Automatic transfer equipment

Abstract

The invention discloses an automatic transfer equipment, which relates to the field of non-standard automation equipment. The key points of its technical solution are as follows: it comprises a frame and a workbench; a conveyor belt device which is connected to the conveyor belt on the assembly line is arranged on the workbench; a loading device and a pre-storage station are also arranged on the workbench; the loading device comprises a two-axis manipulator, and a first adsorption device is arranged on the two-axis manipulator; a pallet loading station and a pallet storage station are also arranged on the side of the workbench, and a three-axis manipulator and a second adsorption device driven by the three-axis manipulator are arranged between the pallet loading station and the pallet storage station; a mounting and docking assembly is also arranged on the three-axis manipulator, and the technical effect is that the arrangement width of the products is adjusted at equal intervals by utilizing the mounting and docking assembly, and the products stored on the pallet storage station and the pre-storage station can be stored after being taken away, and material taking, adjustment and storage are automated, thereby improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the field of non-standard automation equipment, and in particular to automatic transport equipment. Background Art

[0002] In the process of producing products by automated equipment, in order to improve processing efficiency, it is usually necessary to arrange the products in multiple rows and columns on the carrier, grab them using an adsorption device, and transport them to the required process location.

[0003] Due to the particularity of some products, different processing steps have different position requirements. The spacing of the products in the initial arrangement position needs to be adjusted. When transferring from the carrier to the tray, the spacing of the arranged products needs to be increased or decreased in proportion. After adjustment, the position requirements of the next process can be met. This adjustment process is relatively cumbersome and requires controlling the proportional adjustment distance of the products. The efficiency of manual adjustment is extremely poor, so automated equipment is needed to meet the above adjustment process. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic transfer device, which can adjust the spacing between arranged products in equal proportion, has the advantages of high adjustment efficiency and high adjustment accuracy, and the storage of materials after transfer is automated.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] An automatic transfer device, comprising a frame, a workbench,

[0007] The workbench is provided with a conveyor belt device connected to the conveyor belt on the assembly line, and the conveyor belt device transports the carrier on which the product is placed;

[0008] The workbench is also provided with a loading device for grabbing the carrier plate for feeding and a pre-storage station for storing the grabbed carrier plate. The loading device includes a two-axis manipulator, and the two-axis manipulator is provided with a first adsorption device. The carrier grabbed by the first adsorption device is transferred to the pre-storage station by the two-axis manipulator;

[0009] A pallet loading station and a pallet storage station are also provided on the side of the workbench. A three-axis manipulator and a second adsorption device driven by the three-axis manipulator are provided between the pallet loading station and the pallet storage station. The second adsorption device transfers the pallet on the pallet loading station to the pallet storage station, where the product is to be placed on the pallet tray.

[0010] The three-axis robot is also equipped with a placement and docking component, which is used to grab the products on the carrier at the pre-storage station, and after expanding or contracting them at equal intervals, place them on the tray storage station.

[0011] By adopting the above technical solution, a conveyor belt device is used to receive the carriers transported from the assembly line, and products are placed on the carriers. The loading device transfers the carriers with products to the pre-storage station, and the three-axis manipulator transfers the pallet on the pallet loading station to the pallet storage station, and the three-axis manipulator is used to grab the products on the pre-storage station and put them on the pallet on the pallet storage station. In this process, the arrangement width of the products is adjusted by equal spacing using the mounting connection components, and the products are stored at the pallet storage station. The products on the pre-storage station can be stored after being taken away, and the material retrieval, adjustment and storage are automated, which improves work efficiency.

[0012] Further configuration: the two-axis manipulator includes a first X-axis mechanism and a first Z-axis mechanism, the first Z-axis mechanism is provided with a first adsorption device and a CCD comparison camera, the first adsorption device grabs the carrier, and uses the CCD comparison camera to obtain the boundary position of the carrier and / or the coding information on the carrier.

[0013] By adopting the above technical solution, a two-axis manipulator is used to grab the product, and a CCD comparison camera is used to obtain product information on the carrier and adjust the position of the carrier, thereby improving the accuracy of transfer.

[0014] Further configuration: The pre-storage station is provided with a first carriage and a first Z-axis lifting device linked to the lifting of the first carriage, a carrier rack is placed on the first carriage, and a centering rack for centering the carrier to the center of the carrier rack is also provided on the edge of the workbench, and the centering rack is a frame structure, and an angle is provided on the inner side of the frame.

