CN112171715A

CN112171715A - Boom device and method for transporting workpieces

Info

Publication number: CN112171715A
Application number: CN202011079580.XA
Authority: CN
Inventors: 林建煌; 吕中广; 肖良才; 田洪生; 李明灿; 王斌
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-01-05

Abstract

The invention provides a cantilever device and a method for transporting workpieces. The cantilever device includes: a base; the cantilever is connected with the base and can be rotatably arranged relative to the base; the sliding assembly is arranged on the cantilever and movably arranged in the vertical direction and/or the first horizontal direction relative to the cantilever; the grabbing mechanism is arranged on the sliding assembly; and the first rotating mechanism is arranged on the sliding assembly and comprises a first driving part and a first rotating part connected with the first driving part, the grabbing mechanism is connected with the first rotating part, and under the action of the first driving part, the grabbing mechanism is rotatably arranged in the horizontal plane relative to the sliding assembly. According to the technical scheme, the rotation of the grabbing mechanism can be accurately controlled, and the grabbing precision is improved.

Description

Boom device and method for transporting workpieces

Technical Field

The invention relates to the technical field of cantilever robots, in particular to a cantilever device and a method for transporting workpieces.

Background

The existing industrial robots are generally cantilever multi-axis linkage robots, and the tail ends of cantilevers of the robots are connected with a grabbing mechanism to grab workpieces. In a cantilever device known by the inventor, the grabbing mechanism can only rotate, and the cantilever device cannot accurately control the rotation of the grabbing mechanism, so that the grabbing precision is low.

Disclosure of Invention

The invention mainly aims to provide a cantilever device and a method for transporting a workpiece, which can accurately control the rotation of a grabbing mechanism and improve grabbing precision.

In order to achieve the above object, according to one aspect of the present invention, there is provided a cantilever apparatus comprising: a base; the cantilever is connected with the base and can be rotatably arranged relative to the base; the sliding assembly is arranged on the cantilever and movably arranged in the vertical direction and/or the first horizontal direction relative to the cantilever; the grabbing mechanism is arranged on the sliding assembly; and the first rotating mechanism is arranged on the sliding assembly and comprises a first driving part and a first rotating part connected with the first driving part, the grabbing mechanism is connected with the first rotating part, and under the action of the first driving part, the grabbing mechanism is rotatably arranged in the horizontal plane relative to the sliding assembly. The first rotary mechanism is arranged between the sliding assembly and the grabbing mechanism, the first driving portion drives the first rotary portion, the grabbing mechanism can rotate relative to the sliding assembly under the driving of the first rotary portion, the grabbing mechanism can be controlled to rotate or stop rotating relative to the sliding assembly through opening or closing of the first driving portion, and therefore the rotation of the grabbing mechanism can be accurately controlled, the grabbing precision of the grabbing mechanism is improved, and the working efficiency of the cantilever device is improved.

Further, the first slewing portion includes a first slewing bearing, and the first slewing bearing includes the first inner circle of being connected with sliding assembly and the first outer lane that rotationally sets up for first inner circle, and first drive division and first outer lane drive connection, first outer lane and snatch the mechanism and be connected. The first driving portion is in driving connection with a first outer ring of the first slewing bearing, so that the first outer ring rotates relative to the first inner ring, the grabbing mechanism rotates relative to the first inner ring under the driving of the first outer ring, and the first inner ring is connected with the sliding assembly, so that the grabbing mechanism rotates relative to the sliding assembly, namely, the purpose of controlling the grabbing mechanism to rotate relative to the sliding assembly is achieved through the first slewing mechanism.

Further, the first revolving part further comprises a first gear meshed with the first outer ring, the first revolving mechanism further comprises a first speed reducer connected with the first driving part, and a power output shaft of the first speed reducer is connected with the first gear; or the first slewing mechanism further comprises a first connecting seat arranged between the first slewing bearing and the grabbing mechanism, the first connecting seat is connected with the grabbing mechanism, and the first outer ring is connected with the first connecting seat; alternatively, the first driving part is a servo motor. The first driving part drives the power output shaft of the first speed reducer to rotate, and the first gear rotates under the driving of the power output shaft of the first speed reducer, so that the purpose that the first driving part drives the first gear to rotate is achieved. The first gear rotates, the first gear drives the first outer ring to rotate relative to the first inner ring, so that the grabbing mechanism rotates relative to the sliding assembly, and the purpose of controlling the grabbing mechanism to rotate relative to the sliding assembly is achieved through the first rotating mechanism. The first outer ring is connected with the grabbing mechanism through the first connecting seat, the stability of connection between the first outer ring and the grabbing mechanism can be improved through the first connecting seat, and the rotation synchronization between the first outer ring and the grabbing mechanism is guaranteed. The use of the servo motor as the first driving portion can improve the control accuracy of the first driving portion for the rotation of the grasping mechanism.

Further, the sliding assembly includes a first sliding portion connected with the cantilever and a second sliding portion connected with the first sliding portion, the first sliding portion being slidably disposed in a first horizontal direction with respect to the cantilever, the second sliding portion being slidably disposed in a vertical direction with respect to the first sliding portion. The first sliding part can slide along the first horizontal direction relative to the cantilever, so that the second sliding part can slide along the first horizontal direction relative to the cantilever under the driving of the first sliding part; the second sliding part can slide in the vertical direction relative to the first sliding part, so that the second sliding part can slide in the vertical direction relative to the cantilever; that is, the second sliding portion is slidable in the first horizontal direction and the vertical direction with respect to the cantilever.

Further, first sliding part is first lead screw nut structure, and first lead screw nut structure includes: a first support frame; the first lead screw is connected with the first support frame and can be rotatably arranged relative to the first support frame; the first nut is in threaded connection with the first lead screw and is connected with the cantilever; and the second driving part is arranged on the first support frame and is in driving connection with the first lead screw. Because first lead screw and first nut threaded connection, and first nut and cantilever connection, consequently, when the first lead screw of drive through the second drive division rotates, the rotational motion of first lead screw converts the sliding motion along first horizontal direction into, under the drive of first lead screw, first support frame and second drive division all slide along first horizontal direction for the cantilever along with first lead screw together to realized the purpose that first sliding part set up for the cantilever slidable, help improving cantilever device's adaptability.

Furthermore, the cantilever device also comprises a first visual identification mechanism arranged on the grabbing mechanism and a control system connected with the first visual identification mechanism, and the control system controls the rotation angle of the grabbing mechanism according to the information fed back by the first visual identification mechanism. The control system controls the rotation angle of the grabbing mechanism according to the information fed back by the first visual recognition mechanism, so that the grabbing mechanism can accurately grab a workpiece to be grabbed, the grabbing precision of the grabbing mechanism is improved, and the working efficiency of the cantilever device is improved.

