A transfer device and control method thereof

Abstract

The present invention discloses a transfer device and a control method thereof, wherein the transfer device is used for transferring materials, and comprises a frame, a slide, a step transfer mechanism, and a loading mechanism; when the slide is stopped, the second material level of one of the two second bearing units is located in front of the first bearing part of the corresponding stopped first bearing unit and the third material level is located in the interval of the corresponding stopped first bearing unit, the second material level of the other of the two second bearing units is located at the loading position and the third material level is located at the first detection position; the step transfer mechanism, the number of which is the same as the number of the first bearing units and corresponds one to one, and performs transfer when the slide is stopped at the corresponding first bearing unit; the loading mechanism, which is used for placing the material on the second material level located at the loading position when the slide is stopped; the material is always transported in a posture suitable for detection during transportation, so that each node can perform material detection, loading, conveying and other actions.

Description

Technical Field

[0001] The invention relates to the field of relay detection, and in particular to a transfer device and a control method thereof. Background Art

[0002] During relay detection, the prior art uses a turntable to transport materials so that the materials are transferred to the detection position for detection, but the turntable itself occupies a large area, has low space utilization and is expensive. In addition, when using a turntable, a manipulator is usually required for transfer. When the peripheral mechanism needs to realize material loading, unloading, and conveying, and for the convenience of detection, the posture of the material will inevitably change during the transmission process. In order to adapt to the detection, it needs to be adjusted. The corresponding manipulator design and peripheral mechanisms are also more complicated or occupy a larger area, increasing costs and usage. In addition, the complex mechanism is not conducive to maintenance and has low reliability. Summary of the invention

[0003] The purpose of the present invention is to overcome the problems existing in the background technology that when using a turntable conveying relay, the corresponding manipulator design and peripheral mechanisms are more complicated or occupy more space, increase cost and usage, and the complicated mechanism is not conducive to maintenance and has low reliability, and to provide a transfer device and a control method thereof.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The first technical solution is a transfer device for transferring materials, comprising:

[0006] The frame is provided with two first bearing units parallel to each other, each of the first bearing units is provided with a first bearing portion in front and a second bearing portion in rear along a first direction, a gap is formed between the first bearing portion and the second bearing portion, the first bearing portion and the second bearing portion are both provided with a plurality of first material levels for parking materials along the first direction, and the spacing between adjacent first material levels is the first spacing;

[0007] A slide, which is provided with two second bearing units, each of which is provided with a second material level in front and a third material level in rear along a first direction, and the second material level and the third material level are both used for parking materials; the slide reciprocates relative to the frame along a second direction perpendicular to the first direction and stops at one of the two first bearing units; when stopping, the second material level of one of the two second bearing units is located in front of the first bearing part of the corresponding stopped first bearing unit and the third material level is located in the interval of the corresponding stopped first bearing unit, and the spacing between the second material level and the adjacent first material level and the spacing between the third material level and the adjacent first material level are both the first spacing, the second material level of the other of the two second bearing units is located at the loading position and the third material level is located at the first detection position;

[0008] The step-by-step transfer mechanism has the same number as the first load-bearing units and corresponds to each other. When the carriage stops at the corresponding first load-bearing unit, the step-by-step transfer mechanism transfers the material on the second material level to the first load-bearing unit, transfers the material on the first material level at the rear of the first load-bearing unit to the third material level, transfers the material on the third material level to the second load-bearing unit, and transfers the material on the remaining first material levels to the adjacent and rear first material levels.

[0009] The loading mechanism is used to place the material on a second material level located at the loading position when the slide is parked.

[0010] Based on the first technical solution, in the second technical solution, the step-by-step transfer mechanism includes a base, a rotating member, a first sliding member, a second sliding member, a transfer plate, a first resetting member, and a second resetting member;

[0011] The rotating member rotates relative to the base around a first axis perpendicular to the first direction and the second direction; the rotating member is provided with a first cam and a second cam;

[0012] The first cam is provided with a first arc surface, a first curved surface, a second arc surface and a second curved surface which are sequentially connected and parallel to the first axis;

[0013] The second cam is provided with a third arc surface, a third curved surface, a fourth arc surface and a fourth curved surface which are sequentially connected and parallel to the first axis;

[0014] The first arc surface corresponds to the third arc surface, and the second arc surface corresponds to the fourth arc surface;

[0015] The first sliding member moves relative to the base along a second direction; and is provided with a first abutting portion abutting against the first cam;

[0016] The second sliding member moves relative to the base along a first direction and is provided with a second abutting portion abutting against the second cam;

[0017] A perpendicular line between a contact point between the first abutting portion and the first cam and the first axis is defined as a first line segment, and a perpendicular line between a contact point between the second abutting portion and the second cam and the first axis is defined as a second line segment; projections of the first line segment and the second line segment on a first plane perpendicular to the first axis are perpendicular to each other;

[0018] The transfer plate is used to transfer a plurality of materials and is slidably connected to the first sliding member along a first direction; the transfer plate is provided with a first transfer portion, and the first transfer portion is provided with a plurality of pushing surfaces equidistantly arranged along the first direction and parallel to the second direction to push a plurality of materials to step along the first direction;

[0019] The first restoring member acts between the base and the first sliding member along a second direction so that the first abutting portion always abuts against the first cam;

[0020] The second restoring member acts between the transfer plate and the first sliding member along a first direction so that the transfer plate always abuts against the second sliding member, and the second abutting portion always abuts against the second cam.

[0021] Based on the second technical solution, the third technical solution further includes a material unloading mechanism, a material discharging line and a first material pushing member; the material unloading mechanism is provided with two third bearing units along the second direction, each of the third bearing units is provided with a fourth material level for parking materials, the material unloading mechanism reciprocates relative to the frame along the second direction and stops at one of the two first bearing units; when the slide stops at the corresponding first bearing unit, the material unloading mechanism also stops at the first bearing unit, and when the material unloading mechanism stops, the fourth material level of one of the two third bearing units is located behind the second bearing part of the corresponding stopped first bearing unit, and the distance between the fourth material level and the adjacent first material level is the first distance, and the fourth material level of the other of the two third bearing units is located in front of the material unloading line;

[0022] The step-by-step transfer mechanism transfers the material on the first material level at the rear of the second bearing part to the fourth material level when the carriage stops at the corresponding first bearing unit and the unloading mechanism also stops at the first bearing unit;

[0023] The discharging line is installed on the frame and extends along the first direction;

[0024] The first pushing member is installed on the frame and is provided with a first pushing plate suitable for repeatedly moving along the first direction. The first pushing plate is suitable for pushing the material on the fourth material level of any third carrying unit to the discharge line when the fourth material level is located in front of the discharge line.