[0015] By adopting the above technical solution, the carrier is stored using the first drag plate and the first Z-axis lifting device. At the same time, the position of the grasped carrier is limited by the centering rack to ensure the position adjustment accuracy of the carrier on the product.

[0016] It is further configured that the three-axis manipulator includes a Y-direction mechanism fixed on the workbench, an X-direction mechanism fixed on the Y-direction mechanism, and a Z-direction mechanism fixed on the X-direction mechanism, and the second adsorption device is fixed on the Z-direction mechanism.

[0017] By adopting the above technical solution, the three-axis manipulator drives the second adsorption device to move in multiple axes, which facilitates the transportation and grasping of the pallet.

[0018] Further configuration: the pallet loading station is provided with a second carriage and a second Z-axis lifting device linked to the lifting of the second carriage, and the pallet storage station is provided with a third carriage and a third Z-axis lifting device linked to the lifting of the third carriage.

[0019] By adopting the above technical solution, the second carriage and the second Z-axis lifting device linked to the lifting of the second carriage facilitate the loading of the pallet on the pallet loading station, and the third carriage and the third Z-axis lifting device linked to the lifting of the third carriage facilitate the storage of the pallet at the pallet storage station.

[0020] Further configuration: the mounting and docking assembly includes a mounting bracket and a guide rail, the guide rail is slidably connected to a plurality of adsorption parts, the adsorption parts are controlled to be arranged at equal intervals on the guide rail, and a reciprocating mechanism is provided on the mounting bracket to link the plurality of adsorption parts to axially move in proportion; it also includes a lifting mechanism that drives the mounting bracket to rise and fall, and the lifting mechanism is arranged on the Y-axis mechanism of the three-axis manipulator.

[0021] By adopting the above technical solution, the reciprocating mechanism of the adsorption part can be adjusted proportionally to achieve proportional extension or shortening, which is convenient for quickly and accurately adjusting the spacing of the adsorbed products. The lifting mechanism satisfies the lifting action during the adjustment process; the entire adjustment process is automated, efficient and precise.

[0022] Further configuration: the reciprocating mechanism includes a plurality of sliding members connected end to end, the position of the first sliding member is relatively fixed, the next-level sliding members connected to the first sliding member are all slidably sleeved on the guide rail, each sliding member is provided with a hook on the side facing the next-level sliding member, and each sliding member is provided with a sleeve portion sleeved and linked with the hook on the side facing the upper-level sliding member, the sleeve portion of each sliding member has a movable space, and the hook is embedded in the sleeve portion and can be moved inside the sleeve portion.

[0023] By adopting the above technical solution, each sliding member realizes linkage by using the sleeve part and the hook part connected at the end, and in the process of linkage, the moving length is controlled to be the same length by using the activity space to meet the proportional adjustment.

[0024] It is further arranged that the movable space of the sleeve portion of each sliding member has the same length in the upper and lower directions, and the thickness of each hook portion in the sleeve portion is also the same.

[0025] By adopting the above technical solution, the variable factors of the activity space and the hook are effectively controlled to ensure that the spacing can be adjusted proportionally.

[0026] Further configuration: the reciprocating mechanism also includes: an embedding groove arranged on a sliding member at the tail, a reciprocating cylinder arranged on the mounting bracket and a hanging plate arranged on the output shaft of the reciprocating cylinder, the sliding plate is embedded in the embedding groove, and the sliding member at the tail is linked to slide by the pushing out of the reciprocating cylinder, and the sliding member at the tail uses its own embedding groove to link the sliding member of the upper level to slide, and links each sliding member in turn to reach the limit of the activity space of the embedding groove.

[0027] By adopting the above technical solution, the hanging plate is conveniently embedded in the embedding groove of the tail sliding member, and the tail sliding member is driven to move by the reciprocating cylinder, thereby linking all sliding members to move together.

[0028] Further configuration: the mounting bracket is provided with a tail plate on one side of the sliding member near the tail, the guide rail is a double guide rail connected between the tail plate and the first sliding member, and a buffer is provided on the tail plate.

[0029] By adopting the above technical solution, the buffer can limit the adjustment limit length of the sliding member, and the buffer can be used to provide buffering protection for the reciprocating cylinder.

[0030] In summary, the present invention has the following beneficial effects: 1. It has a high degree of automation and is specially designed for products that require adjustment of product arrangement spacing, with high adjustment efficiency and precision.

