Material transfer apparatus and material transfer system

Abstract

The present disclosure provides a material transfer device and a material transfer system. The material transfer device comprises: a displacement actuator having an execution end configured to be able to perform at least one of a pitch action, a yaw action and a roll action; a conversion base provided on the execution end and moving synchronously with the execution end; a clamping mechanism provided on a first end of the conversion base; and a suction mechanism provided on a second end of the conversion base. In one working cycle of the material transfer device, the material transfer device is configured to switch between a suction state of sucking a first material by the suction mechanism and a clamping state of clamping a second material by the clamping mechanism.

Description

Technical Field

[0001] This disclosure relates to the tobacco technology field, and more particularly to a material transfer device and a material transfer system. Background Technology

[0002] In the automated production process of the tobacco industry, material transfer equipment is often used to pick up and place different types of workpieces. Taking the production of cigarette filter rods as an example, the operation usually requires the simultaneous handling of two types of materials: one is a cylindrical first material with a smooth surface and soft texture, which is suitable for picking up using negative pressure adsorption; the other is an irregularly shaped second material (such as a cavity structure), which has a complex shape and high positioning requirements, and is more suitable for picking up using clamping methods.

[0003] In related technologies, due to the significant differences in the physical properties of these two types of materials, existing equipment often struggles to accommodate both material handling methods at the same workstation and execution end. Therefore, two independent material handling devices are often used, connected by a conveyor line or transfer device; or, manual intervention is required at certain specific stages. Summary of the Invention

[0004] In view of the above, embodiments of this disclosure provide a material transfer device and a material transfer system to at least partially solve the above-mentioned technical problems.

[0005] Embodiments of this disclosure provide a material transfer device, comprising: a displacement actuator having an actuator end configured to perform at least one of pitch, yaw, and roll movements; a conversion base disposed on the actuator end and moving synchronously with the actuator end; a clamping mechanism disposed on a first end of the conversion base; and an adsorption mechanism disposed on a second end of the conversion base; wherein, in one working cycle of the material transfer device, the material transfer device is configured to switch between an adsorption state in which a first material is adsorbed by the adsorption mechanism and a clamping state in which a second material is clamped by the clamping mechanism.

[0006] According to an embodiment of the present disclosure, the conversion base is configured to rotate with the execution end to switch the material transfer device between the adsorption state and the clamping state.

[0007] According to embodiments of this disclosure, the adsorption mechanism has at least one adsorption station; or, the adsorption mechanism has at least two adsorption stations, which are arranged side by side and spaced apart in the adsorption mechanism.

[0008] According to an embodiment of this disclosure, the adsorption mechanism includes: a base disposed on the conversion base, the base defining the adsorption station; a first part disposed at one end of the base, having at least one suction nozzle; and a second part disposed at the other end of the base, having at least two suction nozzles; wherein the base is provided with an air hole extending along the thickness direction, the air inlet end of the air hole communicating with the suction nozzle, and the air outlet end of the air hole being connected to an external suction mechanism through an air pipe, so as to create a negative pressure condition inside the suction nozzle to adsorb the first material.

[0009] According to an embodiment of this disclosure, the adsorption mechanism further includes: a fall prevention component disposed on the base and located between the first part and the second part, configured to simultaneously clamp the first material while the first material is adsorbed in the first part and / or the second part.

[0010] According to an embodiment of the present disclosure, the aforementioned anti-fall component includes: a first actuating part disposed on the aforementioned base; at least two first clamping parts disposed opposite to each other on both sides of the aforementioned base to form a clamping structure, wherein the at least two of the aforementioned first clamping parts are configured to move between a relatively close clamping position and a relatively far open position, so as to clamp the aforementioned first material when in the aforementioned clamping position.

[0011] According to an embodiment of the present disclosure, the clamping mechanism includes: a second actuating part disposed on the conversion base; at least two second clamping parts disposed opposite to each other on both sides of the second actuating part to form a clamping structure, wherein the at least two second clamping parts are configured to move between a relatively close clamping position and a relatively far open position, so as to clamp the second material when in the clamping position.

[0012] According to an embodiment of the present disclosure, the clamping mechanism further includes a clamping pad disposed on the clamping surface of the second clamping portion; the clamping pad is made of an elastic material and / or a flexible material.

[0013] According to embodiments of this disclosure, the aforementioned displacement actuator includes a multi-axis robotic arm.

[0014] This disclosure also provides a material transfer system, including: a hopper for storing a first material; a tray for storing a second material; and a material transfer device configured to adsorb a plurality of the first materials by an adsorption mechanism and to clamp the second materials by a clamping mechanism.