[0025] Based on the third technical solution, in the fourth technical solution, the discharging line includes a good product line and a first bad product line arranged along the second direction, the unloading mechanism includes a third sliding member and a first driving member installed on the third sliding member and the number of which is the same as that of the third bearing unit and corresponds one to one, and the first driving member is provided with an output plate suitable for moving along the second direction;

[0026] The third sliding member reciprocates along the second direction and stops at one of the two first bearing units; the two fourth material levels are respectively arranged on the output plates of the two first driving members.

[0027] The fourth material level of one of the two third carrying units is suitable for being driven by the corresponding first driving member so that the fourth material is located behind the second carrying part of the corresponding first carrying unit when docked, and the fourth material level of the other one of the two third carrying units is driven by the corresponding first driving member according to whether the material thereon is good or bad so that the fourth material level is located in front of the good line or in front of the first bad line.

[0028] Based on the fourth technical solution, the fifth technical solution also includes a second pushing piece; the frame is also provided with a first material storage trough and a second material storage trough; the first material storage trough is connected to the good product line, and the second material storage trough is connected to the first defective product line, and the second pushing piece is installed on the frame, and the second pushing piece is provided with a second pushing plate suitable for moving along the second direction to push the material on the good product line to the first material storage trough or the material on the first defective product line to the second material storage trough.

[0029] Based on the fifth technical solution, in the sixth technical solution, the feeding mechanism is provided with a feeding assembly line and a first transfer mechanism, the frame is provided with a limiting hole for positioning the material and extending along the first direction, and the feeding assembly line is installed on the frame and located at the bottom of the limiting hole;

[0030] The frame is further provided with a limiting portion, the limiting portion is located above the feeding assembly line, the limiting portion is provided with a limiting surface, the limiting surface is configured to only allow the material on the feeding assembly line to pass through in a posture suitable for detection, and the limiting surface is perpendicular to the first direction;

[0031] The first transfer mechanism is installed on the frame and located at the end of the loading line so as to be suitable for placing the material on the loading line on a second material level located at the loading position when the slide stops.

[0032] Based on the sixth technical solution, in the seventh technical solution, the limiting portion is also provided with a stop surface, which is located in front of the limit surface and faces the loading assembly line, and the stop surface is vertically connected to the limit surface. The stop surface is used to prevent any material from rotating when it hits the limit surface in a posture that is not suitable for detection.

[0033] Based on the sixth technical solution, in the eighth technical solution, it also includes a first manipulator and a third pushing member;

[0034] The first manipulator and the third material pusher are both mounted on the frame;

[0035] The first manipulator is suitable for grabbing materials and making the materials suspended and parked at the second detection position;

[0036] The frame is further provided with a second defective product line and a third bearing portion, and the third bearing portion and the second defective product line are arranged along a second direction;

[0037] The third material pushing member is provided with a third pushing plate adapted to repeatedly move along the second direction, and the third pushing plate is adapted to push the material on the third bearing part to the second inferior product line when the material on the third bearing part is inferior product;

[0038] The first transfer mechanism comprises a fourth sliding member and a triple clamping claw mounted on the fourth sliding member, and the fourth sliding member is suitable for repeatedly sliding on the frame along the first direction;

[0039] The triple clamp is suitable for being driven by the fourth sliding member to simultaneously grab materials at the loading line, the second detection position and the third load-bearing part, or is suitable for simultaneously placing materials on the second detection position, the third load-bearing part and the second material level at the loading position when the slide is parked.

[0040] Based on the eighth technical solution, the ninth technical solution further includes a first detection mechanism and a second detection mechanism, wherein the first detection mechanism and the second detection mechanism are installed on the frame, the first detection mechanism is suitable for detecting materials at a first detection position, and the second detection mechanism is suitable for detecting materials at a second detection position.

[0041] A tenth technical solution is a control method for a transfer device, based on a transfer device according to any one of the first to ninth technical solutions of claim 1, the control method comprising the following steps:

[0042] S1: Control the slide to make the slide stop at one of the two first carrying units corresponding to the slide, control the stepping transfer mechanism corresponding to the first carrying unit to move so that the material on the second material level of the second carrying unit corresponding to the first carrying unit is transferred to the first carrying part, and the material on the first material level at the rear of the first carrying part is transferred to the third material level of the second carrying unit corresponding to the first carrying unit for detection, and transfer the material on the third material level of the second carrying unit corresponding to the first carrying unit that has completed the detection to the second carrying part, and transfer the remaining materials on the first material level to the adjacent and rear first material level;

[0043] After the material detection at the third material level at the first detection position is completed, S2 is performed;

[0044] S2: Control the slide to make the slide stop at another first carrying unit corresponding to the slide, control the stepping transfer mechanism corresponding to the first carrying unit to move so that the material on the second material level of the second carrying unit corresponding to the first carrying unit is transferred to the first carrying part, and the material on the first material level at the rear of the first carrying part is transferred to the third material level of the second carrying unit corresponding to the first carrying unit for detection, and transfer the material on the third material level of the second carrying unit corresponding to the first carrying unit that has completed the detection to the second carrying part, and transfer the remaining material on the first material level to the adjacent and rear first material level;

[0045] After the material detection at the third material level at the first detection position is completed, S1 is performed again.

[0046] From the above description of the present invention, it can be seen that compared with the prior art, the present invention has the following beneficial effects:

[0047] 1. The first technical solution is that a frame is provided with two first bearing units parallel to each other, a slide is provided with two second bearing units, each second bearing unit is provided with a second material level and a third material level, the slide slides back and forth relative to the frame and stops at one of the two first bearing units; when stopped, the second material level of one of the two second bearing units is located in front of the first bearing part of the corresponding stopped first bearing unit and the third material level is located in the interval of the corresponding stopped first bearing unit, and the spacing between the second material level and the adjacent first material level and the spacing between the third material level and the adjacent first material level are both the first spacing , the other second material level of the two second carrying units is located at the loading position and the third material level is located at the first detection position; the stepping transfer mechanism, the number of which is the same as the number of the first carrying units and corresponds one to one, and when the slide stops at the corresponding first carrying unit, the material is transferred; the loading mechanism is used to place the material on the second material level located at the loading position when the slide stops; the material is always transported in a posture suitable for detection during transportation, and there is no idle time in the beat, so that each node can perform material detection, loading, transportation and other actions, with powerful functions, simple structure, convenient maintenance and high reliability.

[0048] 2. The second technical solution is that when the rotating member rotates, the first cam drives the transfer plate to move in the second direction through the first sliding member, and the second cam drives the transfer member to move in the first direction through the second sliding member. Under the action of the first reset member and the second reset member, the transfer member is reset to the initial position after the movement, and the material is transferred along the first direction through the cycle of the above actions. The step transfer mechanism has a fast transfer speed, stable operation, simple structure, low cost, easy installation and maintenance, a small working range, and is suitable for the transfer of multiple light and small materials.