[0031] 2. Material taking, adjustment and storage are all automated, which improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a structural schematic diagram of a mounting and docking assembly under a first preferred implementation mode;

[0033] Figure 2 is a schematic structural diagram of a mounting bracket in a first preferred embodiment;

[0034] Figure 3 is a schematic structural diagram of a reciprocating mechanism under a first preferred embodiment;

[0035] Figure 4 is a schematic structural diagram of an automatic transfer device under a second preferred embodiment;

[0036] Figure 5 It is a schematic structural diagram of a conveyor belt device under a second preferred embodiment.

[0037] In the figure, 100, mounting and docking assembly; 101, mounting bracket; 102, guide rail; 103, adsorption member; 104, sliding member; 105, mounting groove; 106, hook; 107, sleeve portion; 108, activity space; 109, reciprocating mechanism; 110, embedded groove; 111, hanging plate; 112, reciprocating cylinder; 113, tail plate; 114, buffer; 115, lifting cylinder;

[0038] 200, conveyor belt device; 201, conveying device; 202, supporting device; 203, first profile; 204, second profile; 205, first slide; 206, second slide; 207, roller; 208, belt; 209, first support seat; 210, second support seat; 211, sliding seat; 212, rotating shaft; 213, screw rod; 214, sliding rod; 215, connecting shaft; 216, first sprocket transmission assembly; 217, linkage; 218, motor; 219, second sprocket transmission assembly; 220, limit baffle; 221, sensor;

[0039] 300, loading device; 301, pre-storage station for storage; 302, bevel; 303, centering rack; 304, first X-axis mechanism; 305, first Z-axis mechanism; 306, first adsorption device; 307, CCD comparison camera; 308, first carriage; 309, first Z-axis lifting device; 310, carrier rack;

[0040] 400, workbench; 401, tray loading station; 402, tray storage station; 403, three-axis manipulator; 404, second adsorption device; 405, Y-direction mechanism; 406, X-direction mechanism; 407, Z-direction mechanism; 408, third carriage; 409, third Z-axis lifting device;

[0041] 500, carrier; 600, pallet; 700, rack. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0043] The first preferred implementation:

[0044] A surface mount connector component, such as Figure 1 and Figure 2 As shown: it includes a mounting bracket 101 and a guide rail 102, the guide rail 102 is slidably connected with a plurality of adsorption members 103, the adsorption members 103 are controlled and arranged at equal intervals on the guide rail 102, and a reciprocating mechanism 109 is provided on the mounting bracket 101 for linking the plurality of adsorption members 103 to move axially in proportion, and also includes a lifting cylinder 115 for driving the mounting bracket 101 to rise and fall.

[0045] The reciprocating mechanism 109 includes a plurality of sliding members 104 connected end to end. Two installation grooves 105 are arranged at intervals on one end surface of the mounting bracket 101. The first and last sliding members 104 are installed in the installation grooves 105, and the position of the first sliding member 104 is relatively fixed. The next-level sliding members 104 connected to the first sliding member 104 are all slidably sleeved on the guide rail 102. A hook portion 106 is provided on the side of each sliding member 104 facing the next-level sliding member 104, and a sleeve portion 107 sleeved and linked with the hook portion 106 is provided on the side of each sliding member 104 facing the previous-level sliding member 104. The sleeve portion 107 of each sliding member 104 has a certain movable space 108, and the hook portion 106 is embedded in the sleeve portion 107 and can be located in the sleeve portion 107 and move appropriately. Specifically, the length of the movable space 108 of the sleeve portion 107 of each sliding member 104 along the upper and lower directions is equal, and the thickness of each hook portion 106 in the sleeve portion 107 is also equal, ensuring that the sliding length of the hook portion 106 in the movable space 108 is equal.

[0046] like Figure 3 As shown: an embedding groove 110 is provided on a sliding member 104 at the tail, and the starting position of the embedding groove 110 is equal to the total length of the sleeve portion 107 and the hook portion 106 of each sliding member. A reciprocating cylinder 112 is provided on the mounting bracket 101, and a hanging plate 111 is provided on the output shaft of the reciprocating cylinder 112. The slide plate is embedded in the embedding groove 110, and the sliding member 104 at the tail is linked to slide by the push of the reciprocating cylinder 112. The sliding member 104 at the tail uses its own embedding groove 110 to link the sliding member 104 of the upper level to slide, and sequentially links each sliding member 104 to reach the limit of the activity space 108 of the embedding groove 110.