Further, the first visual recognition mechanism includes: the first camera is used for acquiring image information of the workpiece; the control system is connected with the first comparison module, and controls the start and stop of the first driving part according to the comparison result fed back by the first comparison module; or the cantilever device further comprises a first mounting seat connected with the grabbing mechanism, and the first visual identification mechanism is arranged on the first mounting seat. The first visual identification mechanism acquires image information of a workpiece to be grabbed through the first camera, the acquired image information and prestored image information can be compared through the first comparison module to obtain a comparison result, the control system acquires the comparison result and controls the start and stop of the first driving part according to the comparison result, and therefore accurate control over the rotation angle of the grabbing mechanism is achieved, the grabbing mechanism accurately grabs the workpiece to be grabbed, grabbing precision of the grabbing mechanism is improved, and working efficiency of the cantilever device is improved. The first visual identification mechanism is installed on the grabbing mechanism through a first installation seat, and the first installation seat is used for connecting the first visual identification mechanism with the grabbing mechanism.

Furthermore, the cantilever device also comprises a second visual recognition mechanism arranged on the cantilever and a control system connected with the second visual recognition mechanism, and the control system controls the rotation angle of the cantilever relative to the base according to the information fed back by the second visual recognition mechanism; or the cantilever device also comprises a second rotating mechanism arranged on the base, the second rotating mechanism comprises a third driving part and a second rotating part connected with the third driving part, the cantilever is connected with the second rotating part, and the cantilever is rotatably arranged relative to the base under the action of the third driving part. Through the arrangement, the accurate control of the rotation angle of the cantilever relative to the base can be realized, the accurate grabbing of the workpiece is facilitated, and the working efficiency of the cantilever device is improved. The second rotation mechanism is arranged between the cantilever and the base, the third driving portion drives the second rotation portion, the cantilever can rotate relative to the base under the driving of the second rotation portion, and the cantilever can be controlled to rotate or stop rotating relative to the base through the opening or closing of the third driving portion, so that the rotation of the cantilever is accurately controlled, and the grabbing precision of the grabbing mechanism is improved.

According to another aspect of the present invention, there is provided a method of transporting a workpiece, the method of transporting a workpiece using the above-described boom apparatus, the method of transporting a workpiece comprising: adjusting the rotation angle of the grabbing mechanism relative to the sliding assembly; and grabbing the workpiece through the grabbing mechanism and moving the workpiece to a position to be placed. The rotation angle of the grabbing mechanism relative to the sliding assembly is adjusted, the grabbing mechanism can better adapt to the position and the shape of a workpiece, the workpiece can be accurately grabbed by the grabbing mechanism conveniently, the workpiece can be accurately grabbed by the grabbing mechanism after the rotation angle of the grabbing mechanism is adjusted, and the workpiece is moved to a position to be placed by the cantilever device.

Further, the step of adjusting the rotation angle of the gripping mechanism relative to the sliding assembly comprises: acquiring image information of a workpiece through a first visual recognition mechanism; and the control system controls the rotation angle of the grabbing mechanism according to the information fed back by the first visual identification mechanism. The control system controls the rotation angle of the grabbing mechanism according to the information fed back by the first visual recognition mechanism, so that the purpose of adjusting the rotation angle of the grabbing mechanism relative to the sliding assembly is achieved, the grabbing mechanism is better adapted to the position and the shape of a workpiece, and the grabbing mechanism is convenient to accurately grab the workpiece.

By applying the technical scheme of the invention, the first rotating mechanism is arranged between the sliding assembly and the grabbing mechanism, the first driving part drives the first rotating part, the grabbing mechanism can rotate relative to the sliding assembly under the driving of the first rotating part, and the grabbing mechanism can be controlled to rotate or stop rotating relative to the sliding assembly through the opening or closing of the first driving part, so that the rotation of the grabbing mechanism can be accurately controlled, the grabbing precision of the grabbing mechanism is improved, and the working efficiency of the cantilever device is further improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 shows a schematic perspective view of an embodiment of a cantilever arrangement according to the present invention;

FIG. 2 shows a front view of the cantilever apparatus of FIG. 1;

FIG. 3 shows a top view of the cantilever arrangement of FIG. 2;

FIG. 4 shows a left side view of the cantilever apparatus of FIG. 2;

FIG. 5 shows a schematic perspective view of a first sliding part of the cantilever arrangement of FIG. 1;

FIG. 6 shows a cross-sectional view of the grasping mechanism, the first swivel mechanism, and the second slider connection of the cantilever apparatus of FIG. 1;

FIG. 7 is a schematic view of the first visual identification mechanism and the first mount connection of the cantilever apparatus of FIG. 1;

FIG. 8 illustrates a flowchart of the operation of the first visual identification mechanism of FIG. 7;

FIG. 9 is a flow chart illustrating operation of a second visual identification mechanism of the cantilever apparatus of FIG. 1;

FIG. 10 shows a schematic view of the grasping mechanism of the cantilever apparatus of FIG. 1;

FIG. 11 shows a left side view of the grasping mechanism of FIG. 10;

FIG. 12 is a schematic view of a structure for transporting a workpiece using the boom apparatus of FIG. 1; and

fig. 13 shows a flow chart of a method of transporting a workpiece using the boom apparatus of fig. 1 to transport the workpiece.

Wherein the figures include the following reference numerals:

10. a base; 20. a cantilever; 30. a grabbing mechanism; 31. gripping fingers; 32. a pneumatic finger; 33. a first mounting plate; 34. a connecting rod; 40. a first swing mechanism; 41. a first driving section; 42. a first slewing bearing; 421. a first inner race; 422. a first outer race; 43. a first gear; 44. a first speed reducer; 45. a first connecting seat; 46. a first dust cover plate; 47. a first bearing; 48. an end cap; 50. a first sliding section; 51. a first support frame; 52. a first lead screw; 53. a first nut; 54. a second driving section; 55. a second dust cover plate; 56. a third mounting seat; 57. a first slider; 58. a first slide rail; 59. a second bearing; 60. a second sliding section; 70. a first visual recognition mechanism; 71. a first camera; 72. a first mounting seat; 80. a second visual recognition mechanism; 90. a second swing mechanism; 100. a workpiece; 110. a feed boom apparatus; 120. a discharge cantilever device; 130. a feed conveyor; 140. a discharge conveyor; 150. a movable shelf for a workpiece to be cleaned; 160. a movable rack for cleaned workpieces; 170. provided is a cleaning machine.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In the present invention, unless specified to the contrary, use of the terms of orientation such as "upper, lower, top, bottom" or the like, generally refer to the orientation as shown in the drawings, or to the component itself in a vertical, perpendicular, or gravitational orientation; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.

Aiming at the problem that the rotation of the grabbing mechanism cannot be accurately controlled by a cantilever device known by an inventor, so that the grabbing precision is low, the invention and the embodiment of the invention provide the cantilever device, and the cantilever device can accurately control the rotation of the grabbing mechanism and improve the grabbing precision.