[0049] 3. The third technical solution is that the material unloading mechanism is provided with two third bearing units, and each third bearing unit is provided with a fourth material level. When the slide is docked at the corresponding first bearing unit, the material unloading mechanism is also docked at the first bearing unit. When the material unloading mechanism is docked, the fourth material level of one of the two third bearing units is located behind the second bearing part of the corresponding docked first bearing unit, and the distance between the fourth material level and the adjacent first material level is the first distance, and the fourth material level of the other of the two third bearing units is located in front of the discharge line; the stepping transfer mechanism transfers the material on the first material level at the rear of the second bearing part to the fourth material level; when the fourth material level of any third bearing unit is located in front of the discharge line through the first pushing plate, the material on the fourth material level is pushed onto the discharge line, and the materials on both sides are gathered on the discharge line for easy recycling and sorting.

[0050] 4. The fourth technical solution is that the discharging line includes a good product line and a first bad product line. The fourth material level of one of the two third carrying units is suitable for being driven by the corresponding first driving member so that the fourth material is located behind the second carrying part of the corresponding first carrying unit when docked. The fourth material level of the other of the two third carrying units is driven by the corresponding first driving member according to whether the material thereon is good or bad so that the fourth material level is located in front of the good product line or the first bad product line, thereby classifying good or bad products, and the bad products can be uniformly recovered for re-testing to increase the yield rate.

[0051] 5. The fifth technical solution is to connect the first storage trough with the good product line, the second storage trough with the first bad product line, and the second push plate pushes the material on the good product line to the first storage trough or the material on the first bad product line to the second storage trough, thereby completing the material storage, and reminding the user to take it away after it is full, reducing the collection burden on the user.

[0052] 6. The sixth technical solution is to provide a limiting surface through the limiting portion, the limiting surface being perpendicular to the first direction, so that the material on the loading line is only allowed to pass through in a posture suitable for detection, thereby ensuring correct loading, normal detection results and preventing subsequent transmission abnormalities.

[0053] 7. The seventh technical solution is that the anti-rotation surface is located in front of the limit surface and faces the feeding assembly line. The anti-rotation surface is vertically connected to the limit surface. When the material hits the limit surface due to incorrect posture, the existence of the anti-rotation surface prevents the material from rotating.

[0054] 8. The eighth technical solution is to suspend the material in the air by the first manipulator to ensure that the material is clean and prevent the detection result from being affected. The material on the third bearing part is pushed to the second inferior product line by the third push plate and then reset to prevent the inferior products from being tested twice and reducing the efficiency. The first transfer mechanism includes a fourth sliding member and a triple clamp installed on the fourth sliding member to transport the material. The structure is simple and efficient.

[0055] 9. The ninth technical solution is to use a second detection mechanism suitable for detecting the material at the second detection position to cooperate with the first detection mechanism to complete the detection of the entire material.

[0056] 10. The tenth technical solution realizes the transmission of each material by cyclically executing the control method, with no gaps in the beat and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0058] Figure 1 It is a top view of the transfer device in the first embodiment;

[0059] Figure 2 It is an enlarged view of a first bearing unit in the first embodiment;

[0060] Figure 3 It is an enlarged view of another first bearing unit in the first embodiment;

[0061] Figure 4 is a three-dimensional diagram of the slide in the first embodiment;

[0062] Figure 5 It is a three-dimensional diagram of the step-by-step transfer mechanism in the first embodiment;

[0063] Figure 6 It is a three-dimensional diagram of the rotating part of the step-by-step transfer mechanism in the first embodiment;

[0064] Figure 7 It is an enlarged view of the rotating part of the step-by-step transfer mechanism in the first embodiment;

[0065] Figure 8 It is an enlarged view of the feeding mechanism in the first embodiment;

[0066] Fig. 9 It is a three-dimensional diagram of the limiting part in the first embodiment;

[0067] Fig.10 is a three-dimensional diagram of the relay in the first embodiment;

[0068] Fig.11 It is an enlarged view of the feeding mechanism in the first embodiment;

[0069] Fig.12 It is an enlarged view of the first material storage tank and the second material storage tank in Example 1;

[0070] Description of main reference numerals:

[0071] Frame 1, first bearing unit 11; first bearing part 111; second bearing part 112; interval 113; first material level 114; limiting hole 12; limiting part 13; limiting surface 131; anti-rotation surface 132; second defective line 14; third bearing part 15; discharging line 16; good line 161; first defective line 162; first material storage tank 17; second material storage tank 18; carriage 2; second bearing unit 21; second material level 211; third material level 212; first detection mechanism 3; step-by-step transfer mechanism 4; base 41; rotating member 42; first cam 421; first arc surface 4211; first curved surface 4212; second arc surface 4213; second curved surface 4214; second cam 422; third arc surface 4221; third curved surface 422 2; fourth arc surface 4223; fourth curved surface 4224; rotating driving member 43; first sliding member 44; first abutting portion 441; second sliding member 45; second abutting portion 451; transfer plate 46; first transfer portion 461; pushing surface 4611; positioning surface 4612; connecting surface 4613; first reset member 47; second reset member 48; loading mechanism 5; loading assembly line 51; first loading mechanism 52; fourth sliding member 521; triple clamping jaw 522; second detection mechanism 6; first manipulator 7; third pushing member 8; unloading mechanism 9; third bearing unit 91; fourth material position 911; third sliding member 92; first driving member 93; first pushing member 10; first pushing plate 101; second pushing member 20; second pushing plate 201;

[0072] Relay 30, body 301; pin 302; DETAILED DESCRIPTION

[0073] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are preferred embodiments of the present invention and should not be regarded as excluding other embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] In the claims, description and the above-mentioned drawings of the present invention, unless otherwise clearly defined, the use of terms such as "first", "second" or "third" etc. are for distinguishing different objects rather than for describing a specific order.

[0075] In the claims, specification and the above-mentioned drawings of the present invention, unless otherwise explicitly defined, directional words, such as the terms "center", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise", etc., indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the specific protection scope of the present invention.

[0076] In the claims, specification and the above drawings of the present invention, unless otherwise clearly defined, if the term "fixed connection" or "fixed connection" is used, it should be understood in a broad sense, that is, any connection method without a displacement relationship and relative rotation relationship between the two, that is to say, including non-detachable fixed connection, detachable fixed connection, integrated connection and fixed connection through other devices or elements.

[0077] In the claims, description and drawings of the present invention, if the terms "include", "have" and their variations are used, they are intended to mean "including but not limited to".