[0047] The mounting bracket 101 is provided with a tail plate 113 on one side of the sliding member 104 near the tail, and the guide rail 102 is a double guide rail 102 connected between the tail plate 113 and the first sliding member 104. A buffer 114 is provided on the tail plate 113. The setting position of the buffer 114, on the one hand, limits the limit length of the sliding member 104, and the buffer 114 has a certain elasticity, providing a buffer at this position to protect the reciprocating cylinder 112. The buffer 114 can be one of a spring buffer or a hydraulic buffer.

[0048] The adsorbent 103 may be a vacuum adsorbent 103 or an electromagnetic adsorbent 103 . A suitable adsorbent 103 may be selected according to different product characteristics.

[0049] The above-mentioned placement and docking assembly 100 generally places the adsorbed workpiece in a tray 600, and uses the placement and docking assembly 100 to complete the proportional expansion or reduction of the adsorbed products on each sliding member 104. After the adjustment is completed, it is transferred to the next tray 600.

[0050] An automatic transfer device, such as Figure 4 As shown: it includes a frame 700, a workbench 400 and a shell (the shell is not shown).

[0051] A conveyor belt device 200 is provided on the workbench 400 and is connected to the conveyor belt on the assembly line.

[0052] like Figure 5 As shown: the conveyor belt device 200 includes: a conveying device 201 and a supporting device 202, the conveying device 201 includes a first profile 203 and a second profile 204 arranged at a distance, and the first profile 203 and the second profile 204 are provided with a vertically arranged first slide groove 205 and a second slide groove 206 on the opposite inner side surfaces, and at least two rollers 207 are arranged on the front and rear sides of the first slide groove 205, and at least two rollers 207 are arranged in the middle position of the second slide groove 206, and a belt 208 is sleeved between each roller 207, and the two rollers 207 of the first slide groove 205 are located at the upper layer, and the pallet 600 can be placed on the belt 208 for transmission, and the first profile 203 and the second profile 204 are used for side limiting.

[0053] The supporting device 202 includes three first supporting seats 209 and three second supporting seats 210 arranged on the workbench 400. The first supporting seats 209 are arranged at the front, middle and rear positions of the first profile 203. The second supporting seats 210 are arranged on the workbench 400 corresponding to the first supporting seats 209. The second supporting seats 210 face the lateral direction of the first profile 203, and the second profile 204 is located between the first supporting seats 209 and the second supporting seats 210. Sliding seats 211 are arranged at the front, middle and rear positions of the second profile 204. Connecting shafts 215 are arranged between the first supporting seats 209 and the second supporting seats 210. The connecting shafts 215 on the front and rear sides of the first profile 203 and the second profile 204 include a screw rod 213 and a sliding rod 214, and the middle part is a rotating shaft 212. The two axial ends of the screw rod 213 are relatively connected to the first support seat 209 and the second support seat 210 for rotation, and the two axial ends of the slide rod 214 are fixedly connected to the first support seat 209 and the second support seat 210. The sliding seat 211 of the second profile 204 is slidingly sleeved on the screw rod 213 and the slide rod 214, and a nut engaged with the screw rod 213 is provided on the slide seat 211. When an external force is applied to rotate the screw rod 213, the screw rod 213 links the sliding seat 211 to slide on the slide rod 214, so that the distance between the second profile 204 and the first profile 203 can be adjusted, which is convenient for conveying carriers 500 of various specifications.

[0054] In order to ensure that the front and rear sides of the second profile 204 move simultaneously during the adjustment process, a first sprocket transmission assembly 216 is provided between the ends of the front and rear screw rods 213 for synchronization.

[0055] The two ends of the rotating shaft 212 are connected to the first supporting seat 209 and the second supporting seat 210 for relative rotation. The sliding block in the middle of the second profile 204 is connected to the rotating shaft 212 for sliding movement. The rotating shaft 212 is a prism with edges. A linkage member 217 connected to the rotating shaft 212 is provided on the sliding block. The linkage member 217 is sleeved on the rotating shaft 212. The shape of the sleeve hole matches the edge of the prism. The linkage member 217 can be connected to the rotating shaft 212 for sliding movement and can rotate with each other using the edge of the prism. The belt 208 passes through the two rollers 207 of the second slide 206 and is tensioned on the linkage member 217 for mutual linkage.

[0056] The rotation power source of the rotating shaft 212 includes a motor 218 installed on the workbench 400 , and the output shaft of the motor 218 and the rotating shaft 212 are linked by a second sprocket transmission assembly 219 .

[0057] A limit baffle 220 is also provided on the workbench 400 between the first profile 203 and the second profile 204. A sensor 221 is provided on the limit baffle 220 to detect the presence of the carrier 500 and transmit a signal to the motor 218 to control the opening and closing of the motor 218, thereby controlling the opening and closing of the conveyor belt device 200, and pausing the carrier 500 for grabbing in the next process.