As shown in fig. 1 to 4, in an embodiment of the present invention, the cantilever apparatus includes a base 10, a cantilever 20, a sliding assembly, a grabbing mechanism 30, and a first rotating mechanism 40, the cantilever 20 is connected to the base 10, the cantilever 20 is rotatably disposed with respect to the base 10, the sliding assembly is disposed on the cantilever 20, the sliding assembly is movably disposed with respect to the cantilever 20 in a vertical direction and a first horizontal direction, the grabbing mechanism 30 is disposed on the sliding assembly, the first rotating mechanism 40 includes a first driving portion 41 and a first rotating portion connected to the first driving portion 41, the grabbing mechanism 30 is connected to the first rotating portion, and the grabbing mechanism 30 is rotatably disposed with respect to the sliding assembly in a horizontal plane under the action of the first driving portion 41.

In the above arrangement, the first rotating mechanism 40 is arranged between the sliding component and the grabbing mechanism 30, the first driving portion 41 drives the first rotating portion, the grabbing mechanism 30 can rotate relative to the sliding component under the driving of the first rotating portion, and the grabbing mechanism 30 can be controlled to rotate or stop rotating relative to the sliding component through the opening or closing of the first driving portion 41, so that the rotation of the grabbing mechanism 30 can be accurately controlled, the grabbing precision of the grabbing mechanism 30 is improved, and the working efficiency of the cantilever device is improved.

Further, the cantilever 20 is rotatable relative to the base 10, the grabbing mechanism 30 is disposed on the sliding assembly, the grabbing mechanism 30 can rotate relative to the base 10 along with the cantilever 20, the sliding assembly is movable in the vertical direction and the first horizontal direction relative to the cantilever 20, that is, the grabbing mechanism 30 can move in the vertical direction and the first horizontal direction relative to the cantilever 20 along with the sliding assembly, and meanwhile, the grabbing mechanism 30 can rotate relative to the sliding assembly, so that by the above arrangement, the multi-degree-of-freedom movement of the grabbing mechanism 30 relative to the base 10 can be realized, the movement of the grabbing mechanism 30 is more flexible, and the adaptability of the cantilever device is improved.

It should be noted that a traveling mechanism may be installed below the base 10 of the cantilever device to realize automatic traveling.

Of course, in alternative embodiments not shown in the drawings of the present application, the sliding assembly may also be arranged movably in the vertical direction or the first horizontal direction with respect to the cantilever 20, depending on the actual situation and the actual need.

As shown in fig. 6, in the embodiment of the present invention, the first rotation portion includes a first rotation support bearing 42, the first rotation support bearing 42 includes a first inner ring 421 connected to the sliding assembly and a first outer ring 422 rotatably disposed with respect to the first inner ring 421, the first driving portion 41 is drivingly connected to the first outer ring 422, and the first outer ring 422 is connected to the grasping mechanism 30.

In the above arrangement, the first driving portion 41 is drivingly connected to the first outer ring 422 of the first slewing bearing 42, so that the first outer ring 422 rotates relative to the first inner ring 421, the gripping mechanism 30 rotates relative to the first inner ring 421 under the driving of the first outer ring 422, and the first inner ring 421 is connected to the sliding assembly, thereby realizing the rotation of the gripping mechanism 30 relative to the sliding assembly, that is, the purpose of controlling the gripping mechanism 30 to be rotatable relative to the sliding assembly is realized by the first slewing mechanism 40.

Preferably, in an alternative embodiment not shown in the drawings of the present application, the first revolving part may be further configured to include a double row angular contact bearing located above the cantilever 20 and a thrust bearing located below the cantilever 20, an outer ring of the thrust bearing and an outer ring of the double row angular contact bearing are both connected to the sliding assembly, an inner ring of the thrust bearing and an inner ring of the double row angular contact bearing are both connected to the grabbing mechanism 30, and the grabbing mechanism 30 is rotatable relative to the sliding assembly under the driving of the first driving part 41.

Preferably, the first driving part 41 may be a rotary motor.

As shown in fig. 6, in the embodiment of the present invention, the first rotating portion further includes a first gear 43 engaged with the first outer ring 422, the first driving portion 41 is in driving connection with the first gear 43, and the first gear 43 rotates under the driving of the first driving portion 41, and the first gear 43 drives the first outer ring 422 to rotate relative to the first inner ring 421, so as to rotate the gripping mechanism 30 relative to the sliding assembly, that is, the purpose of controlling the gripping mechanism 30 to rotate relative to the sliding assembly is achieved through the first rotating mechanism 40.

As shown in fig. 6, in the embodiment of the present invention, the first slewing mechanism 40 further includes a first speed reducer 44 connected to the first driving unit 41, and a power output shaft of the first speed reducer 44 is connected to the first gear 43. The first driving portion 41 drives the first speed reducer 44 to rotate the power output shaft of the first speed reducer 44, and the first gear 43 rotates under the driving of the power output shaft of the first speed reducer 44, so that the first driving portion 41 drives the first gear 43 to rotate the first gear 43, and the grabbing mechanism 30 can rotate relative to the sliding assembly. Preferably, the first reducer 44 may be a planetary reducer.

As shown in fig. 6, in the embodiment of the present invention, the first rotating mechanism 40 further includes a first connecting seat 45 disposed between the first rotating support bearing 42 and the grabbing mechanism 30, the first connecting seat 45 is connected to the grabbing mechanism 30, and the first outer ring 422 is connected to the first connecting seat 45.

In the above arrangement, the first outer ring 422 is connected with the grabbing mechanism 30 through the first connecting seat 45, the stability of connection between the first outer ring 422 and the grabbing mechanism 30 can be improved through the first connecting seat 45, the rotation synchronization between the first outer ring 422 and the grabbing mechanism 30 is ensured, and therefore the rotation angle of the grabbing mechanism 30 is controlled more accurately.

Preferably, the first driving portion 41 may be a servo motor, and the servo motor can realize precise positioning, so that the control precision of the first driving portion 41 on the rotation of the grabbing mechanism 30 can be improved.

Of course, in an alternative embodiment not shown in the drawings of the present application, the first driving portion 41 may be configured to include a motor and an encoder connected to the motor according to actual needs, so as to achieve accurate control of the rotation of the grasping mechanism 30.

Specifically, the first rotating mechanism 40 includes a first driving unit 41, a first connecting base 45, a first dust cover 46, a first rotary support bearing 42, a first bearing 47, a first gear 43, an end cover 48, and a first speed reducer 44.

