfer barrel 40 through the clamping mechanism 330 and clamps the articles in the transfer barrel 40; the transfer device further performs refined second positioning on the load table 810 through the visual recognition module 50 arranged on the manipulator 30, and when the transfer device moves to a target position close to the load table 810, the coordinates of the manipulator 30 are accurately adjusted according to the second positioning, so that the articles taken out of the transfer barrel 40 by the clamping mechanism 330 are accurately placed on the load table 810, and the need of taking by personnel in the transfer process is avoided.

As shown in connection with fig. 1, in some embodiments, the robot 30 includes a base 310 and a connecting arm 320, the base 310 being connected with the main body 10; the connecting arm 320 comprises a plurality of joint arms which are sequentially connected end to end, and the joint arm at the initial position is rotatably connected with the base 310; wherein, the gripping mechanism 330 and the visual recognition module 50 are both disposed on the joint arm located at the end position.

In this embodiment, the plurality of articulated arms connected end to end include an articulated arm at a starting position and an articulated arm at an ending position, and an intermediate connecting arm 320 connecting the articulated arm at the starting position and the articulated arm at the ending position, the articulated arm at the starting position being connected to the base 310, and among the plurality of articulated arms, the articulated arm at the ending position being farthest from the articulated arm at the starting position. Relative rotation can occur between the plurality of articulated arms, and flexible movement of the manipulator 30 is realized.

In the actual transferring process, the transferring device moves to a target position close to the load table 810, the vision recognition module 50 performs coordinate positioning on the load table 810, the real coordinates of the load table 810 are judged, and the controller adjusts the coordinates of the manipulator 30 according to the real coordinates, so that the article is accurately placed on the load table 810.

According to the embodiment of the disclosure, the clamping mechanism 330 and the visual recognition module 50 are arranged on the joint arm at the tail position, and the visual recognition module 50 can shoot a scene near the clamping mechanism 330, so that the coordinates of the manipulator 30 can be accurately adjusted, and the movement of the manipulator 30 can be accurately adjusted.

As shown in fig. 1-3, in some embodiments, the grasping mechanism 330 is disposed at the lower end of the articulated arm at the end position, and the visual recognition module 50 is disposed at the upper portion of the grasping mechanism 330.

The clamping mechanism 330 is arranged at the lower end of the joint arm at the tail position, so that the spatial interference between the clamping mechanism 330 and other parts in the moving process can be reduced, the movement of the clamping mechanism 330 is more flexible, and the clamping mechanism 330 is convenient to clamp and place the articles. The visual recognition module 50 is arranged on the upper portion of the clamping mechanism 330, so that the visual recognition module 50 can shoot a scene near the clamping mechanism 330, the coordinate of the manipulator 30 can be accurately adjusted, and the manipulator 30 can accurately grab and place an article.

As shown in connection with fig. 2 and 3, in some embodiments, the camera 520 of the visual recognition module 50 is disposed facing downward. The camera 520 is disposed downward, and can photograph a scene below the robot 30 when the robot 30 moves, so as to accurately correct the coordinates of the robot 30, and timely adjust the movement of the robot 30, thereby accurately placing an object on the load table 810.

Alternatively, the camera 520 of the visual recognition module 50 is disposed toward the right lower side. In this embodiment, the camera 520 is arranged to face directly below so that it can shoot a picture with the clamping mechanism 330 and the loading platform 810, and after determining the real coordinates of the loading platform 810, it is beneficial to accurately adjust the coordinates of the clamping mechanism 330. By adopting the embodiment of the disclosure, when the transfer device reaches the target position near the load platform 810, the visual recognition module 50 can conveniently perform coordinate positioning on the load platform 810, and judge the real target of the load platform 810, so that the manipulator 30 can perform coordinate adjustment per se, and accurate positioning is realized.