[0078] See also Figure 1-Figure 12 ;

[0079] A transfer device for transferring materials comprises a frame 1, a slide 2, a first detection mechanism 3, a stepping transfer mechanism 4, a loading mechanism 5, a second detection mechanism 6, a first manipulator 7, a third pushing member 8, a unloading mechanism 9, a first pushing member 10, and a second pushing member 20.

[0080] Frame 1, frame 1 is used to install various mechanisms and parts;

[0081] refer to Figure 2 , Figure 3 The frame 1 is provided with two first bearing units 11 parallel to each other. Each first bearing unit 11 is provided with a first bearing part 111 in front and a second bearing part 112 in the rear along the first direction. A gap 113 is formed between the first bearing part 111 and the second bearing part 112. The first bearing part 111 and the second bearing part 112 are both provided with a chute along the first direction. When the material is placed in the chute, the movement of the material along the second direction is restricted to prevent the material from running. The chute is provided with a plurality of first material levels 114 for parking the material along the first direction. The distances between adjacent first material levels 114 are all the first distances.

[0082] refer to Figure 4, a slide 2, which is provided with two second bearing units 21, each of which is provided with a second material level 211 in front and a third material level 212 in the rear along the first direction, and the second material level 211 and the third material level 212 are both used for parking materials; the slide 2 reciprocates relative to the frame 1 along the second direction and stops at one of the two first bearing units 11; when stopping, the second material level 211 of one of the two second bearing units 21 is located in front of the first bearing portion 111 of the corresponding stopped first bearing unit 11 and the third material level 212 is located in the interval 113 of the corresponding stopped first bearing unit 11, and the spacing between the second material level 211 and the adjacent first material level 114 and the spacing between the third material level 212 and the adjacent first material level 114 are both the first spacing, the second material level 211 of the other of the two second bearing units 21 is located at the loading position and the third material level 212 is located at the first detection position;

[0083] refer to Figure 1 The first detection mechanism 3 is suitable for detecting the material located at the first detection position. The first detection mechanism 3 includes a detection camera at the top and four detection cameras on the four sides of the periphery of the material.

[0084] The number of the step-by-step transfer mechanisms 4 is the same as the number of the first carrying units 11 and corresponds one to one. The number of the step-by-step transfer mechanisms 4 is two. Figure 3 When the carriage 2 stops at the corresponding first carrying unit 11, the stepping transfer mechanism 4 transfers the material on the second material level 211 to the first carrying part 111, transfers the material on the first material level 114 at the rear of the first carrying part 111 to the third material level 212, transfers the material on the third material level 212 to the second carrying part 112, and transfers the material on the remaining first material level 114 to the adjacent and rear first material level 114;

[0085] refer to Figure 5 The stepping transfer mechanism 4 includes a base 41, a rotating member 42, a rotating driving member 43, a first sliding member 44, a second sliding member 45, a transfer plate 46, a first reset member 47 and a second reset member 48;

[0086] The rotating driving member 43, the output end of the rotating driving member 43 rotates around the first axis, and the first axis, the first direction, and the second direction are perpendicular to each other. Specifically, the rotating driving member 43 is a servo motor with stable transmission. The housing of the servo motor is fixed to the base 41 for stable installation.

[0087] The rotating member 42 is fixedly connected to the output shaft of the rotating driving member 43 so that the rotating member 42 can rotate relative to the base 41 around the first axis.

[0088] refer to Figure 6The rotating member 42 is provided with a first cam 421 and a second cam 422 which are fixedly connected to each other as a whole. The first cam 421 is provided with a first arc surface 4211, a first curved surface 4212, a second arc surface 4213 and a second curved surface 4214 which are sequentially connected and parallel to the first axis; the second cam 422 is provided with a third arc surface 4221, a third curved surface 4222, a fourth arc surface 4223 and a fourth curved surface 4224 which are sequentially connected and parallel to the first axis. In addition, the first arc surface 4211 corresponds to the third arc surface 4221, and the second arc surface 4213 corresponds to the fourth arc surface 4223. Taking the correspondence between the first arc surface 4211 and the third arc surface 4221 as an example, the correspondence refers to the phase correspondence between the starting point of the first arc surface 4211 and the starting point of the third arc surface 4221 relative to the first axis, and the phase correspondence between the end point of the first arc surface 4211 and the end point of the third arc surface 4221 relative to the first axis. Since the first arc surface 4211 corresponds to the third arc surface 4221, and the second arc surface 4213 corresponds to the fourth arc surface 4223, the first curved surface 4212 corresponds to the third curved surface 4222, and the second curved surface 4214 corresponds to the fourth curved surface 4224.

[0089] The first sliding member 44 moves relative to the base 41 along the second direction; it is provided with a first abutting portion 441 abutting against the first cam 421;

[0090] The second sliding member 45 moves relative to the base 41 along the first direction, and is provided with a second abutting portion 451 abutting against the second cam 422;

[0091] The perpendicular line between the contact point between the first abutting portion 441 and the first cam 421 and the first axis is defined as the first line segment, and the perpendicular line between the contact point between the second abutting portion 451 and the second cam 422 and the first axis is defined as the second line segment; the projections of the first line segment and the second line segment on the first plane perpendicular to the first axis are perpendicular to each other.

[0092] The transfer plate 46 is slidably connected to the first sliding member 44 along the first direction; the transfer plate 46 is provided with a first transfer part 461, and the first transfer part 461 is provided with a plurality of pushing surfaces 4611 equidistantly arranged along the first direction and parallel to the second direction and a plurality of positioning surfaces 4612 equidistantly arranged along the first direction and corresponding to the pushing surfaces 4611 one by one, and the plurality of pushing surfaces 4611 push a plurality of materials to be step-by-step transferred along the first direction; the positioning surfaces 4612 are parallel to the pushing surfaces 4611 and are arranged oppositely and spaced apart, and the area enclosed by the positioning surfaces 4612 and the pushing surfaces 4611 is suitable for materials to enter and exit, and since the movement of the step-by-step transfer mechanism 4 is a repeated cyclic movement to push the materials forward one unit along the first direction, when the materials slip too much, the step-by-step transfer mechanism 4 will collide with the materials or stop, and the positioning surfaces 4612 are used to prevent the materials from slipping due to inertia after being moved by the step-by-step transfer mechanism 4, thereby ensuring that each material can be transported normally. The first transfer portion 461 is also provided with a connecting surface 4613, both ends of which are perpendicularly connected to the pushing surface 4611 and the positioning surface 4612 so that the pushing surface 4611, the positioning surface 4612 and the connecting surface 4613 enclose a transfer hole, and the transfer hole opens toward the corresponding first carrying unit 11 for material to enter and exit.

