WO2024099191A1

WO2024099191A1 - Transfer device

Info

Publication number: WO2024099191A1
Application number: PCT/CN2023/128653
Authority: WO
Inventors: 安伟; 王乾龙
Original assignee: 广东贝导智能科技有限公司
Priority date: 2022-11-10
Filing date: 2023-10-31
Publication date: 2024-05-16
Also published as: CN218808924U

Abstract

A transfer device (100), comprising a mounting frame (10), a clamping mechanism (20) and a positioning assembly (30), wherein the mounting frame can be driven by a driving mechanism to move back and forth between a material-retrieving site and a material-unloading site; the clamping mechanism and the positioning assembly are arranged on the mounting frame; the clamping mechanism is configured to clamp and release batteries (200); the positioning assembly is configured to be butt-joined to a packing material (300) located at the material-unloading site; and when the positioning assembly is butt-joined to the packing material, the batteries clamped by the clamping mechanism correspond to the packing material, so that the clamping mechanism can release the batteries to the packing material. The mounting frame first moves to the material-retrieving site, the clamping mechanism clamps the batteries at the material-retrieving site, next, the mounting frame moves to the material-unloading site and is butt-joined to the packing material by means of the positioning assembly, so as to achieve the positioning of the batteries, so that the batteries correspond to the packing material, and then, the clamping mechanism releases the batteries to the packing material. When packing materials of various colors are used, since the positioning assembly can still be butt-joined to the packing materials of various colors, it is unnecessary to provide a plurality of visual systems, thereby effectively reducing the costs.

Description

Handling device

This disclosure claims priority to a Chinese patent application filed with the Chinese Patent Office on November 10, 2022, with application number 202222998063.3 and application name “Conveying Device,” the entire contents of which are incorporated by reference into this disclosure.

Technical Field

The present invention relates to the technical field of workpiece circulation equipment, and in particular to a transporting device.

Background technique

Most of the palletizing materials for lithium batteries are made of foam materials for battery protection and cost considerations. In the prior art, in order to ensure that the batteries are accurately placed in the packaging materials, a visual inspection system is usually used to locate the position of the packaging materials. However, due to the limitations of the visual system, a visual system can generally only detect packaging materials of one color. In actual production, for ease of management, it is often necessary to use packaging materials of multiple colors. At this time, multiple visual systems need to be set up to locate packaging materials of multiple colors, which is costly.

Summary of the invention

Based on this, it is necessary to provide a low-cost handling device that can accurately place batteries into packaging materials in order to solve the existing problem of setting up multiple visual systems to position packaging materials of various colors.

A transport device, comprising:

A mounting frame, used to be connected to the driving mechanism, and the mounting frame can be reciprocated between the material taking station and the material unloading station under the drive of the driving mechanism;

A clamping mechanism, arranged on the mounting frame, the clamping mechanism is used to clamp and release the first workpiece, and when the mounting frame moves to the material picking station, the clamping mechanism can clamp the first workpiece of the material picking station;

A positioning assembly is arranged on the mounting frame, and the positioning assembly is used to dock with a second workpiece located at the unloading station. When the positioning assembly docks with the second workpiece, the first workpiece clamped by the clamping mechanism corresponds to the second workpiece, so that the clamping mechanism can release the first workpiece to the second workpiece.

By setting up the above-mentioned handling device, the mounting frame moves to the material taking station, the clamping mechanism clamps the battery at the material taking station, and then the mounting frame moves to the material unloading station, and docks with the packaging material through the positioning component to realize the positioning of the battery, so that the battery and the packaging material correspond, and then the clamping mechanism releases the battery to the packaging material. It can be docked with packaging materials, so when using packaging materials of various colors, the positioning component can still be docked with packaging materials of various colors, without the need to set up multiple visual systems, effectively reducing costs.

In one embodiment, the positioning assembly includes at least two positioning rods, each of which is disposed on the mounting frame, and each of which can extend into a positioning hole on the second workpiece located at the unloading station.