As shown in fig. 4 and 5, optionally, the vision recognition module 50 includes an aperture 510 and a camera 520, the aperture 510 is disposed on the manipulator 30, and is configured to provide light source illumination, and is disposed facing downward; the camera 520 is provided in the robot 30 in a region surrounded by the diaphragm 510, and is configured to capture an image of the load table 810, perform coordinate positioning of the load table 810, and be provided downward. The vision recognition module 50 provides light source illumination to the camera 520 through the aperture 510 to make the image captured by the camera 520 clear. The aperture 510 is disposed downward and illuminates the scene below. The camera 520 is disposed in the area surrounded by the aperture 510, and can receive more light rays to illuminate during shooting, so that the image is clearer. The camera 520 is disposed downward to photograph a scene below the gripping mechanism 330.

As shown in connection with fig. 1, in some embodiments, the receiving platform 20 comprises a conveyor belt, the front of which protrudes from the front side of the main body 10, configured to receive the transfer drum 40 and convey the transfer drum 40 to the position to be gripped.

In this embodiment, the conveyor belt can move to shift the position of the article thereon. The receiving platform 20 further includes a driving portion and a transmission portion, and the conveyor belt moves under the driving of the driving portion and the transmission portion. The front of the conveyor belt protrudes from the front side of the main body 10, facilitating the reception of the transfer drum 40 from the docking device.

In this embodiment, the to-be-gripped position refers to a position where the robot 30 is waited for the cover opening and closing and the gripping action of the transfer bucket 40, and at this position, the robot 30 is facilitated to perform the above-described operation.

In the actual receiving process, the transfer barrel 40 of the docking equipment is conveyed to the receiving platform 20, and under the driving of the conveyor belt, the transfer barrel 40 is conveyed to the to-be-clamped position, at which the manipulator 30 can open the cover of the transfer barrel 40 through the clamping mechanism 330, and then clamp and take out the articles in the transfer barrel 40.

This disclosed embodiment is through setting up the receiving platform 20 who takes the conveyer belt, can receive and transport bucket 40 and steadily convey it to waiting to press from both sides the position of getting, and the manipulator 30 of being convenient for carries out the switch lid and presss from both sides the operation to transporting bucket 40.

Referring to fig. 1 and 2, in some embodiments, the transfer device further includes an accommodating mechanism 60, the accommodating mechanism 60 is disposed in the main body 10 and is liftable with respect to the main body 10, a first opening 601 is disposed at a front side, a second opening 602 is disposed at a top part, an accommodating space for accommodating the transfer barrel 40 is disposed inside, and the accommodating space is communicated with both the first opening 601 and the second opening 602; the receiving platform 20 is disposed in the accommodating space, a front portion of the receiving platform 20 extends out of the first opening 601, and a position to be gripped corresponds to the second opening 602.

In this embodiment, the front side of the receiving mechanism 60 has a first opening 601, and the front portion of the receiving platform 20 protrudes from the first opening 601 so as to be able to receive the transfer bucket 40 transferred by the docking device; the top of the accommodating mechanism 60 has a second opening 602, and the gripping mechanism 330 of the robot 30 can extend into the second opening 602 and perform a cover opening and closing operation and a gripping operation on the transfer bucket 40 below the second opening 602.

In this embodiment, the position to be gripped is located at the rear of the receiving platform 20.

In the actual receiving process, the front part of the receiving platform 20 receives the transfer barrel 40 from the docking equipment, the conveyor belt of the receiving platform 20 moves to drive the transfer barrel 40 to move, the transfer barrel 40 moves to the position to be clamped through the first opening 601, the clamping mechanism 330 of the manipulator 30 extends into the accommodating mechanism 60 through the second opening 602, the cover of the transfer barrel 40 is opened, articles in the transfer barrel 40 are clamped, and then the articles are clamped through the second opening 602.

Adopt the transfer device that this disclosed embodiment provided, can hold receiving platform 20 and the transport bucket 40 on the receiving platform 20 through holding mechanism 60, holding mechanism 60 has the function of liftable, makes transfer device when docking with the butt joint equipment, can be according to the height of butt joint equipment's altitude mixture control receiving platform 20, makes receiving platform 20 can receive the transport bucket 40 that the butt joint equipment of co-altitude conveys smoothly, has promoted the suitability of transfer device to the butt joint equipment.

In some embodiments, the transfer device further includes a positioning mechanism disposed on the receiving platform 20 and configured to position the docking device on which the transfer bucket 40 is placed, so that the receiving platform 20 can receive the transfer bucket 40 from the docking device.