[0093] The first restoring member 47 acts between the base 41 and the first sliding member 44 along the second direction so that the first abutting portion 441 always abuts against the first cam 421;

[0094] The second restoring member 48 acts between the transfer plate 46 and the first sliding member 44 along the first direction so that the transfer plate 46 always abuts against the second sliding member 45 , and the second abutting portion 451 always abuts against the second cam 422 .

[0095] Taking the step-by-step transfer mechanism 4 on the left side along the second direction as an example, when the rotating member 42 rotates, the first cam 421 drives the transfer plate 46 to move along the second direction through the first sliding member 44, and the second cam 422 drives the transfer plate 46 to move along the first direction through the second sliding member 45. Specifically, the first cam 421 is always in contact with the first abutting portion 441 through the first reset member 47, and when the first cam 421 rotates, it is suitable for driving the first abutting portion 441 to perform forward and reverse motion along the second direction, thereby causing the first sliding member 44 to perform forward and reverse motion along the second direction, and the transfer plate 46 in sliding contact with the first sliding member 44 also performs forward and reverse motion accordingly. The first cam 421 is provided with a first arc surface 4211, a first curved surface 4212, a second arc surface 4213 and a second curved surface 4214. The first arc surface 4211 and the second arc surface 4213, that is, the vertical distances of each point on the surface and the first axis are equal. When the first abutting portion 441 abuts against the first arc surface 4211 or the second arc surface 4213, the first sliding member 44 is stationary along the second direction. On the first curved surface 4212 and the second curved surface 4214, as the first cam 421 rotates, the contact point between the first abutting portion 441 and the first cam 421 and the vertical distance between the first axis and the first axis are equal. The distance changes continuously, so that the first sliding member 44 moves along the second direction; similarly, the second cam 422, through the action of the second reset member 48, makes the transfer plate 46 always abut against the second sliding member 45, and the second abutting portion 451 always abuts against the second cam 422, so that the transfer plate 46 is suitable for forward and reverse motion along the first direction, that is, when the second abutting portion 451 abuts against the third circular arc surface 4221 or the fourth circular arc surface 4223, the transfer plate 46 is stationary along the first direction, and when it abuts against the third curved surface 4222 or the fourth curved surface 4224, the transfer plate 46 moves along the first direction.

[0096] refer to Figure 7, and the first arc surface 4211 corresponds to the third arc surface 4221, the second arc surface 4213 corresponds to the fourth arc surface 4223, and the projections of the first line segment and the second line segment on the first plane perpendicular to the first axis are perpendicular to each other, so that the transfer plate 46 only moves in the first direction or the second direction within a certain period of time. In this embodiment, the first cam 421 is located at the bottom of the second cam 422, and both rotate clockwise around the first axis, taking the first curved surface 4212 as a driving force for the transfer plate 46 to move in the positive direction of the second direction (towards the direction of the material), the second curved surface 4214 as a driving force for the transfer plate 46 to move in the negative direction of the second direction, the third curved surface 4222 as a driving force for the transfer plate 46 to move in the rear direction of the first direction (the direction of pushing the material), and the fourth curved surface 4224 as a driving force for the transfer plate 46 to move in the front direction of the first direction as an example, in actual use, when the first abutment portion 441 abuts When connected to the first curved surface 4212, the second abutting portion 451 abuts against the third arc surface 4221; when the first abutting portion 441 abuts against the second arc surface 4213, the second abutting portion 451 abuts against the third curved surface 4222; when the first abutting portion 441 abuts against the second curved surface 4214, the second abutting portion 451 abuts against the fourth arc surface 4223; when the first abutting portion 441 abuts against the first arc surface 4211, the second abutting portion 451 abuts against the fourth curved surface 4224, thereby allowing the transfer plate 46 to only move along the first direction or the second direction within a certain period of time.

[0097] Under the action of the first restoring member 47 and the second restoring member 48, the transfer plate 46 is restored to the initial position after the movement, and the material is transferred along the first direction through the cycle of the above actions.

[0098] The step-by-step transfer mechanism 4 has a fast transfer speed, stable operation, simple structure, low cost, convenient installation and maintenance, and a small detection range, and is suitable for transferring multiple light and small materials.

[0099] refer to Figure 1 , Figure 8 The feeding mechanism 5 is used for feeding materials, and is used for placing materials on the second material level 211 located at the feeding position when the carriage 2 stops. The feeding mechanism 5 is provided with a feeding assembly line 51 and a first transfer mechanism 52.

[0100] The loading line 51 is installed on the frame 1 and extends along the first direction. It rotates clockwise to drive the material on it to be transported backward along the first direction. The frame 1 is provided with a limiting hole 12 for positioning the material and extending along the first direction at the loading line 51. The limiting hole 12 is located above the loading line 51. The limiting hole 12 prevents the material on the loading line 51 from running along the second direction perpendicular to the first direction, so that the material is only allowed to be transferred along the first direction on the loading line 51. Figure 8 , 9The frame 1 is also provided with a limit portion 13, which is configured to only allow materials to pass through in a posture suitable for detection. The limit portion 13 is located between the beginning and the end of the loading assembly line 51 and above the loading assembly line 51. The limit portion 13 is provided with a limit surface 131, and the limit surface 131 is perpendicular to the first direction.

[0101] refer to Fig.10 In this embodiment, the material is a relay 30, which includes a body 301 and a plurality of pins 302. The body 301 is a rectangular parallelepiped, and a plurality of pins 302 are fixed to the top surface of the body 301. The posture with the top surface of the body 301 facing upward is a posture suitable for detection. This posture is convenient for detection, so it is also transported in this posture during transportation; when transported in a posture suitable for detection, the body 301 is located below the limit portion 13, and the pins 302 are located on the left and right sides of the limit portion 13, so they will not abut against the limit surface 131. When the relay is turned over during transportation on the loading line 51, when the material is in a posture with the pins 302 facing forward or backward, the height of the relay 30 becomes higher, so it can touch the limit surface 131, thereby preventing the material from being transported. The limit surface 131 ensures that the material is correctly loaded, the detection result is normal, and subsequent transmission abnormalities are prevented.

[0102] When a relay abuts against the limiting surface 131, since the feeding line 51 is still rotating, the previous material will still push the limited material forward. If the limited material is flipped due to the push, causing the pin 302 to face downward, it will rub against the feeding line 51, causing damage to the feeding line 51. Fig. 9 The limit portion 13 is also provided with a stop surface 132, which is located in front of the limit surface 131 and faces the feeding assembly line 51. The stop surface 132 is vertically connected to the limit surface 131. When the material hits the limit surface 131 due to an incorrect posture, the stop surface 132 prevents the material from rotating. In the design, the distance between the stop surface 132 and the feeding assembly line 51 is equal to or slightly greater than the height of the material pin 302 when facing forward or backward.