The grabbing mechanism 30 is fixed on the first connecting seat 45, the first connecting seat 45 is connected with the first outer ring 422 of the first slewing bearing 42, and the first inner ring 421 of the first slewing bearing 42 is fixed on the sliding assembly; the first gear 43 is meshed with the first outer ring 422 to drive the first outer ring 422 to rotate, and the first outer ring 422 drives the grabbing mechanism 30 to make the grabbing mechanism 30 perform rotary motion; the first driving part 41 is connected with a first speed reducer 44, and a power output shaft of the first speed reducer 44 drives a first gear 43 to rotate the first gear 43; the power output shaft of the first speed reducer 44 is connected to the sliding assembly through a first bearing 47, so that the power output shaft of the first speed reducer 44 and the first gear 43 are rotatably disposed relative to the sliding assembly, the first bearing 47 is disposed between the end cover 48 and the sliding assembly, the end cover 48 presses the first bearing 47 to fix the first bearing 47 and prevent the first bearing 47 from slipping off, the first speed reducer 44 is fixed to the end cover 48, and the first driving part 41 is connected to the first speed reducer 44.

At present, most industrial robots are generally multi-axis linkage robots with cantilevers, materials to be grabbed are small-size and light-weight structures, and the equipment cost is high, so that the investment of the infrastructure of a factory is increased, and the rapid popularization of automation equipment is not facilitated. Most materials of a PC (Precast Concrete) assembly factory are heavy and large in size, and a robot with higher efficiency, lower cost and no humanization is needed to reduce the manpower operation cost, save the expenditure and improve the economic benefit. The cantilever device known by the inventor needs manual auxiliary operation to complete the whole carrying process, so that the labor cost is increased; and the risk that the pulley and the sliding rail are not well matched and jump off exists, and the positioning precision of the grabbing mechanism is influenced.

Therefore, the technical scheme of the application is provided, and specifically comprises the following steps:

as shown in fig. 1 to 4, in the embodiment of the present invention, the sliding assembly includes a first sliding portion 50 connected to the cantilever 20 and a second sliding portion 60 connected to the first sliding portion 50, the first sliding portion 50 is slidably disposed in a first horizontal direction with respect to the cantilever 20, and the second sliding portion 60 is slidably disposed in a vertical direction with respect to the first sliding portion 50.

In the above arrangement, since the first sliding portion 50 can slide in the first horizontal direction relative to the cantilever 20, the second sliding portion 60 can slide in the first horizontal direction relative to the cantilever 20 under the driving of the first sliding portion 50; also, since the second sliding portion 60 is slidable in the vertical direction with respect to the first sliding portion 50, the second sliding portion 60 is slidable in the vertical direction with respect to the cantilever 20; that is, the second sliding portion 60 is slidable in the first horizontal direction and the vertical direction with respect to the cantilever 20.

As shown in fig. 1, 2 and 4, in the embodiment of the present invention, the grabbing mechanism 30 is disposed at the lower end of the second sliding portion 60 in the vertical direction, and the grabbing mechanism 30 can slide along with the second sliding portion 60 in the first horizontal direction and the vertical direction with respect to the cantilever 20, so that the grabbing mechanism 30 can move in multiple degrees of freedom, and thus the movement of the grabbing mechanism 30 is more flexible, thereby improving the adaptability of the cantilever device.

As shown in fig. 5, in the embodiment of the present invention, the first sliding portion 50 is a first lead screw nut structure, the first lead screw nut structure includes a first support frame 51, a first lead screw 52, a first nut 53 and a second driving portion 54, the first lead screw 52 is connected to the first support frame 51, the first lead screw 52 is rotatably disposed relative to the first support frame 51, the first nut 53 is threadedly connected to the first lead screw 52, the first nut 53 is connected to the suspension arm 20, the second driving portion 54 is disposed on the first support frame 51, and the second driving portion 54 is drivingly connected to the first lead screw 52.

In the above arrangement, since the first lead screw 52 is connected to the first nut 53 by a thread, and the first nut 53 is connected to the cantilever 20, when the first lead screw 52 is driven by the second driving part 54 to rotate, the rotation of the first lead screw 52 is converted into a sliding motion along the first horizontal direction, and both the first support frame 51 and the second driving part 54 slide along with the first lead screw 52 relative to the cantilever 20 along the first horizontal direction, so that the first sliding part 50 can be slidably disposed relative to the cantilever 20, which is beneficial to improving the adaptability of the cantilever device. At this time, the first nut 53 is coupled to the arm 20, the first support frame 51 is coupled to the second sliding portion 60, and the second sliding portion 60 slides in the first horizontal direction with respect to the arm 20 together with the first support frame 51 and the first lead screw 52.

Preferably, the first lead screw 52 may be a trapezoidal lead screw, and accordingly, the first nut 53 may be a trapezoidal lead screw nut.

Preferably, the second driving part 54 may be a servo motor.

Specifically, the first sliding portion 50 includes a second dust-proof cover 55, a first support frame 51, a third mounting seat 56, a first slider 57, a first slide rail 58, a first nut 53, a first lead screw 52, a second bearing 59, a third speed reducer, and a second driving portion 54.

The second driving part 54 is connected with a third speed reducer, and a power output shaft of the third speed reducer is connected with the first lead screw 52 through a coupler to drive the first lead screw 52 to rotate, so that the first lead screw 52 and the first nut 53 can generate relative sliding along a first horizontal direction; the third mounting seat 56 is fixed on the first slide block 57 and the first nut 53; the first sliding blocks 57 on both sides of the third mounting seat 56 move in parallel along the first sliding rails 58, so as to prevent the third mounting seat 56 from swinging during the moving process.

Preferably, the structure of the second sliding portion 60 may be the same as that of the first sliding portion 50. Preferably, the second sliding portion 60 may be a second lead screw nut structure. Preferably, the second lead screw nut structure may be the same as the first lead screw nut structure, and specifically, the second lead screw nut structure includes a second support frame, a second lead screw rotatable relative to the second support frame, a second nut in threaded connection with the second lead screw, and a fourth driving portion in driving connection with the second lead screw, wherein the second nut is connected with the first support frame 51, and the fourth driving portion and the grasping mechanism 30 are disposed at both ends of the second support frame in the vertical direction. The first nut 53 is connected with the cantilever 20, the second driving part 54 drives the first lead screw 52 to rotate, and because the first lead screw 52 is in threaded connection with the first nut 53, the rotational motion of the first lead screw 52 is converted into a sliding motion along a first horizontal direction, and the first support frame 51 and the second driving part 54 both slide along the first horizontal direction under the driving of the first lead screw 52; since the second nut of the second sliding part 60 is connected with the first support frame 51, the second sliding part 60 can slide along the first horizontal direction together with the first support frame 51; under the drive of the fourth driving part, the second screw rod rotates, and because the second screw rod is in threaded connection with the second nut, and the second nut is connected with the first support frame 51, the rotating motion of the second screw rod is converted into sliding motion along the vertical direction, and under the drive of the second screw rod, the second support frame and the fourth driving part both slide along the vertical direction; since the grasping mechanism 30 is provided at one end of the second support frame, the grasping mechanism 30 can slide in the vertical direction together with the second support frame; through the arrangement, the grabbing mechanism 30 can slide along the first horizontal direction and the vertical direction relative to the cantilever 20, the grabbing mechanism 30 can move in multiple degrees of freedom, the flexibility of the grabbing mechanism 30 is improved, and therefore the adaptability of the cantilever device is improved.