In this disclosed embodiment, positioning mechanism fixes a position the docking equipment, and the transfer device moves to the position that is close to the docking equipment, and receiving platform 20 can receive smoothly the transportation bucket 40 that the docking equipment sent.

In some embodiments, the receiving platform 20 and the robot 30 are disposed at the top of the main body 10, the receiving platform 20 is disposed at the top front side of the main body 10, and the robot 30 is disposed at the top rear side of the main body 10.

The main body 10 has a large space at the top thereof, and the receiving platform 20 and the robot 30 are disposed at the top of the main body 10, so that the receiving platform 20 can receive the transfer bucket 40 conveniently, and the robot 30 can perform a series of operations on the transfer bucket 40 conveniently. The receiving platform 20 is arranged at the front side of the top of the main body 10, so that the receiving platform can conveniently receive the transfer barrel 40 of the docking equipment, and the manipulator 30 is arranged at the rear side of the top of the main body 10, so that the manipulator 30 can conveniently perform clamping and placing actions. With this embodiment, the receiving platform 20 and the robot 30 can be arranged with reasonable use of the head space of the main body 10.

Alternatively, the top of the main body 10 includes a first platform and a second platform, the first platform is located at the front side of the top of the main body 10, the second platform is located at the rear side of the top of the main body 10, the height of the first platform is greater than that of the second platform, the receiving platform 20 is disposed on the first platform, and the robot 30 is disposed on the second platform. The height of the first platform is made larger than that of the second platform, so that the overall length of the manipulator 30 can be shortened to a certain extent, and the clamping and placing actions can still be realized.

As shown in connection with fig. 1-4, in some embodiments, the transfer device further comprises: a transfer vehicle 70, a positioning module and a first controller, the transfer vehicle 70 being disposed at the bottom of the main body 10; the positioning module is arranged on the transfer trolley 70 and is configured to perform first positioning on the load table 810; a first controller is provided on the trolley 70 and is configured to control the trolley 70 to move to a target position near the load table 810 according to the first positioning.

In this embodiment, the transfer vehicle 70 is disposed at the bottom of the main body 10, and has traveling wheels capable of moving the main body 10; the positioning module can perform first positioning on the load platform 810, and the first controller controls the transfer trolley 70 to move according to the first positioning, so that the whole transfer device can be moved to a target position close to the load platform 810.

In this embodiment, the target position is a position close to the load table 810 where the robot 30 can place the article on the load table 810 by an accurate placing action.

By adopting the transfer device provided by the embodiment of the disclosure, the load platform 810 can be positioned, and the transfer device is moved to a target position close to the load platform 810, so that the manipulator 30 can place articles on the load platform 810 conveniently.

In some embodiments, the transfer device further includes a second controller provided to the main body 10 or the robot 30 and configured to adjust coordinates of the robot 30 according to an image photographed by the vision recognition module 50.

In this embodiment, the second controller may be provided in the main body 10 or may be provided in the robot 30, and can control the operation of the robot 30. The second controller adjusts coordinates of the robot 30 according to the image photographed by the vision recognition module 50 so that the robot 30 places the article on the load table 810.

In the actual transferring process, the transferring device moves to a target position close to the load platform 810, the vision recognition module 50 recognizes the load platform 810 and judges the real coordinates of the load platform 810, and the manipulator 30 automatically adjusts the coordinates to accurately place the article on the load platform 810. As shown in fig. 4 and 5, optionally, the loading platform 810 comprises four corners 820, the vision recognition module 50 recognizes the position coordinates of one of the corners 820, and the second controller adjusts the motion of the robot 30 according to the position coordinates of one of the corners 820, so that the robot 30 can accurately place the object on the loading platform 810.

In some embodiments, the transfer device further comprises: the transfer trolley 70, the positioning module, the first controller and the second controller, wherein the transfer trolley 70 is arranged at the bottom of the main body 10; the positioning module is arranged on the transfer trolley 70 and is configured to perform first positioning on the load table 810; the first controller is provided on the transfer trolley 70 and is configured to control the transfer trolley 70 to move to a target position close to the load table 810 according to the first positioning; the second controller is provided to the main body 10 or the robot 30 and configured to adjust coordinates of the robot 30 according to an image photographed by the vision recognition module 50.