[0015] The material transfer device provided in the embodiments of this disclosure has a conversion base fixedly connected to the execution end of the displacement actuator. The two ends of the conversion base are respectively provided with a clamping mechanism and an adsorption mechanism. The execution end itself has at least one of pitch, yaw, and roll movements. Through the multi-axis motion of the execution end, the overall spatial attitude of the conversion base and the mechanisms at both ends is adjusted, allowing the device to freely switch between an adsorption state for adsorbing the first material and a clamping state for gripping the second material within the same working cycle. Therefore, a single material transfer device can sequentially complete the pick-and-place operations of two materials with significantly different physical properties (the first material and the second material), eliminating the need for two separate picking devices and manual intervention in any step. Attached Figure Description

[0016] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0017] Figure 1 A perspective view of a material transfer apparatus according to an embodiment of the present disclosure is shown schematically;

[0018] Figure 2 yes Figure 1 The enlarged view of the actuator end of the shifting mechanism in the material transfer device shown illustrates the gripping mechanism;

[0019] Figure 3 yes Figure 1 A partial enlarged view of the conversion base of the material transfer equipment shown;

[0020] Figure 4 yes Figure 1 A partially enlarged schematic view of an adsorption mechanism in the material transfer equipment shown.

[0021] Figure 5 yes Figure 4 A partial cross-sectional view of the base of the adsorption mechanism shown;

[0022] Figure 6 yes Figure 4 The exploded view of the adsorption mechanism parts is shown below;

[0023] Figure 7 yes Figure 1 A partially enlarged view of another schematic adsorption mechanism of the material transfer device shown;

[0024] Figure 8 yes Figure 7 A perspective view of the anti-fall component of the adsorption mechanism shown;

[0025] Figure 9 A schematic diagram of the structure of a material transfer system according to an embodiment of the present disclosure is shown.

[0026] Figure label:

[0027] 100. Material transfer equipment;

[0028] 110. Shifting actuator; 111. Actuating end;

[0029] 120; Converter base; 121; First end; 122; Second end;

[0030] 130. Clamping mechanism; 131. Second actuating part; 132. Second clamping part; 133. Clamping pad; 134. Second connecting member;

[0031] 140. Adsorption mechanism; 141. First connector; 142. Base; 1421. Air hole; 143. First part; 144. Second part; 145. Suction nozzle; 146. Air circuit connection connector; 147. Anti-fall component; 1471. Electric cylinder; 1472. Gripper; 1473. Clamping end; 1474. Rack; 1475. Gear;

[0032] 150. Mounting bracket;

[0033] 200. Work platform;

[0034] 300. Feeding equipment;

[0035] 400. Feeding tray; 410. Feed trough. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0037] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0038] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0039] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0040] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0041] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0042] Figure 1 A perspective view of a material transfer apparatus according to an embodiment of the present disclosure is shown schematically.

[0043] This disclosure provides a material transfer device, with reference to Figure 1As shown, the device includes a shifting actuator 110, a conversion base 120, a gripping mechanism 130, and an adsorption mechanism 140. The shifting actuator 110 has an actuating end 111, configured to perform at least one of pitch, yaw, and roll movements. The conversion base 120 is disposed at the actuating end 111 and moves synchronously with it. The gripping mechanism 130 is disposed at a first end 121 of the conversion base 120. The adsorption mechanism 140 is disposed at a second end 122 of the conversion base 120. In one working cycle of the material transfer device 100, the material transfer device 100 is configured to switch between an adsorption state where a first material is adsorbed by the adsorption mechanism 140 and a gripping state where a second material is gripped by the gripping mechanism 130.

[0044] In some illustrative embodiments, reference is made to Figure 1 As shown, the material transfer device 100 is used to simultaneously process two different types of materials with different physical properties in an automated production process. Specifically, the material transfer device 100 mainly includes a shifting actuator 110, a conversion base 120, a clamping mechanism 130, and an adsorption mechanism 140.

[0045] The displacement actuator 110 has at least one actuator end 111, which is configured to perform at least one of pitch, yaw, and roll movements. In practical applications, the displacement actuator 110 includes, but is not limited to, a multi-axis robotic arm, specifically a four-axis, five-axis, or six-axis robotic arm (in addition to the aforementioned multi-axis robotic arms, it can also be a Cartesian robot, a parallel robot, or a modular rotary actuator, or other actuators with multiple degrees of freedom). The end joint of the multi-axis robotic arm is the actuator end 111 of the displacement actuator 110, which can move flexibly in multiple degrees of freedom. The conversion base 120 is fixedly installed on the actuator end 111 and moves synchronously with the actuator end 111. That is, it can be understood that there is no relative movement between the conversion base 120 and the actuator end 111; the two are treated as a rigid whole, changing their spatial position and attitude.

[0046] It should be noted that multi-axis robotic arms are not the focus of this disclosure. Any displacement actuator 110 with multiple degrees of freedom that enables the actuator to perform pitch, yaw and roll movements in space can be selected and applied.

