CN218490849U

CN218490849U - Transfer device

Info

Publication number: CN218490849U
Application number: CN202222451590.2U
Authority: CN
Inventors: 杨荣丽; 张守兵; 郭培臣; 孙勋宽
Original assignee: Qingdao Haier Biomedical Co Ltd
Current assignee: Qingdao Haier Biomedical Co Ltd
Priority date: 2022-09-15
Filing date: 2022-09-15
Publication date: 2023-02-17
Anticipated expiration: 2032-09-15

Abstract

The application relates to a commodity circulation transportation technical field discloses a transfer device, includes: a main body including an accommodating chamber; the lifting module extends to the holding chamber outside from the holding chamber is inside, includes: the lifting seat extends upwards from the inside of the accommodating cavity to the outside of the accommodating cavity, the transmission mechanism is connected with the lifting seat, the driving mechanism is connected with the transmission mechanism, and the transmission mechanism moves under the driving of the driving mechanism and drives the lifting seat to ascend or descend; the receiving platform is configured to receive the article and is arranged on the lifting seat. When the transfer device is in butt joint with the butt joint equipment, the receiving platform can move up and down to the position corresponding to the height of the discharge port of the butt joint equipment, the discharge bin conveys the conveyed transfer barrel to the receiving platform through the delivery conveyor belt, the transfer barrel on the receiving platform can be conveyed to the warehousing conveyor belt of the feed bin, the transfer device can adapt to the butt joint equipment with various heights, and flexible butt joint of various equipment is achieved.

Description

Transfer device

Technical Field

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

Background

The transfer device, also called an AGV (Automated Guided Vehicle) transfer robot, is a transport Vehicle equipped with an electromagnetic or optical automatic navigation device, and capable of automatically transporting articles to a designated location by navigation of a special landmark, thereby realizing an automatic logistics transfer function. The transfer device is characterized by being unmanned and provided with an automatic navigation system.

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

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art: the transfer device is not adaptable to docks of various heights when docked with the dock to receive items.

SUMMERY OF THE UTILITY MODEL

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

The embodiment of the disclosure provides a transfer device, which can automatically adjust the height of a receiving platform to adapt to docking equipment with different heights.

The disclosed embodiment provides a transfer device, includes:

a main body including an accommodating chamber;

the lifting module extends to the holding chamber outside from the holding chamber is inside, includes: the lifting seat extends upwards from the inside of the accommodating cavity to the outside of the accommodating cavity, the transmission mechanism is connected with the lifting seat, the driving mechanism is connected with the transmission mechanism, and the transmission mechanism moves under the driving of the driving mechanism and drives the lifting seat to ascend or descend;

the receiving platform is configured to receive an article and is arranged on the lifting seat.

In some embodiments, the transmission mechanism comprises:

the first gear is arranged in the accommodating cavity, is rotatably connected with the main body and is connected with the driving mechanism;

the second gear is arranged in the accommodating cavity, is rotatably connected with the main body and is arranged right above the first gear;

the synchronous belt is sleeved on the first gear and the second gear and is connected with the lifting seat;

the first gear rotates clockwise or anticlockwise under the drive of the driving mechanism to drive the synchronous belt to move, and the synchronous belt drives the second gear to rotate and drives the lifting seat to ascend or descend.

In some embodiments, the transmission mechanism further comprises:

the two gear seats are fixedly connected with the main body and comprise rotating shafts;

the first gear and the second gear are respectively arranged on a rotating shaft through bearing sleeves and can rotate relative to the rotating shaft.

In some embodiments, the back of the lifting seat is provided with a mounting seat, and the mounting seat is fixedly connected with the synchronous belt.

In some embodiments, the transfer device further comprises:

the guide rail is arranged in the accommodating cavity, is in sliding connection with the lifting seat and is configured to limit the moving track of the lifting seat.

In some embodiments, the number of the guide rails is two, the guide rails are vertically arranged, and two sides of the back of the lifting seat are respectively connected with one guide rail in a sliding manner.