[0103] The rack 1 is further provided with a second inferior product line 14 and a third bearing portion 15, and the third bearing portion 15 and the second inferior product line 14 are arranged along the second direction;

[0104] The first transfer mechanism 52 is installed on the frame 1 and located at the end of the loading line 51 so as to place the material on the loading line 51 on the second material level 211 located at the loading position when the slide 2 stops. Specifically, the first transfer mechanism 52 includes a fourth sliding member 521 and a triple clamp 522 installed on the fourth sliding member 521. The fourth sliding member 521 is suitable for repeatedly sliding on the frame 1 along the first direction.

[0105] The triple clamp 522 is suitable for being driven by the fourth sliding member 521 to simultaneously grab the materials at the loading line 51, the second detection position and the third bearing part 15, or is suitable for simultaneously putting down the materials to the second detection position, the third bearing part 15 and the second material level 211 at the loading position when the slide 2 is parked. The triple clamp 522 is also suitable for lifting and lowering in a vertical direction perpendicular to the first direction and the second direction. This structure is a prior art and will not be described in detail. Of course, the fifth sliding member can also be used. The fifth sliding member is slidably connected to the fourth sliding member 521 in the vertical direction, and the triple clamp 522 is installed on the fifth sliding member to solve the problem of asynchronous lifting of the triple clamps.

[0106] The specific action process is that the triple clamp 522 moves downward and grabs the materials at the loading line 51, the second detection position and the third load-bearing part 15 at the same time, then the triple clamp 522 moves upward, the fourth slide 521 drives the triple clamp 522 to move backward, the triple clamp 522 moves downward and simultaneously puts down the materials to the second detection position, the third load-bearing part 15 and the second material level 211 at the loading position when the slide 2 is parked, the triple clamp 522 moves upward, and the fourth slide 521 drives the triple clamp 522 to move forward, thereby realizing the process. During the transfer, the material detection at the second detection position has been completed.

[0107] The second detection mechanism 6 is suitable for detecting the material at the second detection position. The second detection mechanism 6 includes two detection cameras, which respectively photograph the bottom surface and the right surface of the material to cooperate with the first detection mechanism 3 to complete the detection of the entire material.

[0108] The first manipulator 7 is installed on the frame 1, which is suitable for grabbing the material and making the material suspended and parked at the second detection position. When the triple clamp 522 goes down, the first manipulator 7 grabs the material before the triple clamp 522 goes up. If a transparent plate is used to carry the material, dust is easily accumulated on the transparent plate after long-term use, which is easy to scratch the bottom surface of the material or pollute the bottom surface of the material lead detection result. The first manipulator 7 makes the material suspended to ensure the cleanliness of the material and prevent it from affecting the detection result.

[0109] The third pushing member 8 is installed on the frame 1. The third pushing member 8 is provided with a third pushing plate suitable for repeatedly moving along the second direction. When the material on the third bearing part 15 is inferior, the third pushing plate pushes the material on the third bearing part 15 to the second inferior product line 14 and then resets it to prevent the inferior products from being inspected again and reducing efficiency.

[0110] refer to Fig.11The unloading mechanism 9 is provided with two third bearing units 91 along the second direction, and each third bearing unit 91 is provided with a fourth material level 911 for parking materials. The unloading mechanism 9 reciprocates relative to the frame 1 along the second direction and stops at one of the two first bearing units 11; when the slide 2 stops at the corresponding first bearing unit 11, the unloading mechanism 9 also stops at the first bearing unit 11. When the unloading mechanism 9 stops, the fourth material level 911 of one of the two third bearing units 91 is located behind the second bearing portion 112 of the corresponding stopped first bearing unit 11, and the distance between the fourth material level 911 and the adjacent first material level 114 is the first distance, and the fourth material level 911 of the other of the two third bearing units 91 is located in front of the discharge line 16.

[0111] When the carriage 2 stops at the corresponding first carrying unit 11 and the unloading mechanism 9 also stops at the first carrying unit 11, the stepping transfer mechanism 4 transfers the material on the rearmost first material level 114 of the second carrying portion 112 to the fourth material level 911;

[0112] Specifically, the unloading mechanism 9 includes a third sliding member 92 and first driving members 93 installed on the third sliding member 92 and having the same number and one-to-one correspondence with the third bearing units 91, and the first driving member 93 is provided with an output plate suitable for moving along the second direction;

[0113] The third sliding member 92 slides back and forth along the second direction and stops at one of the two first carrying units 11 ; the two fourth material levels 911 are respectively arranged on the output plates of the two first driving members 93 , and the output plates are suitable for moving along the second direction.

[0114] The discharging line 16 is installed on the frame 1 and extends along the first direction, and rotates clockwise to push the material on the discharging line 16 to move backward along the first direction. The discharging line 16 includes a good product line 161 and a first bad product line 162 arranged along the second direction.

[0115] The fourth material level 911 of one of the two third carrying units 91 is suitable for being driven by the corresponding first driving member 93 so that the fourth material level 911 is located behind the second carrying part 112 of the corresponding first carrying unit 11 when docked. The fourth material level 911 of the other one of the two third carrying units 91 is driven by the corresponding first driving member 93 according to whether the material thereon is good or bad so that the fourth material level 911 is located in front of the good product line 161 or in front of the first bad product line 162.

[0116] The first pusher 10 is mounted on the frame 1 and is provided with a first pusher plate 101 suitable for repeatedly moving along the first direction. The first pusher plate 101 is suitable for pushing the material on the fourth material level 911 of any third bearing unit 91 to the discharge line 16 when the fourth material level 911 is located in front of the discharge line 16. After the fourth material level 911 on the first driving member 93 corresponds to the good product line 161 or the first bad product line 162, the first pusher plate 101 pushes the material to the good product line 161 or the first bad product line 162, thereby completing the classification of good and bad products. The first pusher plate 101 is configured to face the good product line 161 and the first bad product line 162 at the same time. Whether the material is good or bad, the first pusher plate 101 can independently complete the pushing action. Gathering the materials on both sides on the discharge line is convenient for recycling and sorting, and the classification of good or bad products can be carried out, and the bad products can be uniformly recycled for retesting to increase the yield rate.

[0117] When the detection process is specifically implemented in this embodiment, the detection camera obtains the image of the material and transmits it to the controller. The controller analyzes and processes the image and determines the material quality based on the image. The material position is recorded according to the material quality. When the material is at a specific position, the third pushing member 8 or the first driving member 93 is driven to perform corresponding actions.