[0047] The conversion base 120 has a first end 121 and a second end 122 that are far apart, with the two ends facing different directions. A gripping mechanism 130 is disposed at the first end 121 of the conversion base 120 for gripping irregularly shaped or suitable materials for clamping, such as components (cavity structural parts) used in cigarette filter rod production. An adsorption mechanism 140 is disposed at the second end 122 of the conversion base 120 for picking up smooth, soft first materials, such as cylindrical base rods, by negative pressure adsorption.

[0048] In related technologies, due to the significant differences in physical properties between the base rod and the fixed component, it is difficult to integrate two material handling methods on the same picking end. This often requires setting up two separate sets of equipment or relying on manual intervention, resulting in high equipment costs, large footprint, positioning errors during material transfer, unstable production cycle, and low automation. Therefore, the material transfer device 100 in this embodiment is configured to switch between adsorption and clamping states within a complete work cycle. A work cycle can be understood as a periodically processed task under a preset working mode. This task may include multiple sequentially arranged procedures. For example, in the production scenario of a five-element composite filter rod, it can be understood as the complete process from picking up multiple base rods and fixed components to placing them sequentially on the smoke chamber forming channel. During this process, the material transfer device 100 needs to complete the adsorption and picking of the base rods and the clamping and picking of the fixed components sequentially, without needing to change tools or rely on external equipment midway.

[0049] Furthermore, the aforementioned adsorption state can be understood as the adsorption mechanism 140 being in the working position and performing the base rod picking operation; the aforementioned clamping state can be understood as the clamping mechanism 130 being in the working position and performing the firmware picking operation. The aforementioned switching process does not rely on the relative movement of the conversion base 120 relative to the execution end 111, but is achieved through the multi-axis movement of the shifting execution mechanism 110 itself. Specifically, when it is necessary to switch from the adsorption state to the clamping state, the shifting execution mechanism 110 drives its execution end 111 to perform corresponding actions in pitch, yaw, or roll, causing the conversion base 120, which is fixed to it, to change its spatial attitude as a whole, thereby causing the clamping mechanism 130, which was originally far from the work position, to rotate to the working position facing the target firmware, while causing the adsorption mechanism 140 to deviate from the working area; when it is necessary to switch from the clamping state back to the adsorption state, the opposite similar operation is performed.

[0050] In this way, the material transfer device 100 described above can complete the adsorption and picking of the base rod and the clamping and picking of the fastener in the same work cycle without changing the end effector or relying on external auxiliary equipment or manual intervention, thereby significantly improving the equipment integration, production efficiency and system flexibility.

[0051] Figure 2 yes Figure 1 The enlarged view of the actuator end of the shifting mechanism in the material transfer device shown illustrates the gripping mechanism. Figure 3 yes Figure 1 A partially enlarged view of the conversion base of the material transfer equipment shown.

[0052] According to embodiments of this disclosure, referring to Figure 2 and Figure 3 As shown, the conversion base 120 is configured to rotate with the actuator 111 to switch the material transfer device 100 between an adsorption state and a gripping state.

[0053] In some illustrative embodiments, a multi-axis robotic arm is used for the displacement actuator 110, see reference to Figure 2 and Figure 3 As shown, the actuator 111 of the multi-axis robotic arm is the end joint of the robotic arm, which typically includes an end flange or rotary shaft that can rotate around its own axis. The actuator 111 integrates a drive motor and a reducer, and can achieve precise rotational movements under the command of the control system, including at least two of the following actions: pitch, yaw, and roll. Specifically, it can be a compound action formed by pitch and yaw.

[0054] Furthermore, the conversion base 120 includes, but is not limited to, a plate-like structure configured as a generally elongated strip, with a mounting interface in its center that matches the flange at the end of the actuator 111. The conversion base 120 is fixedly connected to the actuator 111 through this mounting interface, ensuring no relative movement between the two. When the actuator 111 rotates, the conversion base 120 rotates synchronously, meaning the axis of rotation of the conversion base 120 coincides with the axis of rotation of the actuator 111. The conversion base 120 has a first end 121 and a second end 122 located on opposite sides of the mounting interface. A clamping mechanism 130 is mounted on the first end 121, and a suction mechanism 140 is mounted on the second end 122, thus oriented the two mechanisms towards different spatial directions.

