Transferring system
A transferring system includes a moving unit, a base unit secured on the moving unit, a suspension unit disposed on the base unit, a carrying unit, a measuring unit secured on the suspension unit, and a controller connected to the moving unit, the carrying unit and the measuring unit. The carrying unit includes a rotary motor and a rotary encoder secured on the suspension unit, and a tube carrying a target object. The rotary motor drives the tube to revolve. The measuring unit includes a force sensor in contact with the base unit. The controller controls operations of the moving unit and the rotary motor according to an angular position of the tube detected by the rotary encoder and a force detected by the force sensor.
1 . A transferring system adapted to transfer a target object, said transferring system comprising:
a moving unit including a main body, and a driving component that is configured to drive said main body to move in a first direction;
a base unit including
a connecting part that is secured on said main body so as to move together with said main body in the first direction, that is formed with a guiding groove that extends in the first direction and that faces away from said main body, and that has two ends opposite to each other in the first direction, and
an extension part that is connected to one of said two ends of said connecting part, that extends in a second direction that is perpendicular to the first direction, and that is formed with
a first through hole that extends through said extension part in the first direction and that is in spatial communication with said guiding groove, and
a second through hole that extends through said extension part in the first direction and that is spaced apart from said first through hole in the second direction;
a suspension unit including
a connecting component that is disposed on said extension part and that extends through said first through hole, and
a carrier that is disposed movably in said guiding groove, that is connected to said connecting component, and that has a part exposed out of said guiding groove in the second direction;
a carrying unit including
a tube that extends through the second through hole and that is configured to carry the target object,
a rotary motor that is secured on said carrier and that is configured to drive said tube to revolve in the second through hole, and
a rotary encoder that is secured on said carrier and that is configured to detect an angular position of said tube;
a measuring unit including a base secured on said carrier, and a force sensor mounted on said base in contact with said extension part to detect force exerted on said force sensor; and
a controller electrically connected to said driving component, said rotary motor, said rotary encoder and said force sensor, and configured to control operations of said driving component and said rotary motor according to the angular position of said tube detected by said rotary encoder and the force detected by said force sensor.
2 . The transferring system as claimed in claim 1 , further comprising a vacuum pump that is electrically connected to said controller, that is in spatial communication with said tube, and that is configured to vacuumize said tube,
wherein said controller is configured to
control said moving unit to move said main body to a position where said tube is aligned with the target object in the first direction;
control said driving component to move said main body in the first direction so as to make said tube move toward the target object, and
control said vacuum pump to vacuumize said tube so as to carry the target object by sucking when it is determined that the force exerted on said force sensor achieves a first predetermined threshold.
3 . The transferring system as claimed in claim 2 , wherein said controller is further configured to:
after controlling said vacuum pump to vacuumize said tube, control said moving unit to move the target object to a target position,
control said vacuum pump to break vacuum in said tube so as to release the target object when it is determined that the force exerted on said force sensor achieves a second predetermined threshold.
4 . The transferring system as claimed in claim 1 , further comprising a vacuum pump that is electrically connected to said controller, that is in spatial communication with said tube, and that is configured to vacuumize said tube and break vacuum in said tube.
5 . The transferring system as claimed in claim 4 , further comprising an image capturing device electrically connected to said controller,
wherein said controller is configured to
when the target object is being carried by said tube, control said image capturing device to capture an image of the target object to result in an object image,
determine an angular displacement of the target object from a preferred angular position by comparing the object image with a reference image that is related to a reference object at the preferred angular position, and
control, based on the angular displacement, said rotary motor to drive said tube to rotate in a manner that the target object is rotated to the preferred angular position.
6 . The transferring system as claimed in claim 5 , wherein said controller is configured to control said rotary motor to drive said tube to revolve by using feedback control techniques based on the angular position of said tube detected by said rotary encoder.
7 . The transferring system as claimed in claim 1 , wherein said connecting component includes:
a head portion that is positioned outside of said first through hole of said extension part and that has an external diameter greater than an internal diameter of said first through hole;
an extending portion that extends from said head portion in the first direction, that has an external diameter smaller than the external diameter of said head portion, that passes through said first through hole of said extension part, and that is connected to said carrier; and
an elastic element that is disposed between said extension part and said carrier.
8 . The feeding device as claimed in claim 7 , wherein said elastic element is a helical compression spring that surrounds said extending portion.