In some embodiments, the lifting seat is disposed at the front side of the accommodating cavity, and the transmission mechanism is disposed at the rear side of the accommodating cavity.

In some embodiments, the top of the body is provided with an opening, and the lifting seat comprises:

the cross section of the cylinder body is matched with the opening, extends upwards from the inside of the accommodating cavity to the outside of the accommodating cavity and is connected with the transmission mechanism;

wherein, receiving platform sets up in the top of barrel.

In some embodiments, the lift saddle further comprises:

the accommodating mechanism is arranged at the top of the lifting seat, a first opening is formed in the front side of the accommodating mechanism, an accommodating space for accommodating the transferring barrel is formed in the accommodating mechanism, and the accommodating space is communicated with the first opening;

wherein, the receiving platform is arranged in the accommodating space, and the front part of the receiving platform extends out of the first opening.

In some embodiments, the receiving platform comprises:

and a conveyor belt, the front part of which protrudes from the first opening, is configured to receive the transfer barrel and convey the transfer barrel to a position to be gripped.

The transfer device that this disclosed embodiment provided can realize following technological effect: the lifting module extends from the inside of the containing cavity to the outside of the containing cavity, and the driving mechanism of the lifting module drives the transmission mechanism to further drive the lifting seat to ascend or descend so as to realize the height adjustment of the receiving platform on the lifting seat. Therefore, when the transfer device is in butt joint with the butt joint equipment, the receiving platform can move up and down to a position corresponding to the height of a discharge port of the butt joint equipment, the discharge bin conveys the conveyed transfer barrel to the receiving platform through the delivery conveyor belt, and the transfer barrel on the receiving platform can be conveyed to the warehousing conveyor belt of the feed bin, so that the transfer device can adapt to butt joint equipment with various heights, and flexible butt joint of various equipment is realized.

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

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:

FIG. 1 is a schematic cross-sectional view of a transfer device provided in accordance with an embodiment of the present disclosure;

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

FIG. 3 is a schematic view of another combination of a transfer device and a storage facility provided by an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of another transfer device provided in the embodiment of the present disclosure.

Reference numerals:

10. a main body; 20. a receiving platform; 30. a manipulator; 310. a base; 320. a connecting arm; 330. a gripping mechanism; 40. a transfer barrel; 50. a visual recognition module; 510. an aperture; 520. a camera; 60. an accommodating mechanism; 601. a first opening; 602. a second opening; 70. a transfer trolley; 80. a storage device; 810. a load table; 910. a lifting seat; 920. a transmission mechanism; 9201. a first gear; 9202. a second gear; 9203. a synchronous belt; 930. a drive mechanism; 940. a guide rail.

Detailed Description

So that the manner in which the features and advantages of the embodiments of the present disclosure can be understood in detail, a more particular description of the embodiments of the disclosure, briefly summarized above, may be had by reference to the appended drawings, which are included to illustrate, but are not intended to limit the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other cases, well-known structures and tanks may simplify the illustration, to simplify the drawings.

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

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

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

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

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

With reference to fig. 1 and 2, an embodiment of the present disclosure provides a transfer device, including: the device comprises a main body 10, a lifting module and a receiving platform 20, wherein the main body 10 comprises an accommodating cavity; the lifting module extends to the outside of holding chamber from the holding intracavity portion, and the lifting module includes: the lifting seat 910 extends upwards from the inside of the accommodating cavity to the outside of the accommodating cavity, the transmission mechanism 920 is connected with the lifting seat 910, the driving mechanism 930 is connected with the transmission mechanism 920, and the transmission mechanism 920 moves under the driving of the driving mechanism 930 and drives the lifting seat 910 to ascend or descend; the receiving platform 20 is configured to receive an article and is disposed on the lifting base 910.

In this embodiment, the main body 10 includes a housing and a receiving chamber disposed inside the housing. The lifting module extends from the inside of the accommodating cavity to the outside of the accommodating cavity, and optionally, the lifting module extends upwards from the inside of the accommodating cavity to the outside of the accommodating cavity.