[0055] In this implementation, the switching between the adsorption and gripping states is achieved by the actuator 111 driving the entire conversion base 120 to rotate. For example, when switching from the adsorption state to the gripping state, the control system instructs the actuator 111 of the multi-axis robotic arm to rotate around its yaw axis by a preset angle (usually 180 degrees, but can be 30, 45, 60, 90, 120 degrees, or any other angle depending on the application). The conversion base 120 rotates accordingly, the adsorption mechanism 140, originally in the working position, rotates away, while the gripping mechanism 130, located at the other end of the conversion base 120, rotates into the working position, facing the target component. Conversely, rotating the actuator 111 in the opposite direction by the same angle switches back from the gripping state to the adsorption state. In this way, the switching between the two material handling states can be quickly completed by only unidirectional or bidirectional rotation of the actuator 111, without the need for complex multi-axis linkage, making the switching process simple and efficient.

[0056] According to embodiments of this disclosure, referring to Figure 2 As shown, the clamping mechanism 130 includes a second actuating part 131 and at least two second clamping parts 132. The second actuating part 131 is disposed on the conversion base 120. The at least two second clamping parts 132 are disposed opposite to each other on both sides of the second actuating part 131 to form a clamping structure. The at least two second clamping parts 132 are configured to move between a relatively close clamping position and a relatively far open position, so as to clamp the second material when in the clamping position.

[0057] According to embodiments of this disclosure, referring to Figure 2 As shown, the clamping mechanism 130 also includes a clamping pad 133. The clamping pad 133 is disposed on the clamping surface of the second clamping part 132. The clamping pad 133 is made of an elastic material and / or a flexible material.

[0058] In some illustrative embodiments, reference is made to Figure 2 As shown, the clamping mechanism 130 includes a second actuating part 131 and at least two second clamping parts 132. The second actuating part 131 is disposed at the first end 121 of the conversion base 120. Specifically, a second connecting member 134 is fixedly connected to the first end 121 of the conversion base 120. The second connecting member 134 can be a flat plate or an L-shaped bracket, one side of which is attached to the conversion base 120 and fastened with screws, while the other side extends downward or outward for mounting the second actuating part 131. The second actuating part 131 can be a clamping cylinder, the body of which is fixed to the second connecting member 134 by bolts or positioning pins. In this way, through the transition connection of the second connecting member 134, the second actuating part 131 can be stably mounted on the first end 121 of the conversion base 120, and is easy to disassemble and maintain, and has a different orientation from the adsorption mechanism 140.

[0059] At least two second clamping portions 132 are arranged in pairs, that is, opposite each other on both sides of the second actuating portion 131, forming a clamp-like opening and closing structure. Specifically, the second clamping portion 132 can be a rigid arm-shaped member with a certain length and thickness, its root being drively connected to the output end of the second actuating portion 131. Driven by the second actuating portion 131, the at least two second clamping portions 132 can reciprocate between a relatively close clamping position and a relatively far open position. When it is necessary to clamp the firmware, the second actuating portion 131 drives the second clamping portions 132 to the open position, making the opening between the two second clamping portions 132 larger than the outline size of the firmware; after the firmware enters the opening, the second actuating portion 131 reverses its drive, causing the second clamping portions 132 to move to the clamping position, at which point the two second clamping portions 132 abut against the surface of the firmware from opposite sides, thereby firmly clamping the firmware. When it is necessary to release the firmware, the second actuating portion 131 drives the second clamping portions 132 to the open position again. It should be understood that the embodiments disclosed herein are not limited thereto.

[0060] For example, the second clamping part 132 can also be configured as a structure with three or more grippers;

[0061] Alternatively, multiple pairs of second clamping parts 132 can be provided.

[0062] In some illustrative embodiments, reference is made to Figure 2 As shown, the clamping mechanism 130 also includes a clamping pad 133. The clamping pad 133 is disposed on the clamping surface of the second clamping part 132. The clamping surface can be understood as the side of the second clamping part 132 that directly contacts the fastener when in the clamping position. The clamping pad 133 is made of, but is not limited to, elastic materials (such as rubber or silicone) or flexible materials (such as polyurethane or felt), and of course, a composite material of elasticity and flexibility can also be used.

[0063] When the clamping mechanism 130 with clamping pad 133 performs a clamping action, it has several beneficial effects. Specifically: First, the clamping pad 133 can adapt to the slight irregularities on the surface of the fastener through elastic deformation, increasing the contact area and improving clamping stability. Second, the clamping pad 133 can buffer the clamping force, avoiding indentations or damage to the surface of the fastener due to rigid clamping. Third, the clamping pad 133 can also increase the coefficient of friction between itself and the fastener, preventing the fastener from slipping during transfer. Through the above structure, the clamping mechanism 130 can achieve flexible, stable, and non-destructive clamping and picking of fasteners with irregular shapes.