Of course, in the alternative embodiment of the present application, the first supporting frame 51 of the first sliding portion 50 may be fixed on the suspension arm 20, and the third mounting seat 56 of the first sliding portion 50 (the first slider 57 and the first nut 53 are both connected to the third mounting seat 56) is connected to the second sliding portion 60, so that the second sliding portion 60 can slide in the first horizontal direction relative to the first sliding portion 50.

As shown in fig. 1, in the embodiment of the present invention, the cantilever apparatus further includes a first visual recognition mechanism 70 disposed on the grasping mechanism 30 and a control system connected to the first visual recognition mechanism 70, wherein the control system controls the rotation angle of the grasping mechanism 30 according to the information fed back by the first visual recognition mechanism 70.

In the above arrangement, the control system controls the rotation angle of the grabbing mechanism 30 according to the information fed back by the first visual recognition mechanism 70, so as to realize accurate control of the grabbing mechanism 30, so that the grabbing mechanism 30 can accurately grab a workpiece to be grabbed, the grabbing precision of the grabbing mechanism 30 is improved, and further the working efficiency of the cantilever device is improved.

Preferably, a control system is connected to the first rotating mechanism 40, and the control system controls the action of the first rotating mechanism 40 so as to control the rotation angle of the gripping mechanism 30. Preferably, the control system is connected with the first driving part 41 of the first rotating mechanism 40, and the control system can control the start and stop of the first driving part 41, so as to control the rotation or stop rotation of the grabbing mechanism 30, further realize the accurate control of the rotation angle of the grabbing mechanism 30, improve the grabbing precision of the grabbing mechanism 30, and realize the purpose of improving the working efficiency of the cantilever device. Further, the control system can also control the rotation speed of the first driving portion 41, so as to control the rotation angle of the grasping mechanism 30 relative to the second sliding portion 60 in the horizontal plane, and further more accurately grasp the workpiece.

As shown in fig. 7, in the embodiment of the present invention, the first visual recognition mechanism 70 includes a first camera 71 and a first comparison module, the first camera 71 is configured to obtain image information of a workpiece to be captured, the first comparison module is connected to the first camera 71, the first comparison module is configured to compare the image information obtained by the first camera 71 with pre-stored image information and obtain a comparison result, the control system is connected to the first comparison module, and the control system controls start and stop of the first driving portion 41 according to the comparison result fed back by the first comparison module.

In the above arrangement, the first visual recognition mechanism 70 obtains image information of the workpiece to be grabbed through the first camera 71, and the obtained image information and the prestored image information can be compared through the first comparison module to obtain a comparison result, the control system obtains the comparison result and controls the start and stop of the first driving portion 41 according to the comparison result, so that the rotation angle of the grabbing mechanism 30 is accurately controlled, the grabbing mechanism 30 accurately grabs the workpiece to be grabbed, the grabbing precision of the grabbing mechanism 30 is improved, and the working efficiency of the cantilever device is improved.

Preferably, the above-mentioned "image information of the workpiece" includes position information, model information, and the like of the workpiece. Preferably, the above-mentioned "comparison result" includes the position of the workpiece, the model of the workpiece, and the like.

Preferably, the second drive portion 54 is connected to the control system. The control system controls the start and stop of the second driving part 54 according to the comparison result fed back by the first comparison module, so that the first sliding part 50 is controlled to slide or stop sliding relative to the cantilever 20, the relative position of the first sliding part 50 and the cantilever 20 is adjusted, the grabbing mechanism 30 can grab a workpiece conveniently, the grabbing mechanism 30 can accurately grab the workpiece, the grabbing precision is improved, and the working efficiency of the cantilever device is improved.

Preferably, the fourth drive is connected to the control system. The control system controls the start and stop of the fourth driving part according to the comparison result fed back by the first comparison module, so that the sliding or stopping sliding of the second sliding part 60 relative to the first sliding part 50 is controlled, the adjustment of the relative position of the second sliding part 60 relative to the first sliding part 50 is realized, the adjustment of the relative position of the second sliding part 60 relative to the cantilever 20 is realized, the workpiece is conveniently grabbed by the grabbing mechanism 30, the accurate grabbing of the workpiece by the grabbing mechanism 30 is facilitated, the grabbing precision is improved, and the working efficiency of the cantilever device is improved.

As shown in fig. 7, in the embodiment of the present invention, the cantilever apparatus further includes a first mounting seat 72 connected to the grasping mechanism 30, and the first visual recognition mechanism 70 is disposed on the first mounting seat 72. In the above arrangement, the first visual recognition mechanism 70 is mounted on the grasping mechanism 30 through the first mounting seat 72, and the first mounting seat 72 is used for connecting the first visual recognition mechanism 70 and the grasping mechanism 30.

Specifically, the first visual recognition mechanism 70 includes a first camera 71 and a first comparison module, and the first camera 71 is fixed on the grasping mechanism 30 through a first mounting seat 72.

As shown in fig. 8, in the embodiment of the present invention, the first visual recognition mechanism 70 works as follows:

firstly, image information of a workpiece to be transported is acquired through a first camera 71, the image information acquired through the first camera 71 is compared with prestored image information through a first comparison module to obtain a comparison result, a control system sends an action instruction according to the comparison result, the position and the posture of the grabbing mechanism 30 are adjusted, the workpiece is grabbed through the grabbing mechanism 30 and placed on a position to be placed, and if the workpiece is damaged or deformed, the workpiece is placed in a manual centralized disposal area through a cantilever device to be processed.

As shown in fig. 1, in the embodiment of the present invention, the suspension arm apparatus further includes a second visual recognition mechanism 80 disposed on the suspension arm 20, the control system is connected to the second visual recognition mechanism 80, and the control system controls the rotation angle of the suspension arm 20 relative to the base 10 according to the information fed back by the second visual recognition mechanism 80.

Through the arrangement, the rotation angle of the cantilever 20 relative to the base 10 can be accurately controlled, the workpiece can be accurately grabbed, and the working efficiency of the cantilever device is improved.

Preferably, the structure of the second visual recognition mechanism 80 may be the same as that of the first visual recognition mechanism 70, that is, the second visual recognition mechanism 80 may include a second camera and a second comparison module connected to the second camera, the second comparison module is connected to the control system, the second camera is used to obtain image information of a workpiece to be grasped, the second comparison module is used to compare the image information obtained by the second camera with pre-stored image information and obtain a comparison result, and the control system controls the rotation angle of the cantilever 20 relative to the base 10 according to the comparison result fed back by the second comparison module, so as to accurately control the rotation angle of the cantilever 20, thereby facilitating accurate grasping of the workpiece and improving the working efficiency of the cantilever device.