In this embodiment, the interior of the receiving chamber can also receive other components of the transfer device, such as a positioning module, a controller, etc., in addition to the lifting module. Optionally, the accommodating cavity is rectangular parallelepiped.

In this embodiment, the lifting base 910 of the lifting module extends upward from the inside of the accommodating cavity to the outside of the accommodating cavity, and when the lifting base 910 is lifted or lowered, the distance that the lifting base 910 extends out of the accommodating cavity changes. The transmission mechanism 920 and the driving mechanism 930 of the lifting module are both located inside the accommodating cavity. In the actual lifting process, the driving mechanism 930 drives the transmission mechanism 920 to move, and the transmission mechanism 920 drives the lifting base 910 to ascend or descend, so as to drive the receiving platform 20 to ascend or descend, so that the receiving platform 20 can dock docking devices with different heights.

Optionally, the drive mechanism 930 is a motor. Optionally, the transmission 920 is a lead screw slider. The motor drives the screw rod slide block to move, so that the receiving platform 20 can be driven to move.

In the transfer device provided by the embodiment of the present disclosure, the lifting module extends from the inside of the accommodating cavity to the outside of the accommodating cavity, and the driving mechanism 930 of the lifting module drives the transmission mechanism 920 to further drive the lifting base 910 to ascend or descend, so as to adjust the height of the receiving platform 20 on the lifting base 910. Therefore, when the transfer device is in butt joint with the butt joint equipment, the receiving platform 20 can move up and down to a position corresponding to the height of a discharge port of the butt joint equipment, the discharge warehouse conveys the transferred barrel 40 sent out to the receiving platform 20 through the delivery conveyor belt, and the transferred barrel 40 on the receiving platform 20 can also be conveyed to the warehousing conveyor belt of the feed warehouse, so that the butt joint equipment with various heights can be adapted, and flexible butt joint of various equipment is realized.

In some embodiments, the transmission 920 includes: the first gear 9201 is arranged inside the accommodating cavity, is rotatably connected with the main body 10 and is connected with the driving mechanism 930; the second gear 9202 is arranged in the accommodating cavity, is rotatably connected with the main body 10, and is arranged right above the first gear 9201; the synchronous belt 9203 is sleeved on the first gear 9201 and the second gear 9202 and is connected with the lifting seat 910; the first gear 9201 is driven by the driving mechanism 930 to rotate clockwise or counterclockwise to drive the synchronous belt 9203 to move, and the synchronous belt 9203 drives the second gear 9202 to rotate and drives the lifting seat 910 to ascend or descend.

In this embodiment, the first gear 9201 and the second gear 9202 are respectively engaged with the synchronous belt 9203, and driven by the driving mechanism 930, the first gear 9201 rotates to drive the synchronous belt 9203 to rotate clockwise or counterclockwise, and the synchronous belt 9203 rotates to drive the second gear 9202 to rotate and drive the receiving platform 20 to ascend or descend. At this in-process, first gear 9201 is the action wheel, and second gear 9202 is driven the wheel, through setting up first gear 9201 and second gear 9202, can realize the stationary motion of hold-in range 9203.

In this embodiment, the second gear 9202 is provided directly above the first gear 9201, and the timing belt 9203 can be extended in the vertical direction, so that the movement locus of the receiving platform 20 defined by the timing belt 9203 can be moved up and down. When the specific positions of the transmission mechanism 920 and the driving mechanism 930 are set, the driving mechanism 930 and the first gear 9201 may be disposed at a lower portion in the accommodating chamber, and the second gear 9202 may be disposed at an upper portion in the accommodating chamber, so that the synchronous belt 9203 extends from the lower portion to the upper portion in the accommodating chamber.

Optionally, the drive mechanism 930 is a motor. The motor shaft is connected with the first gear 9201, and the motor shaft can change the rotating direction of the first gear 9201 by changing the rotating direction, thereby changing the rotating direction of the synchronous belt 9203 to adjust the ascending action or the descending action of the operation of the receiving platform 20.