[0064] Furthermore, the clamping mechanism 130 is also equipped with a pressure sensor on the clamping surface of the second clamping part 132. The signal output terminal of the pressure sensor is communicatively connected to the control system. When the second clamping part 132 clamps the second material (such as the aforementioned firmware), the pressure sensor outputs a pressure signal (such as an electrical signal) based on the detected pressure change. The control system knows that it has successfully clamped the second material based on this pressure signal, and then controls the actuator to perform subsequent operations. Conversely, if the pressure sensor does not output a pressure signal, it indicates that it has not successfully clamped the second material. In this case, the control system will make it repeat the clamping action. The control system includes, but is not limited to, using a PLC (Programmable Logic Controller), a working machine, and other related mechanisms that acquire signals and output corresponding control signals.

[0065] Figure 4 yes Figure 1 A partially enlarged schematic view of an adsorption mechanism in the material transfer device shown. Figure 5 yes Figure 4 A partial cross-sectional view of the base of the adsorption mechanism shown. Figure 6 yes Figure 4 The exploded view of the adsorption mechanism shown.

[0066] According to embodiments of this disclosure, referring to Figures 4 to 6 As shown, the adsorption mechanism 140 has at least one adsorption station. Alternatively, the adsorption mechanism 140 has at least two adsorption stations, which are arranged side by side and spaced apart in the adsorption mechanism 140.

[0067] According to embodiments of this disclosure, referring to Figures 4 to 6 As shown, the adsorption mechanism 140 includes a base 142, a first part 143, and a second part 144. The base 142 is disposed on the conversion base 120 and defines the adsorption station. The first part 143 is disposed at one end of the base 142 and has at least one suction nozzle 145. The second part 144 is disposed at the other end of the base 142 and has at least two suction nozzles 145. The base 142 is provided with an air hole 1421 extending along the thickness direction. The air inlet end of the air hole 1421 communicates with the suction nozzle 145, and the air outlet end of the air hole 1421 is connected to an external suction mechanism through an air pipe to create a negative pressure condition inside the suction nozzle 145 to adsorb the first material.

[0068] In some illustrative embodiments, the adsorption mechanism 140 has at least one adsorption station. An adsorption station can be understood as an independent working unit of the adsorption mechanism 140 for simultaneously picking up a single base rod; each adsorption station typically corresponds to multiple suction nozzles 145 (or possibly one), capable of adsorbing and fixing a complete base rod or multiple cut base rods (segments) onto it using negative pressure. In practical applications, the adsorption mechanism 140 may also have only one adsorption station, suitable for scenarios where only one base rod needs to be picked up at a time. In this embodiment, the structure of the adsorption mechanism 140 is relatively simple, and its overall size is small, which is beneficial for use in space-constrained conditions.

[0069] In some illustrative embodiments, reference is made to Figures 4 to 6 As shown, the adsorption mechanism 140 can also have at least two (five as shown in the figure, but it can also have two, three, four, or any other number of adsorption stations) arranged side by side and spaced apart on the adsorption mechanism 140. The multiple adsorption stations allow the adsorption mechanism 140 to pick up multiple base rods simultaneously in a single picking action, thereby reducing the number of reciprocating strokes of the robotic arm and significantly improving the picking efficiency within a single work cycle. For example, in the production scenario of five-element composite filter rods, it is necessary to pick up multiple segments of slit base rods simultaneously. The adsorption mechanism 140 with multiple side-by-side adsorption stations can complete the picking operation of all base rods in one work cycle.

[0070] Furthermore, refer to Figures 4 to 6 As shown, the adsorption mechanism 140 includes a plurality of bases 142, and a first connector 141, a first part 143, and a second part 144 corresponding to the number of bases 142. That is, a base 142 and its corresponding first connector 141, first part 143, and second part 144 form a module of the adsorption mechanism 140, which defines an adsorption station. The first connector 141 includes, but is not limited to, a block structure or plate structure configured as a generally cubic shape.

[0071] Specifically, the main structure of the base 142 includes, but is not limited to, being configured as a roughly elongated plate, the overall shape of which defines the layout range of the adsorption station. A first surface of the base 142 is disposed on the conversion base 120, and a first connector 141 is disposed on the second surface of the base 142 opposite to the first surface. This first connector 141 is integrally connected to the second surface of the base 142 and extends downward and / or laterally, allowing the base 142 to mount the first part 143 and the second part 144 at specific angles and / or positions. This allows the material transfer device 100 to adjust its deflection direction only along the yaw axis when switching between adsorption and gripping modes. Since the differences in horizontal position and working angle between the adsorption mechanism 140 and the gripping mechanism 130 can be compensated by the first connector 141, the control of the switching process can be simplified.