In one embodiment, the positioning assembly further includes a positioning drive member and a positioning plate, wherein the positioning drive member is disposed on the mounting frame and is transmission-connected to the positioning plate to drive the positioning plate to reciprocate along the axial direction of the positioning rod, and each of the positioning rods is connected to the positioning plate;

When the mounting bracket is located at the blanking station, the positioning rod can extend into the positioning hole of the second workpiece located at the blanking station during the movement of the positioning plate.

In one embodiment, the positioning assembly further includes a positioning elastic member, a detection member and a sensing member, the positioning rod is reciprocatably disposed on the mounting frame along its axial direction, and the positioning rod is reciprocatably movable relative to the positioning plate along the axial direction of the positioning rod, and the positioning elastic member is connected between the positioning plate and the positioning rod;

The detection member is arranged on the positioning plate, the induction member is arranged on the positioning rod, the detection member is used to detect the position of the induction member, and the detection member is electrically connected to the driving mechanism.

In one embodiment, the clamping mechanism includes a clamping drive component, a first clamping component and a second clamping component. The clamping drive component, the first clamping component and the second clamping component are all arranged on the mounting frame, and the clamping drive component is transmission-connected to the first clamping component and/or the second clamping component to drive the first clamping component and the second clamping component to move closer to or away from each other.

In one embodiment, the clamping drive assembly includes a clamping drive member, a connecting plate, a first guide wheel, a second guide wheel, a first matching member and a second matching member. The clamping drive member is disposed on the mounting frame and is in driving connection with the connecting plate to drive the connecting plate to reciprocate along a first direction. The first guide wheel and the second guide wheel are both connected to the connecting plate, and the first guide wheel cooperates with the first matching member, and the second guide wheel cooperates with the second matching member, so that the first guide wheel and the second guide wheel drive the first matching member and the second matching member to move closer to or farther from each other along a second direction perpendicular to the first direction during the process of reciprocating movement with the connecting plate.

The first clamping assembly is connected to the first matching piece, and the second clamping assembly is connected to the second matching piece.

In one embodiment, the first clamping assembly includes a first mounting plate, a fixed frame, a first elastic member and a first clamping claw, the second clamping assembly includes a second mounting plate, a movable frame, a second elastic member and a second clamping claw, the driving assembly is connected to the first mounting plate and the second mounting plate in a transmission manner, and the driving assembly is used to drive the first mounting plate and the second mounting plate to reciprocate along a first direction so that the first mounting plate and the second mounting plate The plates move towards or away from each other;

The fixing frame is arranged on the first mounting plate, the first clamping claw is arranged on the fixing frame so as to be reciprocatingly movable along a third direction perpendicular to the first direction, and the first elastic member is connected between the fixing frame and the first clamping claw;

The movable frame is arranged on the second mounting plate, the second clamping claw is arranged on the movable frame so as to be reciprocatably movable along the third direction, and the second elastic member is connected between the movable frame and the second clamping claw.

In one embodiment, the movable frame is reciprocatably disposed on the second mounting plate along a second direction perpendicular to the first direction and the third direction, and the second clamping assembly also includes an adjusting member, which is disposed on the second mounting plate and is threadedly connected to the movable frame to adjust the position of the movable frame along the second direction.

In one embodiment, the transport device also includes a bottom supporting assembly, which includes a swing driving member, a swing arm and a bottom supporting rod. The swing driving member is disposed on the mounting frame and is transmission-connected to one end of the swing arm to drive the swing arm to rotate. The bottom supporting rod is connected to one end of the swing arm away from the swing driving member. The bottom supporting rod can pass under the first workpiece clamped by the clamping mechanism and the side of the clamping mechanism during the rotation of the swing arm.