In this embodiment, the first controller can control the transfer device to move to a target position near the load table 810 according to the first positioning of the positioning module, and the second controller can correct the coordinates of the robot 30 according to the positioning coordinates of the visual recognition module 50, so that the robot 30 places the article on the load table 810.

The transfer device provided by the embodiment of the present disclosure configures the visual recognition module 50 on the manipulator 30, automatically judges whether the clamping coordinate of the manipulator 30 has an offset caused by an error in the first positioning of the positioning module through the visual recognition module 50, and feeds back the offset coordinate. The second controller automatically adjusts the movement of the manipulator 30 according to the offset coordinates to achieve accurate positioning.

Alternatively, the first controller and the second controller may be replaced with a control unit configured to control the transfer vehicle 70 to move to a target position near the load table 810 according to the first positioning and to adjust the coordinates of the robot 30 according to the image photographed by the vision recognition module 50.

By adopting the transfer device disclosed by the embodiment of the disclosure, the manipulator 30 automatically adjusts the coordinates to compensate for the positioning deviation of the positioning module, so that accurate positioning is realized.

The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The embodiments of the present disclosure are not limited to the structures that have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A transfer device, comprising:

a main body;

a receiving platform disposed on the main body and configured to receive a transfer bucket;

the manipulator is arranged on the main body and comprises a clamping mechanism, and the clamping mechanism is configured to open or close the cover body of the transfer barrel and clamp the articles in the transfer barrel;

and the visual recognition module is arranged on the manipulator and is configured to adjust the coordinates of the manipulator so that the manipulator can place the article on the loading platform.

2. The transfer device of claim 1, wherein the robot comprises:

a base connected with the main body;

the connecting arm comprises a plurality of joint arms which are sequentially connected end to end, and the joint arm positioned at the initial position is rotatably connected with the base;

the clamping mechanism and the visual recognition module are both arranged on an articulated arm located at the tail position.

3. Transfer device according to claim 2, wherein the gripping means are arranged at the lower end of an articulated arm in the end position and the vision recognition module is arranged at the upper part of the gripping means.

4. The transfer device of claim 3, wherein the camera of the visual recognition module is disposed facing downward.

5. Transfer device according to any of claims 1 to 4, wherein the receiving platform comprises:

a conveyor belt, a front portion protruding from a front side of the main body, configured to receive the transfer bucket and convey the transfer bucket to a position to be gripped.

6. The transfer device of claim 5, further comprising:

the accommodating mechanism is arranged on the main body and can lift relative to the main body, a first opening is formed in the front side of the accommodating mechanism, a second opening is formed in the top of the accommodating mechanism, an accommodating space for accommodating the transferring barrel is formed in the accommodating mechanism, and the accommodating space is communicated with the first opening and the second opening;

the receiving platform is arranged in the accommodating space, the front part of the receiving platform extends out of the first opening, and the position to be clamped corresponds to the second opening.

7. The transfer device of any one of claims 1 to 4, further comprising:

the positioning mechanism is arranged on the receiving platform and is configured to position the docking equipment where the transfer bucket is placed, so that the receiving platform can receive the transfer bucket from the docking equipment.

8. The transfer device of any one of claims 1 to 4, wherein the receiving platform and the manipulator are both disposed at the top of the main body, the receiving platform is disposed at the top front side of the main body, and the manipulator is disposed at the top rear side of the main body.

9. The transfer device of any one of claims 1 to 4, further comprising:

a transfer vehicle disposed at the bottom of the main body;

the positioning module is arranged on the transfer trolley and is configured to perform first positioning on the load table;

and the first controller is arranged on the transfer trolley and is configured to control the transfer trolley to move to a target position close to the loading platform according to the first positioning.

10. The transfer device of claim 9, further comprising:

a second controller disposed at the main body or the robot arm, and configured to adjust coordinates of the robot arm according to the image photographed by the vision recognition module so that the robot arm places the article on the load table.

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