[0072] Based on this, a first part 143 is disposed at one end of a base 142, and a second part 144 is disposed at the other end of a base 142. The first part 143 and the second part 144 are respectively used to install different numbers of suction nozzles 145. Specifically, the first part 143 has at least one suction nozzle 145, and the second part 144 has at least two suction nozzles 145. That is to say, the suction nozzles 145 disposed in the first part 143 and the suction nozzles 145 disposed in the second part 144 differ in number and arrangement: the first part 143 is usually provided with only a single suction nozzle 145, which is suitable for picking up a specific position of a single base rod, specifically one end of the base rod; while the second part 144 is provided with two or more suction nozzles 145, and these suction nozzles 145 are arranged side by side at intervals, for simultaneously picking up multiple different positions at the other end of the same base rod, or simultaneously picking up multiple base rods.

[0073] To provide a larger contact area between the nozzle and the adsorbed base rod, the first part 143 and the second part 144 include, but are not limited to, block-shaped or plate-shaped structures configured as approximately cubic structures. The surface of the nozzle 145 is formed with grooves that are adapted to the shape of the adsorbed base rod so that the base rod can be at least partially embedded in the grooves when adsorbed, thereby making it fit more closely with the first part 143 and the second part 144 and more conducive to the concentrated guidance of airflow, so that its negative pressure effect is more obvious.

[0074] In addition, the base 142 is provided with an air hole 1421 extending along the thickness direction. The air inlet end of the air hole 1421 is connected to each suction nozzle 145, and the air outlet end of the air hole 1421 is connected to an air pipe through an air passage connector 146, which is further connected to an external suction mechanism. When the suction mechanism is activated, a negative pressure condition is formed inside the suction nozzle 145, thereby adsorbing and fixing the base rod to the end of the suction nozzle 145. Furthermore, to determine whether the adsorption mechanism 140 has successfully adsorbed the first material, a negative pressure sensor (such as a piezoresistive, capacitive, or MEMS type) can be installed in the air path formed by the nozzle 145, the air hole 1421, the air path connector 146, and the air pipe. This negative pressure sensor is communicatively connected to the control system. When the first material is adsorbed onto the nozzle 145, the negative pressure inside the nozzle 145 is maintained because the nozzle 145 is sealed, thus indicating that the first material has been successfully adsorbed. Conversely, if the first material has not been successfully adsorbed, the adsorption action can be repeated.

[0075] With the above structure, the adsorption mechanism 140 can flexibly configure the number of adsorption stations according to the operation requirements and achieve efficient and stable adsorption of single or multiple base rods.

[0076] Figure 7 yes Figure 1 A partially enlarged view of another schematic adsorption mechanism of the material transfer device shown.

[0077] According to another illustrative embodiment of this disclosure, referring to Figure 7 As shown, in addition to the aforementioned base 142, first connector 141, first part 143, and second part 144, the adsorption mechanism 140 also includes a fall protection component 147. The fall protection component 147 is disposed on the base 142 and located between the first part 143 and the second part 144, and is configured to simultaneously clamp the first material when the first material is adsorbed in the first part 143 and / or the second part 144.

[0078] Figure 8 yes Figure 7 A perspective view of the anti-fall component 147 of the adsorption mechanism 140 shown.

[0079] According to embodiments of this disclosure, referring to Figure 7 and Figure 8 As shown, the fall arrestor 147 includes a first actuating part and at least two first clamping parts. The first actuating part is disposed on the base 142. The at least two first clamping parts are disposed opposite each other on both sides of the base 142 to form a clamping structure. The at least two first clamping parts are configured to move between a relatively close clamping position and a relatively far open position, so as to clamp the first material when in the clamping position.

[0080] In some illustrative embodiments, reference is made to Figure 7As shown, the anti-fall component 147 is disposed on the base 142 and located between the first part 143 and the second part 144. That is, viewed from the length direction of the base 142, the anti-fall component 147 should be positioned near the middle of the base 142, which corresponds roughly to the middle area when the base rod is adsorbed in the adsorption station. Furthermore, the anti-fall component 147 is configured to simultaneously assist in clamping the base rod while the first part 143 and / or the second part 144 adsorbs the base rod through the suction nozzle 145, thereby forming a double fixation. The simultaneous assist in clamping of the base rod by the anti-fall component 147 can be understood as the anti-fall component 147 performing a clamping action during the adsorption process of the adsorption mechanism 140 adsorbing the base rod. This clamping action can be completed either simultaneously with the adsorption mechanism 140 adsorbing the base rod, or it can be completed shortly after the adsorption mechanism 140 adsorbs the base rod.

[0081] Specifically, the fall arrestor assembly 147 includes a first actuating part and at least two first clamping parts. The first actuating part is disposed on the base 142, and for example, an electric cylinder 1471 can be used as the power source to drive the first clamping parts. The body of the electric cylinder 1471 is fixed to the side or back of the base 142 by screws or brackets, and its output end extends and retracts along the thickness direction perpendicular to the length direction of the base 142. At least two first clamping parts are disposed opposite to each other on both sides of the width of the base 142, forming an opening and closing structure similar to pliers. Each first clamping part typically includes a jaw 1472, the end of which has an arc-shaped or V-shaped clamping end 1473 to fit against the cylindrical surface of the base rod.