In one of the embodiments, the bottom supporting assembly further includes a lifting driving member, which is disposed on the mounting frame and is transmission-connected to the swing driving member to drive the swing driving member to reciprocate along the third direction.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a schematic diagram of the structure of a transport device provided by an embodiment of the present invention;

FIG2 is a schematic side view of the structure of the handling device shown in FIG1 ;

FIG3 is a schematic structural diagram of a clamping mechanism in the handling device shown in FIG1 ;

FIG4 is a schematic side view of the structure of the clamping mechanism shown in FIG3 ;

FIG5 is a schematic diagram of the top structure of the clamping mechanism shown in FIG4 ;

FIG6 is a schematic structural diagram of a positioning assembly in the handling device shown in FIG1 ;

FIG7 is a schematic cross-sectional view of some components of the positioning assembly shown in FIG6 ;

FIG8 is a schematic structural diagram of a second workpiece docking with the positioning assembly shown in FIG6 ;

FIG9 is a schematic structural diagram of a bottom supporting assembly in the transport device shown in FIG1 ;

FIG10 is a side structural schematic diagram of the swing driving member, the swing arm and the bottom supporting rod in the bottom supporting assembly shown in FIG9 ;

FIG. 11 is a schematic side view of the structure of the lifting drive member, the top plate, the swing drive member and the swing arm in the bottom supporting assembly shown in FIG. 9 .

Detailed ways

In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. “Above” and “below” may mean that the first feature is directly below or obliquely below the second feature, or simply mean that the first feature is smaller in level than the second feature.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

As shown in FIG. 1 and FIG. 2 , a transport device 100 provided in an embodiment of the present invention includes a mounting frame 10 , a clamping mechanism 20 and a positioning assembly 30 .

The mounting frame 10 is used to be connected to a driving mechanism so as to reciprocate between a material taking station and a material unloading station under the action of the driving mechanism.

The clamping mechanism 20 and the positioning assembly 30 are both arranged on the mounting frame 10. The clamping mechanism 20 is used to clamp and release the first workpiece 200. When the mounting frame 10 moves to the material-retrieving station, the clamping mechanism 20 can clamp the first workpiece 200 at the material-retrieving station. The positioning assembly 30 is used to dock with the second workpiece 300 located at the material-retrieving station. When the positioning assembly 30 docks with the second workpiece 300, the first workpiece 200 clamped by the clamping mechanism 20 corresponds to the second workpiece 300, so that the clamping mechanism 20 can release the first workpiece 200 to the second workpiece 300.

It should be noted that, in this embodiment, the driving mechanism may be a robot or other mechanism capable of driving the mounting frame 10 to move, the first workpiece 200 is a battery, and the second workpiece 300 is a packaging material.

By setting the above-mentioned handling device, the mounting frame 10 moves to the material-taking station, and the clamping mechanism 20 clamps the battery at the material-taking station. Next, the mounting frame 10 moves to the material-unloading station, and docks with the packaging material through the positioning component 30 to achieve the positioning of the battery, so that the battery and the packaging material correspond, and then the clamping mechanism 20 releases the battery to the packaging material. Since the positioning component 30 in the handling device can dock with the packaging material, when using packaging materials of multiple colors, the positioning component 30 can still dock with packaging materials of multiple colors, without the need to set up multiple visual systems, which effectively reduces costs.

Please refer to Figures 3 to 5 at the same time. In some embodiments, the clamping mechanism 20 includes a clamping drive component 21, a first clamping component 22 and a second clamping component 23. The clamping drive component 21, the first clamping component 22 and the second clamping component 23 are all arranged on the mounting frame 10, and the clamping drive component 21 is transmission-connected with the first clamping component 22 and/or the second clamping component 23 to drive the first clamping component 22 and the second clamping component 23 to approach or move away from each other, thereby clamping the first workpiece 200 when they are close to each other and releasing the first workpiece 200 when they are moving away from each other.

It can be understood that, in order to drive the first clamping assembly 22 and the second clamping assembly 23 to move closer to or away from each other, the clamping drive assembly 21 can be simultaneously connected to the first clamping assembly 22 and the second clamping assembly 23, and at this time, both the first clamping assembly 22 and the second clamping assembly 23 can move; the clamping drive assembly 21 can also be connected to the first clamping assembly 22 It is transmission connected to one of the second clamping components 23. At this time, one of the first clamping component 22 and the second clamping component 23 connected to the clamping drive component 21 is movable, and the other is fixed.