Preferably, the cantilever apparatus further includes a second mounting seat connected to the cantilever 20, the second visual recognition mechanism 80 is disposed on the second mounting seat, the second visual recognition mechanism 80 is mounted to the cantilever 20 through the second mounting seat, and the second visual recognition mechanism 80 is connected to the cantilever 20 through the second mounting seat.

Preferably, the "information fed back by the second visual recognition mechanism 80" includes position information, model information, and the like of the workpiece. Preferably, the above-mentioned "comparison result" includes the position of the workpiece, the model of the workpiece, and the like.

As shown in fig. 9, in the embodiment of the present invention, specifically, the working process of the second visual recognition mechanism 80 is as follows:

the second camera acquires image information of the workpiece to be transported, the second comparison module compares the image information acquired by the second camera with prestored image information to acquire a comparison result, and the control system sends an action instruction according to the comparison result to control the second swing mechanism 90 to adjust the cantilever 20 so that the cantilever 20 rotates to a required angle position to stop.

Of course, in an alternative embodiment of the present application, it may also be configured according to actual conditions and actual needs, such that the first visual recognition mechanism 70 includes the first camera 71, and does not include the first comparison module, the second visual recognition mechanism 80 includes the second camera, and does not include the second comparison module, the cantilever apparatus includes a third comparison module connected to the control system, the first camera 71 and the second camera are both connected to the third comparison module, the third comparison module may compare the image information of the workpiece acquired by the first camera 71 and the second camera with the pre-stored image information, and acquire the comparison result, and the control system controls the corresponding driving portions to control the rotation angles of the grasping mechanism 30 and the cantilever 20 according to the comparison result.

As shown in fig. 1 to 4, in the embodiment of the present invention, the boom device further includes a second swing mechanism 90 disposed on the base 10, the second swing mechanism 90 includes a third driving portion and a second swing portion connected to the third driving portion, the boom 20 is connected to the second swing portion, and the boom 20 is rotatably disposed relative to the base 10 by the third driving portion.

In the above arrangement, the second rotation mechanism 90 is disposed between the cantilever 20 and the base 10, the third driving portion drives the second rotation portion, the cantilever 20 can rotate relative to the base 10 under the driving of the second rotation portion, and the rotation or stop of the cantilever 20 relative to the base 10 can be controlled by opening or closing the third driving portion, so as to accurately control the rotation of the cantilever 20, which is helpful for improving the grabbing precision of the grabbing mechanism 30.

Preferably, the structure of the second swing mechanism 90 may be the same as that of the first swing mechanism 40. Preferably, the second swing mechanism 90 includes a second speed reducer connected to the third driving part. Preferably, the second turning part may have the same structure as the first turning part; that is to say, the second revolving portion includes a second gear connected to the power output shaft of the second speed reducer and a second revolving support bearing engaged with the second gear, the second revolving support shaft includes a second inner ring connected to the base 10 and a second outer ring rotatably disposed with respect to the second inner ring, the second outer ring is engaged with the second gear, the second outer ring is connected to the cantilever 20, the third driving portion drives the second gear to rotate the second gear, and the second outer ring is rotated with respect to the second inner ring under the driving of the second gear, thereby realizing the function that the cantilever 20 is rotatable with respect to the base 10. Preferably, the cantilever device further comprises a second connecting seat arranged between the second outer ring and the cantilever 20, the second outer ring and the cantilever 20 are both connected with the second connecting seat, and the cantilever 20 and the second outer ring are stably connected through the second connecting seat.

Preferably, the third driving part may be a servo motor, and the rotation angle of the cantilever 20 may be accurately controlled.

Preferably, the control system is connected to the third driving part to realize accurate control of the rotation angle of the cantilever 20 relative to the base 10.

Preferably, in an embodiment of the present invention, the grasping mechanism 30 may be a pneumatic gripper. As shown in fig. 10 and 11, in the embodiment of the present invention, the grasping mechanism 30 includes a grasping finger 31, a pneumatic finger 32, a first mounting plate 33, and a connecting rod 34. Two pneumatic fingers 32 are mounted on two sides of the first mounting plate 33, a gripper finger 31 is mounted on each pneumatic finger 32, the pneumatic fingers 32 control the clamping action of the gripper fingers 31, the first mounting plate 33 is fixed on the connecting rod 34, and the connecting rod 34 is connected with the first rotating mechanism 40. The function of gripping or releasing the workpiece can be realized by two gripper fingers 31.

Specifically, in the embodiment of the present invention, the specific operation process of the cantilever apparatus is as follows:

1. the cantilever 20 is installed on a base 10, and the base 10 can be a fixed base or a movable chassis;

2. the third driving part drives the second rotating part to enable the second rotating part to drive the cantilever 20 to rotate relative to the base 10, and the rotating angle of the whole cantilever device is accurately controlled to be positioned;

3. a cantilever 20 is fixedly assembled on the second rotary part, and a large-span action platform is provided for the whole cantilever device; the second visual recognition mechanism 80 is arranged on the cantilever 20, so that the storage area and the working area of materials (such as workpieces) can be quickly recognized, and the response time of the cantilever device for searching the workpieces 100 is shortened;

4. the first sliding portion 50 is mounted on the suspension arm 20, the first sliding portion 50 may be made into a long stroke, a short stroke, or a heavy load according to an actual working condition, the first sliding portion 50 may slide in the first horizontal direction relative to the suspension arm 20 in a manner of gear-rack fit in combination with slider-slide rail fit, and of course, the first sliding portion 50 may also slide in the first horizontal direction relative to the suspension arm 20 by driving a slider through a synchronous belt or by driving a ball screw through a ball screw;

5. the second driving part 54 can drive the first sliding part 50 by matching with a gear or a synchronous belt or a ball screw, and controls the accurate positioning of the action of the first sliding part 50;

6. the second sliding part 60 is installed on the first sliding part 50, the second sliding part 60 can be used for making long (or short) stroke or heavy load or light load according to working conditions, the second sliding part 60 can be used for performing lifting action by combining a gear rack and a slide block guide rail, and can also be used for driving the slide block guide rail by a synchronous belt or performing lifting action by a ball screw independently;

7. the fourth driving part can directly drive the second sliding part through a gear, a synchronous belt or a ball screw, and the accurate positioning of the action of the second sliding part 60 is controlled;

8. the first rotating mechanism 40 is mounted on the second sliding part 60 to control the rotating action of the grabbing mechanism 30;

9. the first driving part 41 can drive the first rotating part through a gear to realize the accurate positioning of the rotating angle of the grabbing mechanism 30;

10. two or more grabbing mechanisms 30 which are parallel front and back are arranged below the first rotating part, and the grabbing mechanisms 30 control the closing action of pneumatic fingers through compressed air through electromagnetic valves to realize the function of grabbing the workpiece 100;

11. a first visual recognition mechanism 70 is arranged on the grabbing mechanism 30, and the image captured by the first camera 71 is compared with the image information of the workpiece 100 stored in the first comparison module, analyzed and a response result is output, so that the specification and the shape of the material are recognized, the posture of the grabbing mechanism 30 is adjusted, and the grabbing point of the workpiece 100 is positioned;

12. the whole set of series actions of searching, identifying, grabbing, transferring and placing the workpiece 100 are completed through the parallel control, feedback, response and synchronous execution actions of the whole set of system and mechanism device.