By adopting the transfer device provided by the embodiment of the disclosure, the height of the receiving platform 20 can be adjusted, and the transfer device can adapt to docking equipment with different heights.

In some embodiments, the transmission mechanism 920 further includes two gear seats, both of which are fixedly connected to the main body 10, and both of which include a rotating shaft; the first gear 9201 and the second gear 9202 are respectively arranged on a rotating shaft through bearing sleeves and can rotate relative to the rotating shaft.

Can be connected gear and main part 10 through the gear seat, gear seat and main part 10 fixed connection, the gear rotates with the pivot of gear seat to be connected, but the pivot rotation relatively. Therefore, the gear can be fixed in the accommodating cavity. The gear is fixed in a gear seat mode, so that the gear can be more firmly fixed in the accommodating cavity and can stably rotate in the gear, the synchronous belt 9203 can move more stably, and the lifting action of the receiving platform 20 is more stable.

In some embodiments, the back of the lifting base 910 is provided with a mounting base, which is fixedly connected with the timing belt 9203. In order to connect the lifting base 910 and the timing belt 9203 and to realize stable connection between the lifting base 910 and the timing belt 9203, a mounting base is provided on the back of the lifting base 910, and the back of the lifting base 910 and the timing belt 9203 are fixed by the mounting base.

In some embodiments, the transfer device further includes a guide rail 940, and the guide rail 940 is disposed inside the accommodating cavity, is slidably connected to the lifting base 910, and is configured to define a moving track of the lifting base 910.

The guide rail 940 can limit the moving track of the lifting seat 910, so that the lifting seat 910 is prevented from shaking unstably in the lifting motion and moving not smoothly enough, the lifting seat 910 is limited to move along the extending direction of the guide rail 940 through the sliding connection with the guide rail 940 in the lifting process, the lifting action of the lifting seat 910 is more stable, and the lifting process is more smooth.

In this embodiment, the guide rail 940 may have a sliding groove, and the transfer device may have a slider engaged with the sliding groove such that the slider is defined in and slidable along the sliding groove, enabling the lifting platform 910 to slide along the guide rail 940.

Optionally, the back of the lifting seat 910 is provided with a mounting seat, the mounting seat is fixedly connected to the synchronous belt 9203, and two ends of the mounting seat are slidably connected to the guide rail 940. In this way, the sliding connection between the lifter 910 and the rail 940 can be achieved, and the sliding movement of the lifter 910 along the rail 940 can be made smoother. The back of the lifting seat 910 refers to the area facing away from the docking apparatus when the transfer device is facing the docking apparatus. The connection between the mounting seat of the lifting seat 910 and the synchronous belt 9203 may be a detachable connection through a hook or a fastener, or a fixed connection through a bolt or other parts.

In some embodiments, the number of the guide rails 940 is two, and the guide rails 940 are vertically arranged, and two sides of the back of the lifting seat 910 are slidably connected with one guide rail 940.

The number of the guide rails 940 is set to two and the number is set, so that the lifting base 910 can slide along the guide rails 940 when ascending or descending, and the lifting process of the lifting base 910 is more stable.

In some embodiments, the lifting base 910 is disposed at a front side of the accommodating chamber, and the transmission mechanism 920 is disposed at a rear side of the accommodating chamber.

The transfer device that this disclosed embodiment provided sets up lift seat 910 in the front side of holding intracavity, is favorable to receiving platform 20 on the lift seat 910 to receive the transfer bucket 40 that butt joint equipment conveys, sets up drive mechanism 920 in the rear side of holding intracavity, and the space that can the rational utilization holding intracavity sets up these parts.

In some embodiments, the top of the main body 10 is provided with an opening, and the lifting base 910 includes a cylinder body, the cross-sectional shape of which is matched with the opening, extends from the inside of the accommodating chamber to the outside of the accommodating chamber, and is connected with the transmission mechanism 920; wherein the receiving platform 20 is arranged at the top of the cylinder.