In some embodiments, the clamping drive assembly 21 includes a clamping drive member 211, a connecting plate 212, a first guide wheel 213, a second guide wheel 214, a first matching member 215 and a second matching member 216. The clamping drive member 211 is disposed on the mounting frame 10 and is transmission-connected to the connecting plate 212 to drive the connecting plate 212 to reciprocate along a first direction. The first guide wheel 213 and the second guide wheel 214 are both connected to the connecting plate 212, and the first guide wheel 213 cooperates with the first matching member 215, and the second guide wheel 214 cooperates with the second matching member 216, so that the first guide wheel 213 and the second guide wheel 214, in the process of reciprocating with the connecting plate 212, drive the first matching member 215 and the second matching member 216 to approach or move away from each other along a second direction perpendicular to the first direction.

The first clamping assembly 22 is connected to the first matching piece 215 , and the second clamping assembly 23 is connected to the second matching piece 216 , so as to drive the first clamping assembly 22 and the second clamping assembly 23 to move closer to or farther from each other.

Specifically in the embodiment shown in FIG5 , the first direction is the left-right direction, and the second direction is the up-down direction. The first matching piece 215 and the second matching piece 216 are both provided with matching grooves 217, the first guide wheel 213 extends into the matching groove 217 of the first matching piece 215, and the second guide wheel 214 extends into the matching groove 217 of the second matching piece 216. The first guide wheel 213 and the second guide wheel 214 reciprocate along the first direction, which will drive the first matching piece 215 and the second matching piece 216 to reciprocate along the second direction, and the first matching piece 215 and the second matching piece 216 approach or move away from each other during the reciprocating movement, so that the first clamping assembly 22 and the second clamping assembly 23 approach or move away from each other.

In practical applications, the clamping driving member 211 is a cylinder.

In some embodiments, the first clamping assembly 22 includes a first mounting plate 221, a fixing frame 222, a first elastic member 223 and a first clamping jaw 224. The fixing frame 222 is disposed on the first mounting plate 221. The first clamping jaw 224 is reciprocatably disposed on the fixing frame 222 along a third direction perpendicular to the first direction and the second direction. The first elastic member 223 is connected between the fixing member 238 and the first clamping jaw 224, and is used to provide a force for the first clamping jaw 224 to move away from the first mounting plate 221.

Furthermore, the second clamping assembly 23 includes a second mounting plate 231, a movable frame 232, a second elastic member 233 and a second clamping jaw 234. The movable frame 232 is arranged on the second mounting plate 231, and the second clamping jaw 234 is reciprocally movable along a third direction on the movable frame 232. The second elastic member 233 is connected between the movable frame 232 and the second clamping jaw 234, and is used to provide a force for the second clamping jaw 234 to move away from the second mounting plate 231.

Among them, the driving component is simultaneously connected to the first mounting plate 221 and the second mounting plate 231, that is, the first matching piece 215 is connected to the first mounting plate 221, and the second matching piece 216 is connected to the second mounting plate 231, so as to drive the first mounting plate 221 and the second mounting plate 231 to reciprocate along the second direction, so that the first mounting plate 221 and the second mounting plate 231 are close to or away from each other.

In practical applications, the first clamping assembly 22 further includes a first connecting block 225, and the second clamping assembly 23 further includes a first connecting block 226. Two connecting blocks 235, the first connecting block 225 is fixedly connected to the fixed frame 222, the first elastic member 223 is connected between the first connecting block 225 and the first clamp 224, the second connecting block 235 is fixedly connected to the movable frame 232, and the second elastic member 233 is connected between the second connecting block 235 and the second clamp 234.

Specifically in the embodiment shown in FIG. 3 , the first direction is a direction perpendicular to the paper surface, the second direction is a left-right direction, and the third direction is an up-down direction.