In summary, the cantilever apparatus of the embodiment of the invention has the following advantages:

1. the problems of heavy load and large-volume material identification, grabbing and transferring operations can be easily solved;

2. the functions of automatically identifying the placing state of an object, adjusting the working posture of the grabbing mechanism and operating a coverage area in a large range can be realized through the first rotary mechanism, the second rotary mechanism, the first sliding part and the second sliding part;

3. the adoption of a mature swing mechanism ensures the positioning accuracy and stability of the grabbing mechanism, and the maintainability of using the servo motor as a driving part is more convenient;

4. the unmanned operation can be realized, the labor intensity of workers is reduced, the labor operation cost is reduced, and the economic benefit is increased.

The invention and the embodiment of the invention also provide a method for transporting the workpiece.

In the embodiment of the present invention, the method for transporting the workpiece uses the above-mentioned cantilever device for transporting, and the method for transporting the workpiece includes the steps of adjusting the rotation angle of the gripping mechanism 30 relative to the sliding assembly and gripping the workpiece by the gripping mechanism 30 and moving the workpiece to the position to be placed.

In the above arrangement, the rotation angle of the grabbing mechanism 30 relative to the sliding component is adjusted, so that the grabbing mechanism 30 can better adapt to the position and shape of the workpiece, the workpiece can be conveniently and accurately grabbed by the grabbing mechanism 30, after the rotation angle of the grabbing mechanism 30 is adjusted, the workpiece can be accurately grabbed by the grabbing mechanism 30, and the workpiece is moved to the position to be placed by using the cantilever device.

Further, in the embodiment of the present invention, the method of transporting the workpiece further includes a first determination step of determining whether there is a workpiece at the position to be placed, and if so, the step of suspending the cantilever device from gripping the workpiece is performed, and if not, the step of causing the cantilever device to grip the workpiece and move the workpiece to the position to be placed is performed. By the arrangement, the cantilever device can be switched between the working state (the state that the cantilever device grabs the workpiece and moves the workpiece to the position to be placed) and the rest state (the state that the cantilever device suspends grabbing the workpiece), and the effects of controlling the grabbing speed of the workpiece, reducing the equipment wear rate of the cantilever device, prolonging the service life of the cantilever device, saving resources and the like can be achieved.

Preferably, the position to be placed may be a position to place a workpiece on the feeding device or a position to place a workpiece on the processing station.

Further, in the embodiment of the present invention, the method of transporting the workpiece further includes the steps of adjusting the rotation angle of the gripping mechanism 30 with respect to the slide assembly and gripping the workpiece by the gripping mechanism 30 and removing the workpiece from the placement position of the workpiece. The rotation angle of the grabbing mechanism 30 relative to the sliding assembly is adjusted, so that the grabbing mechanism 30 can better adapt to the position and the shape of a workpiece, the workpiece can be conveniently and accurately grabbed by the grabbing mechanism 30, after the rotation angle of the grabbing mechanism 30 is adjusted, the workpiece can be accurately grabbed by the grabbing mechanism 30, and the workpiece can be moved away from the placement position of the workpiece by using the cantilever device.

Further, in an embodiment of the present invention, the method of transporting a workpiece further includes a second determination step of determining whether or not there is a workpiece at the placement position of the workpiece, and if so, the step of causing the boom device to grasp the workpiece and move the workpiece away from the placement position of the workpiece is performed, and if not, the step of causing the boom device to suspend grasping the workpiece is performed. By the arrangement, the cantilever device can be switched between the working state (the cantilever device grabs the workpiece and moves the workpiece away from the placement position of the workpiece) and the rest state (the cantilever device suspends grabbing the workpiece), and the effects of controlling the grabbing speed of the workpiece, reducing the equipment wear rate of the cantilever device, prolonging the service life of the cantilever device, saving resources and the like can be achieved.

Preferably, the workpiece placing position may be a workpiece placing position on a processing station or a workpiece placing position on a discharging device.

Further, in the embodiment of the present invention, the step of adjusting the rotation angle of the gripping mechanism 30 relative to the sliding assembly includes the steps of acquiring image information of the workpiece by the first visual recognition mechanism 70 and controlling the rotation angle of the gripping mechanism 30 by the control system according to the information fed back by the first visual recognition mechanism 70. The control system controls the rotation angle of the grabbing mechanism 30 according to the information fed back by the first visual recognition mechanism 70, so that the purpose of adjusting the rotation angle of the grabbing mechanism 30 relative to the sliding assembly is achieved, the grabbing mechanism 30 can better adapt to the position and the shape of the workpiece, and the grabbing mechanism 30 can conveniently and accurately grab the workpiece.

Further, in the embodiment of the present invention, the method of transporting the workpiece further includes the step of adjusting the rotation angle of the arm 20 with respect to the base 10. Through the steps, the cantilever 20 drives the grabbing mechanism 30 to rotate to the position corresponding to the workpiece to be grabbed, so that the grabbing mechanism 30 can conveniently and accurately grab the workpiece.

Further, in the embodiment of the present invention, the step of adjusting the rotation angle of the suspension arm 20 relative to the base 10 includes the steps of acquiring image information of the workpiece by the second visual recognition mechanism 80 and controlling the rotation angle of the suspension arm 20 by the control system according to the information fed back by the second visual recognition mechanism 80. In the above steps, the control system controls the rotation angle of the cantilever 20 according to the information fed back by the second visual recognition mechanism 80, so as to achieve the purpose of adjusting the rotation angle of the cantilever 20 relative to the base 10, and enable the cantilever 20 to drive the grabbing mechanism 30 to rotate to the position corresponding to the workpiece to be grabbed, thereby facilitating the grabbing mechanism 30 to accurately grab the workpiece.

It should be noted that, since the method for transporting a workpiece of the present application uses the cantilever apparatus of the present application for transporting, the method for transporting a workpiece of the present application also has the above advantages of the cantilever apparatus of the present application, and details are not described here.