An opening is provided at the top of the main body 10 so that the elevating base 910 can be extended to the outside of the main body 10 through the opening. The elevating base 910 has a cross-sectional shape of a cylinder body adapted to the opening so as to extend from the opening to the outside of the main body 10, and the cylinder body is ascended and descended by the driving mechanism 930 and the driving mechanism 920, thereby changing the height of the receiving platform 20 at the top of the cylinder body.

Optionally, the cross-section of the opening is rectangular, and the cross-section of the barrel is also rectangular. Like this, can make the elevating movement of barrel more steady, avoid it to rock, and be convenient for processing preparation.

Optionally, the plane of the opening is inclined with respect to the plane of the top of the body 10. Optionally, the plane of the opening is at an acute angle to the plane of the top of the body 10. In this way, when the lifting platform 910 is lowered to the lowest position, the receiving platform 20 can be retracted to a position below the top of the main body 10, and the receiving platform 20 can be protected from being knocked.

In some embodiments, the lifting base 910 further includes a receiving mechanism 60, the receiving mechanism 60 is disposed on the top of the lifting base 910, the front side of the lifting base is provided with a first opening 601, the interior of the lifting base is provided with a receiving space for receiving the transferring barrel 40, and the receiving space is communicated with the first opening 601; wherein the receiving platform 20 is disposed in the accommodating space, and a front portion of the receiving platform 20 protrudes from the first opening 601.

In this embodiment, the receiving platform 20 is disposed in the accommodating space, so that the accommodating mechanism 60 can protect the receiving platform 20 on the one hand and also can prevent the transfer bucket 40 on the receiving platform 20 from falling off on the other hand.

The front portion of the receiving platform 20 protrudes from the first opening 601, i.e. the rear portion of the receiving platform 20 is located inside the receiving space and the front portion is located outside the receiving space. The front of the receiving platform 20 may receive the transfer bucket 40 transferred from the docking apparatus, and when the transfer bucket 40 is moved to the rear of the receiving platform 20, the cover of the transfer bucket 40 may be opened by the robot 30 and the articles inside the transfer bucket 40 may be gripped by the robot 30.

By adopting the transfer device provided by the embodiment of the disclosure, the receiving platform 20 can not only receive containers such as the transfer barrel 40, but also ascend or descend to adapt to docking equipment with different heights.

Referring to fig. 2, in some embodiments, the accommodating mechanism 60 is disposed on the main body 10 and can be lifted relative to the main body 10, the front side of the accommodating mechanism is provided with a first opening 601, the top of the accommodating mechanism is provided with a second opening 602, an accommodating space for accommodating the transferring barrel 40 is disposed inside the accommodating mechanism, and the accommodating space is communicated with both the first opening 601 and the second opening 602; the receiving platform 20 is disposed in the accommodating space, a front portion of the receiving platform 20 extends out of the first opening 601, and a position to be gripped corresponds to the second opening 602.

In some embodiments, the receiving platform 20 includes: a conveyor belt, the front portion of which protrudes from the first opening 601, is configured to receive the transfer drum 40 and convey the transfer drum 40 to a to-be-gripped position.

In this embodiment, the conveyor belt can move to shift the position of the article thereon. The receiving platform 20 further includes a driving portion and a transmission portion, and the conveyor belt moves under the driving of the driving portion and the transmission portion. The front of the conveyor belt protrudes through the first opening 601 to facilitate receiving the transfer drum 40 from the docking device.

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

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

In some embodiments, the transferring device further includes a robot 30 and a vision recognition module 50, the robot 30 is disposed in the main body 10 and includes a clamping mechanism 330, and the clamping mechanism 330 is configured to open or close the cover of the transferring barrel 40 and clamp the articles in the transferring barrel 40; the vision recognition module 50 is disposed at the robot 30 and configured to adjust coordinates of the robot 30 so that the robot 30 places the article on the loading stage 810.

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

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

Referring to fig. 3, an embodiment of the present disclosure provides a transfer system, which includes a transfer device and a storage apparatus 80, where the transfer device includes: a main body 10, a robot 30 provided in the main body 10, and a vision recognition module 50 provided in the robot 30; the storage device 80 includes a load station 810, the load station 810 configured to receive the item.