[0058] The workbench 400 is also provided with a loading device 300 for grabbing a carrier plate for feeding and a pre-storage station 301 for storing the grabbed carrier plate. The pre-storage station is provided with a first drag plate 308 and a first Z-axis lifting device 309 for linking the first drag plate 308 to lift and lower. A carrier rack 310 is placed on the first drag plate 308. The edge of the workbench 400 is also provided with a centering rack 303 for centering the carrier 500 to the center of the carrier rack 310. The centering rack 303 is a frame structure, and the inner side of the frame is provided with a bevel 302. The loading device 300 grabs the carrier 500 and transfers it to the centering rack 303. The first Z-axis lifting device 309 lifts the first carriage 308 to the highest position. After the carrier 500 is moved to the centering rack 303, the carrier 500 is temporarily placed on the first carriage 308. After the next process transfers the product on the carrier 500, the first Z-axis lifting device lowers the height by the thickness of a carrier 500 to allow the next carrier 500 to move to this position. When the empty carrier 500 of the carrier rack 310 is full, it can be transferred as a whole to other required workstations.

[0059] The loading device 300 here includes a two-axis manipulator, which includes a first X-axis mechanism 304 and a first Z-axis mechanism 305. The first Z-axis mechanism 305 is provided with a first adsorption device 306 and a CCD comparison camera 307. The first adsorption device 306 grabs the carrier 500 and uses the CCD comparison camera 307 to obtain the boundary position of the carrier 500 and / or the coding information on the carrier 500. The carrier 500 grabbed by the first adsorption device 306 is transferred to the pre-storage station using the two-axis manipulator.

[0060] A tray loading station 401 and a tray storage station 402 are also provided on the side of the workbench 400. A three-axis manipulator 403 and a second adsorption device 404 driven by the three-axis manipulator 403 are provided between the tray loading station 401 and the tray storage station 402. The three-axis manipulator 403 includes a Y-direction mechanism 405 fixed on the workbench 400, an X-direction mechanism 406 fixed on the Y-direction mechanism 405, and a Z-direction mechanism 407 fixed on the X-direction mechanism 406. The second adsorption device 404 is fixed on the Z-direction mechanism 407.

[0061] The pallet loading station 401 is provided with a second carriage and a second Z-axis lifting device linked to the lifting of the second carriage, the pallet storage station 402 is provided with a third carriage 408 and a third Z-axis lifting device 409 linked to the lifting of the third carriage 408, a material rack loaded with empty pallets 600 is placed on the third carriage 408 of the pallet loading station 401, the second carriage of the pallet storage station 402 is moved to the highest point, and the second adsorption device 404 transfers the pallet 600 on the pallet loading station 401 to the third carriage 408 of the pallet storage station 402, where the carriage is to be placed with products.

[0062] The X-axis mechanism 406 of the three-axis manipulator 403 is also provided with the mounting and docking assembly 100 described in the first embodiment. The lifting cylinder 115 of the mounting and docking assembly 100 is installed on the X-axis mechanism 406. The mounting and docking assembly 100 is used to grab the products on the carrier 500, and expand or shrink them at equal intervals, and place them on the tray 600 of the third carriage 408 accordingly to complete the rapid adjustment work. After completing the placement of a tray 600, the second carriage of the tray storage station 402 sequentially lowers the height of a tray 600 to place the next empty tray 600, until the tray 600 is full and sent to the next process.

[0063] The above-mentioned embodiments are merely explanations of the present invention and are not limitations of the present invention. After reading this specification, those skilled in the art may make modifications to the embodiments without any creative contribution as needed. However, such modifications are protected by the patent law as long as they are within the scope of the claims of the present invention.