By setting the first clamping jaw 224 and the second clamping jaw 234 to reciprocate along the third direction and respectively cooperating with the first elastic member 223 and the second elastic member 233, the battery clamped by the clamping mechanism 20 can be buffered when impacted, thereby preventing the battery from being damaged due to rigid contact.

In some embodiments, the position of the movable frame 232 can be adjusted along the second direction to adjust the distance between the second clamping jaw 234 and the first clamping jaw 224 , so that the clamping mechanism 20 can clamp batteries of different sizes.

It should be noted that, in the present embodiment, the clamping drive member 211 is a cylinder with a fixed stroke, so the position of the movable frame 232 is adjusted along the second direction so that the distance between the first clamping jaw 224 and the second clamping jaw 234 can be adjusted. In other embodiments, the clamping drive member 211 can adopt an electric cylinder or other drive structure with adjustable stroke. In this case, the clamping mechanism 20 can clamp batteries of different sizes through the clamping drive member 211.

Furthermore, the second clamping assembly 23 also includes an adjusting member 236. The movable frame 232 is reciprocatably disposed on the second mounting plate 231 along the second direction. The adjusting member 236 is disposed on the second mounting plate 231 and is threadedly connected to the movable frame 232 to adjust the position of the movable frame 232 along the second direction.

In actual applications, the second clamping assembly 23 also includes an adjusting elastic member 237, which is connected between the second mounting plate 231 and the movable frame 232, and is used to provide a force to move the movable frame 232 toward the fixed frame 222, thereby cooperating with the adjusting member 236 to accurately adjust the position of the movable frame 232.

Specifically, the first elastic member 223 , the second elastic member 233 and the adjusting elastic member 237 are all springs, and the adjusting member 236 is a threaded sleeve.

In some embodiments, the second clamping assembly 23 also includes a fixing member 238, which is connected to the second mounting plate 231 and can adjust its position along the second direction. The movable frame 232 can abut against the fixing member 238 during the process of adjusting its position along the second direction, so that the adjusting member 236 cooperates with the fixing member 238 to fix the movable frame 232.

In practical applications, the fixing member 238 is a top screw.

Please refer to Figures 6 and 7. In some embodiments, the positioning assembly 30 includes at least two positioning rods 31, each positioning rod 31 is disposed on the mounting frame 10, and each positioning rod 31 can extend into a positioning hole 301 on the second workpiece 300 located at the unloading station to achieve positioning of the first workpiece 200 clamped by the clamping mechanism 20 relative to the second workpiece 300 located at the unloading station, ensuring that the first workpiece 200 corresponds to the second workpiece 300.

As shown in FIG. 8 , in this embodiment, a positioning hole 301 is formed on the second workpiece 300, and a positioning rod 31 is connected to the positioning hole 301. 301 is docked to achieve positioning, and in other embodiments, the positioning component 30 may have a structure with a positioning hole 301, and the packaging material may be provided with a positioning structure docked with the positioning hole 301, which is not limited here.

In some embodiments, the positioning assembly 30 also includes a positioning drive 32 and a positioning plate 33. The positioning drive 32 is disposed on the mounting frame 10 and is transmission-connected to the positioning plate 33 to drive the positioning plate 33 to reciprocate along the axial direction of the positioning rod 31. Each positioning rod 31 is connected to the positioning plate 33.

When the mounting frame 10 is located at the unloading station, the positioning rod 31 can extend into the positioning hole 301 of the second workpiece 300 located at the unloading station during the movement of the positioning plate 33 .

It should be noted that, in this embodiment, the axial direction of the positioning rod 31 is the same as the third direction, and both are the up and down directions in FIG. 1 . The first direction is the direction perpendicular to the paper in FIG. 1 , and the second direction is the left and right direction in FIG. 1 .

After the manipulator moves the mounting frame 10 to the unloading station, the positioning drive 32 drives the positioning rod 31 to descend and dock with the positioning hole 301 to position the battery relative to the packaging material. After the positioning is completed, the manipulator moves downward to place the battery into the packaging material, and then the clamping mechanism 20 releases the battery.