[0118] refer to Fig.12 The frame 1 is also provided with a first material storage trough 17 and a second material storage trough 18. The first material storage trough 17 is connected to the good product line 161, and the second material storage trough 18 is connected to the first defective product line 162. The second pushing member 20 is installed on the frame 1. The second pushing member 20 is provided with a second pushing plate 201 suitable for moving along the second direction to push the material on the good product line 161 to the first material storage trough 17 or the material on the first defective product line 162 to the second material storage trough 18, thereby completing the material storage, and reminding the user to take it away after it is full, reducing the user's collection burden.

[0119] To ensure stable transportation, the second material level 211, the third material level 212 and the fourth material level 911 are connected to the vacuum channel to vacuum absorb the materials thereon.

[0120] In summary, the transfer equipment ensures that materials are always transported in a posture suitable for detection, with no gaps in the rhythm, so that each node can perform material detection, loading, conveying, unloading and other actions. It has powerful functions, simple structure, easy maintenance and high reliability.

[0121] A control method for a transfer device, the control method comprising the following steps:

[0122] S1: Control the slide 2 to slide so that the slide 2 stops at one of the two first carrying units 11, and control the unloading mechanism 9 to stop at the first carrying unit 11; control the stepping transfer mechanism 4 corresponding to the first carrying unit 11 to move so that the material on the second material level 211 of the second carrying unit 21 corresponding to the first carrying unit 11 is transferred to the first carrying part 111, and the material on the first material level 114 at the rear of the first carrying part 111 is transferred to the third material level 212 of the second carrying unit 21 corresponding to the first carrying unit 11 for detection, and the material on the third material level 212 of the second carrying unit 21 corresponding to the first carrying unit 11 that has completed the detection is transferred to the second carrying part 112, and the material on the first material level 114 at the rear of the first carrying part 111 is transferred to the fourth material level 911 of the third carrying unit 91 corresponding to the first carrying unit 11, and the material on the remaining first material level 114 is transferred to the adjacent and rear first material level 114;

[0123] The loading mechanism 5 places the material on the second material level 211 at the loading position, and the first pushing member 10 pushes the material on the fourth material level 911 in front of the discharge line 16 to the discharge line 16; the first detection mechanism 3 detects the material on the third material level 212 at the first detection position;

[0124] After the material detection on the third material level 212 at the first detection position is completed, S2 is performed;

[0125] S2: Control the slide 2 to slide so that the slide 2 docks with another first carrying unit 11, control the unloading mechanism 9 to dock with the first carrying unit 11, control the stepping transfer mechanism 4 corresponding to the first carrying unit 11 to move so that the material on the second material level 211 of the second carrying unit 21 corresponding to the first carrying unit 11 is transferred to the first carrying part 111, and the material on the first material level 114 at the rear of the first carrying part 111 is transferred to the third material level 212 of the second carrying unit 21 corresponding to the first carrying unit 11 for detection, and the material on the third material level 212 of the second carrying unit 21 corresponding to the first carrying unit 11 that has completed the detection is transferred to the second carrying part 112, and the material on the first material level 114 at the rear of the first carrying part 111 is transferred to the fourth material level 911 of the third carrying unit 91 corresponding to the first carrying unit 11, and the material on the remaining first material level 114 is transferred to the adjacent and rear first material level 114;

[0126] The loading mechanism 5 places the material on the second material level 211 at the loading position, and the first pushing member 10 pushes the material on the fourth material level 911 in front of the discharge line 16 to the discharge line 16; the first detection mechanism 3 detects the material on the third material level 212 at the first detection position;

[0127] After the material detection at the third material level 212 at the first detection position is completed, S1 is repeated;

[0128] By cycling the above steps, the transmission and detection of each material can be achieved, with no gaps in the beat and high efficiency.

[0129] The description of the above specification and embodiments is used to explain the protection scope of the present invention, but does not constitute a limitation on the protection scope of the present invention. Through the enlightenment of the present invention or the above embodiments, ordinary technicians in this field can obtain modifications, equivalent substitutions or other improvements to the embodiments of the present invention or part of the technical features thereof through logical analysis, reasoning or limited experiments, which should be included in the protection scope of the present invention.

Claims

1. A transfer device for transferring materials, characterized in that: include The frame is provided with two first bearing units parallel to each other, each of the first bearing units is provided with a first bearing portion in front and a second bearing portion in rear along a first direction, a gap is formed between the first bearing portion and the second bearing portion, the first bearing portion and the second bearing portion are both provided with a plurality of first material levels for parking materials along the first direction, and the spacing between adjacent first material levels is the first spacing; A slide, which is provided with two second bearing units, each of which is provided with a second material level in front and a third material level in rear along a first direction, and the second material level and the third material level are both used for parking materials; the slide reciprocates relative to the frame along a second direction perpendicular to the first direction and stops at one of the two first bearing units; when stopping, the second material level of one of the two second bearing units is located in front of the first bearing part of the corresponding stopped first bearing unit and the third material level is located in the interval of the corresponding stopped first bearing unit, and the spacing between the second material level and the adjacent first material level and the spacing between the third material level and the adjacent first material level are both the first spacing, the second material level of the other of the two second bearing units is located at the loading position and the third material level is located at the first detection position; The step-by-step transfer mechanism has the same number as the first load-bearing units and corresponds to each other. When the carriage stops at the corresponding first load-bearing unit, the step-by-step transfer mechanism transfers the material on the second material level to the first load-bearing unit, transfers the material on the first material level at the rear of the first load-bearing unit to the third material level, transfers the material on the third material level to the second load-bearing unit, and transfers the material on the remaining first material levels to the adjacent and rear first material levels. The loading mechanism is used to place the material on a second material level located at the loading position when the slide is parked.

2. A transfer device according to claim 1, characterized in that: The step-by-step transfer mechanism comprises a base, a rotating member, a first sliding member, a second sliding member, a transfer plate, a first resetting member and a second resetting member; The rotating member rotates relative to the base around a first axis perpendicular to the first direction and the second direction; the rotating member is provided with a first cam and a second cam; The first cam is provided with a first arc surface, a first curved surface, a second arc surface and a second curved surface which are sequentially connected and parallel to the first axis; The second cam is provided with a third arc surface, a third curved surface, a fourth arc surface and a fourth curved surface which are sequentially connected and parallel to the first axis; The first arc surface corresponds to the third arc surface, and the second arc surface corresponds to the fourth arc surface; The first sliding member moves relative to the base along the second direction; the first sliding member is provided with a first abutting portion abutting against the first cam; the second sliding member moves relative to the base along the first direction, the second sliding member is provided with a second abutting portion abutting against the second cam; a perpendicular line between a contact point between the first abutting portion and the first cam and a first axis is defined as a first line segment, and a perpendicular line between a contact point between the second abutting portion and the second cam and the first axis is defined as a second line segment; projections of the first line segment and the second line segment on a first plane perpendicular to the first axis are perpendicular to each other; The transfer plate is used to transfer a plurality of materials and is slidably connected to the first sliding member along a first direction; the transfer plate is provided with a first transfer portion, and the first transfer portion is provided with a plurality of pushing surfaces equidistantly arranged along the first direction and parallel to the second direction to push a plurality of materials to step along the first direction; The first restoring member acts between the base and the first sliding member along a second direction so that the first abutting portion always abuts against the first cam; The second restoring member acts between the transfer plate and the first sliding member along a first direction so that the transfer plate always abuts against the second sliding member, and the second abutting portion always abuts against the second cam.