Claims

1. An automatic transfer device, comprising a frame (700) and a workbench (400), characterized in that: A conveyor belt device (200) is provided on the workbench (400) and is connected to a conveyor belt on the production line. The conveyor belt device (200) conveys a carrier (500) on which products are placed. The workbench (400) is also provided with a loading device (300) for grabbing a carrier plate for feeding and a pre-storage station (301) for storing the grabbed carrier plate. The loading device (300) includes a two-axis manipulator, on which a first adsorption device (306) is provided. The carrier (500) grabbed by the first adsorption device (306) is transferred to the pre-storage station by the two-axis manipulator. A tray (600) loading station (401) and a tray (600) storage station (402) are also provided on the side of the workbench (400); a three-axis manipulator (403) and a second adsorption device (404) driven by the three-axis manipulator (403) are provided between the tray (600) loading station (401) and the tray (600) storage station (402); the second adsorption device (404) transfers the tray (600) on the tray (600) loading station (401) to the tray (600) storage station (402); The three-axis manipulator (403) is also provided with a mounting and docking assembly (100), which is used to grab products on the carrier (500) at the pre-storage station, and after expanding or contracting them at equal intervals, place them on the tray (600) storage station (402); the three-axis manipulator (403) includes a Y-direction mechanism (405) fixed on the workbench (400); The mounting and docking assembly (100) comprises a mounting bracket (101) and a guide rail (102), wherein the guide rail (102) is slidably connected to a plurality of adsorption members (103), wherein the adsorption members (103) are arranged on the guide rail (102) at controlled equal intervals, and a reciprocating mechanism (109) is provided on the mounting bracket (101) for linking the plurality of adsorption members (103) to move axially in equal proportion; and further comprises a lifting mechanism for driving the mounting bracket (101) to rise and fall, wherein the lifting mechanism is provided on a Y-direction mechanism (405) of a three-axis manipulator (403); The reciprocating mechanism (109) comprises a plurality of sliding members (104) connected end to end, the position of the first sliding member (104) is relatively fixed, the next-stage sliding members (104) connected to the first sliding member (104) are all slidably sleeved on the guide rail (102), a hook portion (106) is provided on the side of each sliding member (104) facing the next-stage sliding member (104), a sleeve portion (107) sleeved and linked with the hook portion (106) is provided on the side of each sliding member (104) facing the previous-stage sliding member (104), the sleeve portion (107) of each sliding member (104) has a movable space (108), and the hook portion (106) is embedded in the sleeve portion (107) and can be located and moved in the sleeve portion (107); The length of the movable space (108) of the sleeve portion (107) of each sliding member (104) along the upper and lower directions is equal, and the thickness of each hook portion (106) in the sleeve portion (107) is also equal; The reciprocating mechanism (109) further comprises: an embedding groove (110) provided on a sliding member (104) at the tail, a reciprocating cylinder (112) provided on the mounting bracket (101), and a hanging plate (111) provided on the output shaft of the reciprocating cylinder (112); the sliding plate is embedded in the embedding groove (110); the sliding member (104) at the tail is driven to slide by the reciprocating cylinder (112); the sliding member (104) at the tail uses its own embedding groove (110) to link the sliding member (104) at the previous level to slide, and links each sliding member (104) in turn to reach the limit of the activity space (108) of the embedding groove (110); The tray (600) loading station (401) is provided with a second carriage and a second Z-axis lifting device linked to the lifting of the second carriage, and the tray (600) storage station (402) is provided with a third carriage (408) and a third Z-axis lifting device (409) linked to the lifting of the third carriage (408).

2. The automatic transfer equipment according to claim 1, characterized in that: The two-axis manipulator comprises a first X-axis mechanism (304) and a first Z-axis mechanism (305); the first Z-axis mechanism (305) is provided with a first adsorption device (306) and a CCD comparison camera (307); the first adsorption device (306) grasps a carrier (500) and uses the CCD comparison camera (307) to obtain a boundary position of the carrier (500) and / or coded information on the carrier (500).

3. The automatic transfer equipment according to claim 2, characterized in that: The pre-storage station is provided with a first carriage (308) and a first Z-axis lifting device (309) linked to the lifting of the first carriage (308); a carrier (500) rack (310) is placed on the first carriage (308); a centering rack (303) for centering the carrier (500) to the center of the carrier (500) rack (310) is also provided at the edge of the workbench (400); the centering rack (303) is a frame structure, and an inner side of the frame is provided with an oblique angle (302).

4. The automatic transfer equipment according to claim 3, characterized in that: The three-axis manipulator (403) comprises a Y-direction mechanism (405) fixed on the workbench (400), an X-direction mechanism (406) fixed on the Y-direction mechanism (405), and a Z-direction mechanism (407) fixed on the X-direction mechanism (406), and the second adsorption device (404) is fixed on the Z-direction mechanism (407).

5. The automatic transfer equipment according to claim 1, characterized in that: The mounting bracket (101) is provided with a tail plate (113) on one side of the sliding member (104) near the tail, the guide rail (102) is a double guide rail (102) connected between the tail plate (113) and the first sliding member (104), and a buffer (114) is provided on the tail plate (113).

Images