In practical applications, the positioning drive member 32 is a cylinder.

In some embodiments, the positioning assembly 30 also includes a positioning elastic member 34, a detection member 35 and a sensing member 36. The positioning rod 31 is reciprocatably arranged on the mounting frame 10 along its axial direction, and the positioning rod 31 is reciprocatably movable along the axial direction of the positioning rod 31 relative to the positioning plate 33. The positioning elastic member 34 is connected between the positioning plate 33 and the positioning rod 31.

The detection member 35 is disposed on the positioning plate 33 , and the induction member 36 is disposed on the positioning rod 31 . The detection member 35 is used to detect the position of the induction member 36 , and the detection member 35 is electrically connected to the driving mechanism.

In this way, when the positioning deviation occurs, when the robot moves the mounting bracket 10 to the unloading station, the positioning rod 31 does not correspond to the positioning hole 301, and the positioning rod 31 abuts against other positions of the packaging material. The positioning rod 31 moves relative to the positioning plate 33, thereby driving the sensor 36 to move. After the detection part 35 detects the change in the position of the sensor 36, the robot lifts the mounting bracket 10 to prevent the battery from being crushed.

Of course, if the positioning is accurate, the manipulator moves the mounting frame 10 to the unloading station, the positioning rod 31 corresponds to the positioning hole 301, and then the positioning drive 32 drives the positioning rod 31 to descend, so that the positioning rod 31 is inserted into the positioning hole 301, so that the battery clamped by the clamping mechanism 20 is positioned relative to the packaging material, and then the manipulator drives the mounting frame 10 to descend to place the battery into the packaging material. During the descent of the mounting frame 10, the positioning rod 31 will continue to extend into the positioning hole 301, so as to continuously guide the movement of the mounting frame 10 and ensure that the battery is accurately placed in the packaging material.

In the embodiment shown in FIG. 6 , the positioning assembly 30 further includes at least two linear bearings 37 , which are disposed on the mounting frame 10 , and each positioning rod 31 is connected to a corresponding linear bearing 37 so as to be reciprocatable along the third direction.

In the embodiment shown in FIG. 1 , the positioning assembly 30 is located at the first clamping assembly 22 away from the second clamping assembly 23 In other embodiments, the positioning assembly 30 may also be located on the side of the second clamping assembly 23 away from the first clamping assembly 22, as long as the positioning rod 31 in the positioning assembly 30 can be docked with the positioning hole 301 on the packaging material.

Please refer to Figures 1, 9 and 10. In some embodiments, the handling device also includes a bottom supporting assembly 40, which includes a swing driving member 41, a swing arm 42 and a bottom supporting rod 43. The swing driving member 41 is disposed on the mounting frame 10 and is transmission-connected to one end of the swing arm 42 to drive the swing arm 42 to rotate. The bottom supporting rod 43 is connected to one end of the swing arm 42 away from the swing driving member 41. The bottom supporting rod 43 can pass under the first workpiece 200 clamped by the clamping mechanism 20 and the side of the clamping mechanism 20 during the rotation of the swing arm 42.

It can be understood that the swing arm 42 rotates around an axis parallel to the first direction, and the axis is perpendicular to the paper surface in FIG. 9 . In this way, when the clamping mechanism 20 clamps the first workpiece 200 and transfers the first workpiece 200 to the unloading station, the bottom support rod 43 can be rotated to the bottom of the first workpiece 200 to prevent the first workpiece 200 from falling directly from the handling device. When the first workpiece 200 needs to be released, the bottom support rod 43 can be rotated to the side of the clamping mechanism 20 to avoid the first workpiece 200.

It needs to be explained that the side of the clamping mechanism 20 includes a side of the first clamping component 22 away from the second clamping component 23 and a side of the second clamping component 23 away from the first clamping component 22. Specifically in the embodiment shown in Figure 1, the side of the clamping mechanism 20 is the left and right sides of the clamping mechanism 20, that is, the left side of the first clamping component 22 and the right side of the second clamping component 23.