[0082] Based on this, the driving method of the first clamping part includes, but is not limited to, a gear and rack mechanism. Specifically, the movable end of the electric cylinder 1471 is connected to a rack 1474, and both sides of the rack 1474 are respectively engaged with two meshing gears 1475. Each of the two gears 1475 is fixedly connected to a gripper 1472, and the gripper 1472 is rotatably connected to the base 142 via a pivot. When the electric cylinder 1471 pushes the rack 1474 to move linearly, the rack 1474 drives the two gears 1475 to rotate in opposite directions, thereby driving the two grippers 1472 to simultaneously retract inward or open outward. Thus, at least two first clamping parts can reciprocate between relatively close clamping positions and relatively far open positions.

[0083] When the adsorption mechanism 140 performs the material handling operation, the suction nozzle 145 first adsorbs and fixes the base rod through negative pressure. Almost simultaneously, the control system commands the electric cylinder 1471 to actuate, driving the two first clamping parts to move from the open position to the clamping position, so that the clamping ends 1473 are attached to the surface areas of the base rod not covered by the suction nozzle 145 from both sides. In this way, even if the negative pressure of the suction nozzle 145 is unexpectedly weakened or lost due to air source fluctuations, poor sealing, or other reasons, the first clamping parts can still firmly fix the base rod through mechanical clamping force, preventing it from falling.

[0084] In this implementation, the dual redundancy design of "adsorption + clamping" significantly improves the reliability and safety of the adsorption mechanism 140 during high-speed material handling, preventing the first material from falling due to adsorption failure caused by air blockage or other reasons. This is particularly suitable for continuous and automated production scenarios with high requirements for material transfer stability. When it is necessary to release the base rod, the suction nozzle 145 first stops supplying air, and then the electric cylinder 1471 reverses the direction to drive the first clamping part back to the open position, allowing the base rod to detach smoothly.

[0085] Figure 9 A schematic diagram of the structure of a material transfer system according to an embodiment of the present disclosure is shown.

[0086] This disclosure also provides a material transfer system, referring to Figure 9 As shown, the device includes a hopper, a tray, and any of the material transfer devices described above. The hopper is used to store a first material. The tray is used to store a second material. The material transfer device 100 is configured to adsorb a plurality of first materials via an adsorption mechanism 140 and to grip second materials via a clamping mechanism 130.

[0087] In some illustrative embodiments, reference is made to Figure 9 As shown, the entire material transfer system is mounted on a work platform 200. This work platform 200 serves as the system's base, providing a stable mounting foundation for all components. The mounting base 150 is fixed to the work platform 200 and is used to support the material transfer equipment 100.

[0088] Specifically, the shifting actuator 110 of the material transfer device 100 is fixedly mounted on the mounting base 150 via its bottom flange or connecting plate, thereby ensuring the overall stability of the material transfer device 100 relative to the working platform 200. The feeding device 300 is also mounted on the working platform 200, used to store the first material (specifically, a cylindrical base rod), and capable of orderly conveying the base rod to a preset picking position. The feeding tray 400 is also arranged on the working platform 200, with multiple material slots 410 on its surface for storing the second material (specifically, irregularly shaped fasteners, such as hollow structural components). The contour of each material slot 410 matches the shape of the fastener to accommodate a single fastener.

[0089] In practical applications, the feeding device 300 can adopt a vibratory feeder or hopper structure, with internal guide grooves or conveying channels to arrange multiple base rods in an orderly manner and convey them one by one to the output end. For example, in the production scenario of five-element composite filter rods, the base rods are cut into multiple segments, which are pushed sequentially to the output end of the feeding device 300, waiting to be picked up by the adsorption mechanism 140 of the material transfer device 100. The output end of the feeding device 300 is usually equipped with a positioning groove or tray to keep the base rods stable during material picking. The feeding tray 400 can adopt a flat structure with material grooves 410 arranged in an array on its surface. The feeding tray 400 can be installed on a linear module or turntable, and the feeding tray 400 filled with fasteners can be gradually moved to the preset picking position by stepper or servo drive so that the clamping mechanism 130 of the material transfer device 100 can pick them up sequentially.

[0090] The material transfer device 100 is configured to adsorb multiple first materials (i.e., base rods) through its adsorption mechanism 140, and simultaneously clamp second materials (i.e., fasteners) through its clamping mechanism 130. In a complete work cycle, the material transfer device 100 first picks up one or more base rods from the output end of the feeding device 300 via the adsorption mechanism 140, then switches to the clamping state via the attitude adjustment of the actuator 111, clamping the fasteners from the material trough 410 of the feeding tray 400, and finally transfers all the picked-up materials together to the designated position of the next process. Through this material transfer system, automated material handling of base rods and fasteners within the same device and work cycle is achieved, eliminating the need for multiple sets of equipment or manual intervention, significantly improving production efficiency and system integration. It should be noted that the above work cycle is only illustrative; in actual application scenarios, the order of each process in the above work cycle can be adjusted accordingly.