Specifically, as shown in fig. 12 and 13, in the embodiment of the present invention, the specific working process of the method for transporting the workpiece is as follows:

1. the feeding sensor is arranged on the feeding conveyor 130 and is used for detecting whether the workpieces 100 exist on the feeding conveyor 130 or not; the discharging sensor is arranged on the discharging conveyor 140 and detects whether the workpiece 100 is on the discharging conveyor 140;

2. the moving sequence of the workpieces 100 is the moving shelves 150 of the workpieces to be cleaned, the feeding cantilever device 110, the feeding conveyor 130, the cleaning machine 170, the discharging conveyor 140, the discharging cantilever device 120 and the moving shelves 160 of the cleaned workpieces in sequence;

3. the movable shelf 150 of the workpiece to be cleaned and the movable shelf 160 of the cleaned workpiece are manually operated and lifted to a specified position through the traveling of the workshop, and a start working button is started; the workpieces 100 are sequentially stored on a movable shelf 150 of the workpiece to be cleaned and a movable shelf 160 of the cleaned workpiece;

4. the feed boom apparatus 110 and the discharge boom apparatus 120 may be the same boom apparatus (at least one of the feed boom apparatus 110 and the discharge boom apparatus 120 employs the boom apparatus of the present application);

5. the startup and shutdown actions of the cleaning machine 170, the feeding conveyor 130, the discharging conveyor 140, the feeding cantilever device 110 and the discharging cantilever device 120 are all manually operated, and are switched on and off by one key;

6. after the feeding sensor detects a workpiece signal, sending a signal to the feeding cantilever device 110 to suspend grabbing the workpiece 100 from the movable shelf 150 of the workpiece to be cleaned; after the discharging sensor detects a workpiece signal, sending a signal to the discharging cantilever device 120 to start to grab the workpiece 100 onto the moving shelf 160 of the cleaned workpiece;

7. the feeding sensor does not detect a workpiece signal, and a feedback signal is given to the feeding cantilever device 110 to grab the workpiece 100 from the moving shelf 150 of the workpiece to be cleaned and place the workpiece on the feeding conveyor 130; the discharge sensor does not detect a workpiece signal, and a feedback signal gives a temporary grabbing action to the discharge cantilever device 120;

8. and finishing the action control of the whole system through the working process.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: the first rotary mechanism is arranged between the sliding assembly and the grabbing mechanism, the first driving portion drives the first rotary portion, the grabbing mechanism can rotate relative to the sliding assembly under the driving of the first rotary portion, the grabbing mechanism can be controlled to rotate or stop rotating relative to the sliding assembly through opening or closing of the first driving portion, and therefore the rotation of the grabbing mechanism can be accurately controlled, the grabbing precision of the grabbing mechanism is improved, and the working efficiency of the cantilever device is improved. Furthermore, the cantilever is rotatable relative to the base, the grabbing mechanism is arranged on the sliding assembly, the grabbing mechanism can rotate relative to the base along with the cantilever, the sliding assembly can move in the vertical direction and the first horizontal direction relative to the cantilever, namely, the grabbing mechanism can move in the vertical direction and the first horizontal direction relative to the cantilever along with the sliding assembly, and meanwhile, the grabbing mechanism can rotate relative to the sliding assembly.

It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application 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 is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cantilever apparatus, comprising:

a base;

the cantilever is connected with the base and can be rotatably arranged relative to the base;

the sliding assembly is arranged on the cantilever and movably arranged in the vertical direction and/or the first horizontal direction relative to the cantilever;

the grabbing mechanism is arranged on the sliding assembly; and

the first rotating mechanism is arranged on the sliding assembly and comprises a first driving portion and a first rotating portion connected with the first driving portion, the grabbing mechanism is connected with the first rotating portion, and under the action of the first driving portion, the grabbing mechanism is rotatably arranged in the horizontal plane relative to the sliding assembly.

2. The boom apparatus of claim 1, wherein the first slewing portion comprises a first slewing bearing including a first inner race coupled to the slide assembly and a first outer race rotatably disposed relative to the first inner race, the first drive portion being in driving connection with the first outer race, the first outer race being coupled to the gripping mechanism.

3. The boom apparatus of claim 2,

the first rotating part further comprises a first gear meshed with the first outer ring, the first rotating mechanism further comprises a first speed reducer connected with the first driving part, and a power output shaft of the first speed reducer is connected with the first gear; or,

the first slewing mechanism further comprises a first connecting seat arranged between the first slewing bearing and the grabbing mechanism, the first connecting seat is connected with the grabbing mechanism, and the first outer ring is connected with the first connecting seat; or,

the first driving part is a servo motor.

4. The boom apparatus of any of claims 1-3, wherein the slide assembly comprises a first slide connected to the boom and a second slide connected to the first slide, the first slide slidably disposed in a first horizontal direction with respect to the boom, the second slide slidably disposed in a vertical direction with respect to the first slide.

5. The boom apparatus of claim 4, wherein the first slide is a first lead screw nut structure comprising:

a first support frame;

the first lead screw is connected with the first support frame and is rotatably arranged relative to the first support frame;

the first nut is in threaded connection with the first lead screw and is connected with the cantilever;

and the second driving part is arranged on the first support frame and is in driving connection with the first lead screw.

6. The cantilever apparatus of any one of claims 1 to 3, further comprising a first visual recognition mechanism disposed on the grasping mechanism and a control system connected to the first visual recognition mechanism, wherein the control system controls the rotation angle of the grasping mechanism according to information fed back by the first visual recognition mechanism.

7. The boom apparatus of claim 6, wherein the first visual identification mechanism comprises:

the first camera is used for acquiring image information of the workpiece;

the first comparison module is connected with the first camera and used for comparing image information acquired by the first camera with prestored image information and acquiring a comparison result, the control system is connected with the first comparison module, and the control system controls the start and stop of the first driving part according to the comparison result fed back by the first comparison module; or,

the cantilever device further comprises a first mounting seat connected with the grabbing mechanism, and the first visual identification mechanism is arranged on the first mounting seat.

8. The boom apparatus of any of claims 1 to 3,

the cantilever device further comprises a second visual recognition mechanism arranged on the cantilever and a control system connected with the second visual recognition mechanism, and the control system controls the rotation angle of the cantilever relative to the base according to information fed back by the second visual recognition mechanism; or,

the cantilever device is characterized by further comprising a second rotary mechanism arranged on the base, the second rotary mechanism comprises a third driving part and a second rotary part connected with the third driving part, the cantilever is connected with the second rotary part, and under the action of the third driving part, the cantilever is rotatably arranged relative to the base.

9. A method of transporting a workpiece, wherein the method of transporting a workpiece is transported using the boom apparatus of any one of claims 1 to 8, the method of transporting a workpiece comprising:

adjusting the rotation angle of the grabbing mechanism relative to the sliding assembly;

and grabbing the workpiece through the grabbing mechanism and moving the workpiece to a position to be placed.

10. The method of transporting a workpiece as set forth in claim 9, wherein the step of adjusting the angle of rotation of the gripping mechanism relative to the slide assembly includes:

acquiring image information of a workpiece through a first visual recognition mechanism;

and the control system controls the rotation angle of the grabbing mechanism according to the information fed back by the first visual identification mechanism.