Please also refer to Figure 11. In some embodiments, the bottom support assembly 40 also includes a lifting drive member 44, which is disposed on the mounting frame 10 and is transmission-connected to the swing drive member 41 to drive the swing drive member 41 to reciprocate along the third direction, that is, to drive the swing drive member 41 and the swing arm 42 and the bottom support rod 43 to reciprocate along the third direction, so that after the bottom support rod 43 rotates to the side of the clamping mechanism 20, the swing drive member 41 is driven to rise, driving the bottom support rod 43 to rise, thereby achieving avoidance when the robot drives the mounting frame 10 to descend and release the first workpiece 200.

In actual application, the bottom supporting assembly 40 further includes a top plate 45 , the lifting driving member 44 is in transmission connection with the top plate 45 to drive the top plate 45 to reciprocate along the third direction, and the swing driving member 41 is disposed on the top plate 45 .

Specifically, the swing driving member 41 is a swing cylinder, and the lifting driving member 44 is a cylinder.

In some embodiments, the bottom support assembly 40 includes two bottom support rods 43, both of which extend along the first direction and are arranged at intervals along the second direction, that is, arranged at intervals along the left and right directions in Figure 1, and the two ends of the two bottom support rods 43 are respectively connected to the two swing arms 42 to further ensure that the bottom support rods 43 can support the first workpiece 200 during the transportation of the first workpiece 200 to prevent the first workpiece 200 from falling.

It should be explained that in this embodiment, the two swing arms 42 at the same end of the two bottom supporting rods 43 are transmission-connected to the same swing driving member 41, and the transmission connection can be realized by gears or other means, so that the two swing arms 42 are synchronized. In other embodiments, each swing arm 42 may be in transmission connection with a swing driving member 41 .

In order to facilitate understanding of the technical solution of the present invention, the working process of the transport device in the above embodiment is described in conjunction with Figures 1 and 2:

The manipulator drives the mounting frame 10 to move to the material picking station, and the clamping drive 211 drives the first clamp 224 and the second clamp 234 to approach each other to clamp and obtain the battery. Next, the manipulator drives the mounting frame 10 to rise to lift the battery, and then the lifting drive 44 and the swing drive 41 act in sequence to drive the bottom support rod 43 to descend and rotate to the bottom of the battery.

After the bottom supporting rod 43 rotates to the bottom of the battery, the robot drives the mounting frame 10 to move to the unloading station and is located above the packaging material. Next, the swing drive component 41 and the lifting drive component 44 operate in sequence to drive the bottom supporting rod 43 to rotate to both sides of the clamping mechanism 20 and rise to avoid the position. Then the positioning drive component 32 drives the positioning rod 31 to descend, and the positioning rod 31 extends into the positioning hole 301 of the packaging material to complete the positioning.

After positioning is completed, the robot drives the mounting frame 10 to descend, allowing the battery to enter the packaging material. Next, the clamping drive 211 drives the first clamp 224 and the second clamp 234 to move away from each other, releasing the battery into the packaging material. Finally, the robot drives the mounting frame 10 to rise.

The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

A transport device, characterized in that it comprises:

A mounting frame, used to be connected to the driving mechanism, and the mounting frame can be reciprocated between the material taking station and the material unloading station under the drive of the driving mechanism;

A clamping mechanism, arranged on the mounting frame, the clamping mechanism is used to clamp and release the first workpiece, and when the mounting frame moves to the material picking station, the clamping mechanism can clamp the first workpiece of the material picking station;

A positioning assembly is arranged on the mounting frame, and the positioning assembly is used to dock with a second workpiece located at the unloading station. When the positioning assembly docks with the second workpiece, the first workpiece clamped by the clamping mechanism corresponds to the second workpiece, so that the clamping mechanism can release the first workpiece to the second workpiece.
The handling device according to claim 1 is characterized in that the positioning assembly includes at least two positioning rods, each of which is arranged on the mounting frame, and each of which can extend into a positioning hole on the second workpiece located at the unloading station.
The handling device according to claim 2 is characterized in that the positioning assembly further comprises a positioning drive member and a positioning plate, the positioning drive member is disposed on the mounting frame and is transmission-connected to the positioning plate to drive the positioning plate to reciprocate along the axial direction of the positioning rod, and each of the positioning rods is connected to the positioning plate;