[0091] Within a complete work cycle, the workflow generally includes: First, the shifting actuator 110 of the material transfer device 100 drives the actuator 111 to move, causing the adsorption mechanism 140 to align with the base rod at the output end of the hopper. The negative pressure system is then activated, and the suction nozzle 145 adsorbs and fixes the base rod. If the adsorption mechanism 140 has multiple adsorption stations, it can adsorb multiple base rods at a time.

[0092] Subsequently, the shifting actuator 110 drives the conversion base 120 to rotate or perform multi-axis attitude adjustment, so that the clamping mechanism 130 rotates into the working position and aligns with the firmware on the tray. When the clamping mechanism 130 is activated, the second actuator 131 drives the second clamping part 132 to move from the open position to the clamping position, firmly clamping the firmware.

[0093] It should also be noted that the directional terms mentioned in the embodiments, such as "up," "down," "front," "back," "left," and "right," are only for reference in the accompanying drawings and are not intended to limit the scope of protection of this disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or constructions will be omitted where they may cause confusion in understanding this disclosure.

[0094] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A material transfer device, characterized in that, include: The shifting actuator (110) has an actuating end (111) configured to perform at least one of pitch, yaw and roll movements; A conversion base (120) is disposed on the execution end (111) and moves synchronously with the execution end (111); A clamping mechanism (130) is disposed at the first end (121) of the conversion base (120). An adsorption mechanism (140) is disposed at the second end (122) of the conversion base (120). In one working cycle of the material transfer device (100), the material transfer device (100) is configured to switch between an adsorption state in which a first material is adsorbed by the adsorption mechanism (140) and a clamping state in which a second material is clamped by the clamping mechanism (130).

2. The material transfer device according to claim 1, characterized in that, The conversion base (120) is configured to rotate with the actuator (111) to switch the material transfer device between the adsorption state and the gripping state.

3. The material transfer device according to claim 1, characterized in that, The adsorption mechanism (140) has at least one adsorption station; Alternatively, the adsorption mechanism (140) may have at least two adsorption stations arranged side by side and spaced apart.

4. The material transfer device according to claim 3, characterized in that, The adsorption mechanism (140) includes: A base (142) is disposed on the conversion base (120), and the base (142) defines the adsorption station; The first part (143) is disposed at one end of the base (142) and has at least one suction nozzle (145). The second part (144) is located at the other end of the base (142) and has at least two suction nozzles (145). The base (142) is provided with an air hole (1421) that runs through the thickness direction. The air inlet end of the air hole (1421) is connected to the suction nozzle (145), and the air outlet end of the air hole (1421) is connected to an external suction mechanism through an air pipe so that a negative pressure condition is formed inside the suction nozzle (145) to adsorb the first material.

5. The material transfer device according to claim 4, characterized in that, The adsorption mechanism (140) further includes: A fall arrestor assembly (147) is disposed on the base (142) and located between the first part (143) and the second part (144), and is configured to simultaneously clamp the first material when the first part (143) and / or the second part (144) adsorb the first material.

6. The material transfer device according to claim 5, characterized in that, The fall protection component (147) includes: The first actuator is disposed on the base (142). At least two first clamping parts are disposed opposite to each other on both sides of the base (142) to form a clamping structure. The at least two first clamping parts are configured to move between a relatively close clamping position and a relatively far open position to clamp the first material when in the clamping position.

7. The material transfer device according to claim 1, characterized in that, The clamping mechanism (130) includes: The second actuator (131) is disposed on the conversion base (120). At least two second clamping portions (132) are disposed opposite to each other on both sides of the second actuating portion (131) to form a clamping structure. The at least two second clamping portions (132) are configured to move between a relatively close clamping position and a relatively far open position to clamp the second material when in the clamping position.

8. The material transfer device according to claim 7, characterized in that, The clamping mechanism (130) further includes: A clamping pad (133) is disposed on the clamping surface of the second clamping part (132); The clamping pad (133) is made of elastic and / or flexible material.

9. The material transfer device according to claim 1, characterized in that, The displacement actuator (110) includes a multi-axis robotic arm.

10. A material transfer system, characterized in that, include: A silo is used to store the first material. The tray is used to store the second material; The material transfer device (100) as described in any one of claims 1 to 9 is configured to adsorb a plurality of the first materials by means of an adsorption mechanism (140) and to clamp the second materials by means of the clamping mechanism (130).

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