According to the transfer system provided by the embodiment of the disclosure, the visual recognition module 50 is arranged on the manipulator 30 of the transfer device, and the visual recognition module 50 is used for carrying out second positioning on the load table 810, so that when the transfer device moves to a target position close to the load table 810, the coordinates of the manipulator 30 can be adjusted according to the second positioning, so that the manipulator 30 can accurately place an article on the load table 810, and the storage device 80 can store the article.

As shown in fig. 3 and 4, in some embodiments, the vision recognition module 50 includes an aperture 510 and a camera 520, the aperture 510 is disposed on the robot 30 and configured to provide light source illumination, and is disposed in a downward direction; the camera 520 is provided in the robot 30 in a region surrounded by the diaphragm 510, and is configured to capture an image of the load table 810 and to position the load table 810 second, and is provided downward.

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

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

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

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

In some embodiments, the grasping mechanism 330 is provided at the lower end of the articulated arm at the end position, and the visual recognition module 50 is provided at the upper portion of the grasping mechanism 330.

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

In some embodiments, the camera of the visual recognition module 50 is disposed facing downward. The camera is arranged downwards, so that when the manipulator 30 moves, a scene below the manipulator 30 can be shot, the coordinate of the manipulator 30 is accurately corrected, the action of the manipulator 30 is timely adjusted, and articles are accurately placed on the load table 810.

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

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

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

In this embodiment, the transfer vehicle 70 is disposed at the bottom of the main body 10, and has traveling wheels capable of moving the main body 10; the positioning module can perform first positioning on the load platform 810, and the first controller controls the transfer trolley 70 to move according to the first positioning, so that the whole transfer device can be moved to a target position close to the load platform 810. The second controller can correct the coordinates of the robot 30 according to the positioning coordinates of the vision recognition module 50 so that the robot 30 places the article on the loading stage 810.

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

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

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

Claims

1. A transfer device, comprising:

a main body including an accommodating chamber;

the lifting module, follow the inside extension of holding chamber to outside the holding chamber includes: the lifting seat extends upwards from the inside of the accommodating cavity to the outside of the accommodating cavity, the transmission mechanism is connected with the lifting seat, the driving mechanism is connected with the transmission mechanism, and the transmission mechanism moves under the driving of the driving mechanism and drives the lifting seat to ascend or descend;

a receiving platform configured to receive an article, disposed on the lift seat.

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

the first gear is in drive mechanism's drive is followed clockwise or anticlockwise rotation down, drives the hold-in range motion, and the hold-in range drives the second gear revolve and drives the lift seat and rise or descend.

3. The transfer device of claim 2, wherein the drive mechanism further comprises:

the first gear and the second gear are respectively arranged on one rotating shaft through bearing sleeves and can rotate relative to the rotating shaft.

4. The transfer device of claim 2, wherein a mounting seat is arranged at the back of the lifting seat and fixedly connected with the synchronous belt.

5. The transfer device of claim 1, further comprising:

6. Transfer device according to claim 5, characterized in that the number of guide rails is two and arranged vertically, and the two sides of the back of the lifting seat are slidably connected with one of the guide rails respectively.

7. The transfer device of claim 1, wherein the lifting seat is disposed at a front side of the receiving chamber, and the transmission mechanism is disposed at a rear side of the receiving chamber.

8. Transfer device according to claim 1, wherein the top of the body is provided with an opening, the lifting seat comprising:

wherein, the receiving platform is arranged at the top of the cylinder body.

9. The transfer device of claim 8, wherein the lift shoe further comprises:

wherein the receiving platform is disposed in the accommodating space, and a front portion of the receiving platform protrudes from the first opening.

10. Transfer device according to claim 9, wherein the receiving platform comprises:

a conveyor belt, a front portion protruding from the first opening, configured to receive the transfer drum and convey the transfer drum to a to-be-gripped location.