When the mounting bracket is located at the blanking station, the positioning rod can extend into the positioning hole of the second workpiece located at the blanking station during the movement of the positioning plate.
The handling device according to claim 3 is characterized in that the positioning assembly further comprises a positioning elastic member, a detection member and a sensing member, the positioning rod is reciprocatably disposed on the mounting frame along its axial direction, and the positioning rod is reciprocatably movable relative to the positioning plate along the axial direction of the positioning rod, and the positioning elastic member is connected between the positioning plate and the positioning rod;

The detection member is arranged on the positioning plate, the induction member is arranged on the positioning rod, the detection member is used to detect the position of the induction member, and the detection member is electrically connected to the driving mechanism.
The handling device according to claim 1 is characterized in that the clamping mechanism includes a clamping drive component, a first clamping component and a second clamping component, the clamping drive component, the first clamping component and the second clamping component are all arranged on the mounting frame, and the clamping drive component is transmission-connected to the first clamping component and/or the second clamping component to drive the first clamping component and the second clamping component to move closer to or away from each other.
The handling device according to claim 5 is characterized in that the clamping drive assembly includes a clamping drive The first guide wheel and the second guide wheel are connected to the connecting plate to drive the connecting plate to move back and forth along the first direction. The first guide wheel and the second guide wheel are both connected to the connecting plate, and the first guide wheel cooperates with the first matching piece, and the second guide wheel cooperates with the second matching piece, so that the first guide wheel and the second guide wheel drive the first matching piece and the second matching piece to move toward or away from each other along a second direction perpendicular to the first direction during the process of reciprocating movement of the connecting plate;

The first clamping assembly is connected to the first matching piece, and the second clamping assembly is connected to the second matching piece.
The handling device according to claim 5 is characterized in that the first clamping assembly includes a first mounting plate, a fixed frame, a first elastic member and a first clamping claw, the second clamping assembly includes a second mounting plate, a movable frame, a second elastic member and a second clamping claw, the driving assembly is transmission-connected to the first mounting plate and the second mounting plate, and the driving assembly is used to drive the first mounting plate and the second mounting plate to reciprocate along the first direction so that the first mounting plate and the second mounting plate are closer to or farther away from each other;

The fixing frame is arranged on the first mounting plate, the first clamping claw is arranged on the fixing frame so as to be reciprocatingly movable along a third direction perpendicular to the first direction, and the first elastic member is connected between the fixing frame and the first clamping claw;

The movable frame is arranged on the second mounting plate, the second clamping claw is arranged on the movable frame so as to be reciprocatably movable along the third direction, and the second elastic member is connected between the movable frame and the second clamping claw.
The handling device according to claim 7 is characterized in that the movable frame is reciprocably disposed on the second mounting plate along a second direction perpendicular to the first direction and the third direction, and the second clamping assembly also includes an adjusting member, which is disposed on the second mounting plate and is threadedly connected to the movable frame to adjust the position of the movable frame along the second direction.
The handling device according to any one of claims 1 to 8 is characterized in that the handling device also includes a bottom supporting assembly, the bottom supporting assembly includes a swing driving member, a swing arm and a bottom supporting rod, the swing driving member is arranged on the mounting frame, and is transmission-connected to one end of the swing arm to drive the swing arm to rotate, the bottom supporting rod is connected to one end of the swing arm away from the swing driving member, and the bottom supporting rod can pass under the first workpiece clamped by the clamping mechanism and the side of the clamping mechanism during the rotation of the swing arm.
The handling device according to claim 9 is characterized in that the bottom supporting assembly also includes a lifting drive member, the lifting drive member is arranged on the mounting frame, and is transmission-connected to the swing drive member to drive the swing drive member to reciprocate along the third direction.