3. A transfer device according to claim 2, characterized in that: It also includes a material unloading mechanism, a material discharging line and a first material pushing member; the material unloading mechanism is provided with two third bearing units along the second direction, each of the third bearing units is provided with a fourth material level for parking materials, the material unloading mechanism reciprocates relative to the frame along the second direction and stops at one of the two first bearing units; when the slide stops at the corresponding first bearing unit, the material unloading mechanism also stops at the first bearing unit, and when the material unloading mechanism stops, the fourth material level of one of the two third bearing units is located behind the second bearing part of the corresponding stopped first bearing unit, and the distance between the fourth material level and the adjacent first material level is the first distance, and the fourth material level of the other of the two third bearing units is located in front of the material unloading line; The step-by-step transfer mechanism transfers the material on the first material level at the rear of the second bearing part to the fourth material level when the carriage stops at the corresponding first bearing unit and the unloading mechanism also stops at the first bearing unit; The discharging line is installed on the frame and extends along the first direction; The first pushing member is installed on the frame and is provided with a first pushing plate suitable for repeatedly moving along the first direction. The first pushing plate is suitable for pushing the material on the fourth material level of any third carrying unit to the discharge line when the fourth material level is located in front of the discharge line.

4. A transfer device according to claim 3, characterized in that: The unloading line includes a good product line and a first bad product line arranged along the second direction, the unloading mechanism includes a third sliding member and a first driving member installed on the third sliding member and the number of which is the same as that of the third bearing unit and corresponds one to one, and the first driving member is provided with an output plate suitable for moving along the second direction; The third sliding member reciprocates along the second direction and stops at one of the two first bearing units; the two fourth material levels are respectively arranged on the output plates of the two first driving members. The fourth material level of one of the two third carrying units is suitable for being driven by the corresponding first driving member so that the fourth material is located behind the second carrying part of the corresponding first carrying unit when docked, and the fourth material level of the other one of the two third carrying units is driven by the corresponding first driving member according to whether the material thereon is good or bad so that the fourth material level is located in front of the good line or in front of the first bad line.

5. A transfer device according to claim 4, characterized in that: It also includes a second pushing piece; the frame is also provided with a first material storage trough and a second material storage trough; the first material storage trough is connected to the good product line, the second material storage trough is connected to the first defective product line, the second pushing piece is installed on the frame, and the second pushing piece is provided with a second pushing plate suitable for moving along the second direction to push the material on the good product line to the first material storage trough or the material on the first defective product line to the second material storage trough.

6. A transfer device according to claim 5, characterized in that: The feeding mechanism is provided with a feeding line and a first transfer mechanism, the frame is provided with a limiting hole for positioning materials and extending along a first direction, and the feeding line is installed on the frame and located at the bottom of the limiting hole; The frame is further provided with a limiting portion, the limiting portion is located above the feeding assembly line, the limiting portion is provided with a limiting surface, the limiting surface is configured to only allow the material on the feeding assembly line to pass through in a posture suitable for detection, and the limiting surface is perpendicular to the first direction; The first transfer mechanism is installed on the frame and located at the end of the loading line so as to be suitable for placing the material on the loading line on a second material level located at the loading position when the slide stops.

7. A transfer device according to claim 6, characterized in that: The limiting portion is also provided with a stop surface, which is located in front of the limiting surface and faces the loading assembly line. The stop surface is vertically connected to the limiting surface, and is used to prevent any material from rotating when it hits the limiting surface in a posture that is not suitable for detection.

8. A transfer device according to claim 6, characterized in that: It also includes a first manipulator and a third material pushing member; The first manipulator and the third material pusher are both mounted on the frame; The first manipulator is suitable for grabbing materials and making the materials suspended and parked at the second detection position; The frame is further provided with a second defective product line and a third bearing portion, and the third bearing portion and the second defective product line are arranged along a second direction; The third material pushing member is provided with a third pushing plate adapted to repeatedly move along the second direction, and the third pushing plate is adapted to push the material on the third bearing part to the second inferior product line when the material on the third bearing part is inferior product; The first transfer mechanism comprises a fourth sliding member and a triple clamping claw mounted on the fourth sliding member, and the fourth sliding member is suitable for repeatedly sliding on the frame along the first direction; The triple clamp is suitable for being driven by the fourth sliding member to simultaneously grab materials at the loading line, the second detection position and the third load-bearing part, or is suitable for simultaneously placing materials on the second detection position, the third load-bearing part and the second material level at the loading position when the slide is parked.

9. A transfer device according to claim 8, characterized in that: It also includes a first detection mechanism and a second detection mechanism, wherein the first detection mechanism and the second detection mechanism are installed on the frame, the first detection mechanism is suitable for detecting materials at a first detection position, and the second detection mechanism is suitable for detecting materials at a second detection position.

10. A control method for a transfer device, characterized in that: Based on a transfer device according to any one of claims 1 to 9, the control method comprises the following steps: S1: Control the slide to make the slide stop at one of the two first carrying units corresponding to the slide, control the stepping transfer mechanism corresponding to the first carrying unit to move so that the material on the second material level of the second carrying unit corresponding to the first carrying unit is transferred to the first carrying part, and the material on the first material level at the rear of the first carrying part is transferred to the third material level of the second carrying unit corresponding to the first carrying unit for detection, and transfer the material on the third material level of the second carrying unit corresponding to the first carrying unit that has completed the detection to the second carrying part, and transfer the remaining materials on the first material level to the adjacent and rear first material level; After the material detection at the third material level at the first detection position is completed, S2 is performed; S2: Control the slide to make the slide stop at another first carrying unit corresponding to the slide, control the stepping transfer mechanism corresponding to the first carrying unit to move so that the material on the second material level of the second carrying unit corresponding to the first carrying unit is transferred to the first carrying part, and the material on the first material level at the rear of the first carrying part is transferred to the third material level of the second carrying unit corresponding to the first carrying unit for detection, and transfer the material on the third material level of the second carrying unit corresponding to the first carrying unit that has completed the detection to the second carrying part, and transfer the remaining material on the first material level to the adjacent and rear first material level; After the material detection at the third material level at the first detection position is completed, S1 is performed again.

Images