Material transfer device and method

Abstract

The invention provides a material transfer device, which is used for transferring small, light and fragile materials, and comprises a substrate which is vertically arranged on the edge of a bottom plate, the end surface of the substrate facing the bottom plate is a reverse surface, the other end surface of the substrate is a front surface, and the substrate is provided with a mounting hole; the baffle is fixed to the front face of the base plate, and the electric eye is used for detecting whether conveyed materials exist in front of the baffle or not; the blowing nozzle is fixed to the front face of the base plate, the blowing nozzle is connected with an air path, the blowing nozzle faces the baffle, and the blowing nozzle is used for blowing air to attach the materials to the baffle when the electric eye detects the materials; the suction cup type mechanical arm comprises a mechanical arm body and a suction cup located at the end of the mechanical arm body, the suction cup is communicated with a gas circuit device, when the electric eye detects materials, the mechanical arm body is driven to move towards the baffle, the suction cup makes contact with the materials attached to the baffle, and the gas circuit device works to make the suction cup in a negative pressure state to complete suction. The mechanical arm is away from the baffle and moves to the material to-be-released position, and the gas circuit device works to enable the suction cup to be in a positive pressure state to release materials.

Description

Technical Field

[0001] The present application relates to the field of packaging machinery, and in particular to a material transfer device used in an automatic bag delivery machine. Correspondingly, it also relates to a material transfer method using the material transfer device. Background Art

[0002] The automatic bag delivery machine is a type of packaging machinery, which is widely used in the food, medicine and other industries. It is mainly used to cut off the continuous connected bag and deliver the single independent packaging bag to the delivery target object, such as the bag of instant noodles, the preservative bag in the food bag, etc. In the existing technology, it generally includes self-sliding delivery, clamping delivery, and synchronous push delivery. However, for special materials, such as small, light, and fragile materials, the above delivery cannot be used. Summary of the invention

[0003] In view of this, the present application provides a material transfer device, the specific structure of which includes: a substrate, which is vertically arranged on the edge of a bottom plate, the end face of the substrate facing the bottom plate is the back side, and the other end face is the front side, and the substrate is provided with a mounting hole; a vertically arranged baffle, which is fixed on the front side of the substrate, and an electric eye, which is used to detect whether there is material being conveyed in front of the baffle; a blowing nozzle, which is fixed on the front side of the substrate, the blowing nozzle is connected to an air circuit, the blowing nozzle faces the baffle, and the blowing nozzle is used to blow air when the electric eye detects the material so as to attach the material to the baffle; a suction cup type mechanical arm, including a mechanical arm and a suction cup located at the end of the mechanical arm, the suction cup is connected to an air circuit device, when the electric eye detects the material, the mechanical arm is driven to move toward the baffle so that the suction cup contacts the material attached to the baffle, the air circuit device works to make the suction cup in a negative pressure state to complete the suction of the material, the mechanical arm is driven away from the baffle and moved to a position where the material is to be released, and the air circuit device works to make the suction cup in a positive pressure state to release the material.

[0004] With the above-mentioned specific structure, when the material is transported to the position by the front device, the electric eye detects the material and controls the blow nozzle to blow out gas to stick the material to the baffle. At the same time, the robotic arm rotates, and after it rotates to the position, the suction cup absorbs the material attached to the baffle with negative pressure. At the same time, after the front device is cut off, the robotic arm rotates again to move the material to the release position, the suction cup enters a positive pressure state, and releases the material. For smaller, lighter or fragile materials, the material transfer device provided in this application uses air blowing positioning and a suction cup fixing method to protect the material to the greatest extent.

[0005] As a possible implementation method, the end shaft of the robotic arm where the suction cup is not provided is connected to a driving shaft, and the driving shaft is connected to a driving device, and the driving device is fixedly provided at the mounting hole on the back surface of the substrate; a connecting shaft is provided at the end of the robotic arm for connecting the suction cup, and the connecting shaft is fixed to the robotic arm through a connecting shaft seat, and the suction cup is provided on a suction cup mounting block, and the suction cup mounting block is fixedly provided on the connecting shaft through a suction cup bracket and can rotate following the connecting shaft.

[0006] As a possible implementation, it also includes: a rotating shaft, which is rotatably fixed on the base plate, and a detection plate is provided on the rotating shaft; a guide shaft, which is connected to the rotating shaft through a bearing mounting block, one end of the guide shaft is fixedly connected to the connecting shaft, and the guide shaft can slide in the bearing mounting block; an induction switch, which is fixedly arranged on the base plate, and the induction switch cooperates with the detection plate to control the driving device.

[0007] As a possible implementation, the air circuit device is arranged on the base plate and connected to an external air source, and the air circuit device includes: an air source inlet, connected to the air source, the air source inlet is connected to a three-way joint air circuit, one end of the three-way joint is connected to the blowing nozzle through a first air pipe; a vacuum generator, including an air inlet and an air outlet, the air inlet is connected to the air circuit of the other end of the three-way joint, the air outlet is connected to the suction cup through a second air pipe, and the second air pipe passes from the back side of the substrate to the front side of the substrate; a solenoid valve is arranged on the first air pipe.

[0008] As a possible implementation, a quick-connect connector is provided on the substrate, and the quick-connect connector connects the front and back sides of the substrate. The second air pipe includes a third air pipe and a fourth air pipe. The third air pipe is connected to the quick-connect connector from the air outlet. The third air pipe includes: a digital display, which is provided on the bottom plate and is used to display the real-time pressure of the suction cup, and a filter, which is provided on the back side of the substrate and is used to filter the gas entering the suction cup; an air pipe connector is provided on the suction cup mounting block, and the air pipe connector is connected to the suction cup. The fourth air pipe is connected from the quick-connect connector to the air pipe connector.

[0009] As a possible implementation, a flow regulating valve is provided at the blowing nozzle, and the flow regulating valve is used to adjust the air volume of the blowing nozzle.

[0010] As a possible implementation, the electric eye is electrically connected to an amplifier, and the amplifier is fixedly arranged on the front side of the substrate.

[0011] As a possible implementation, the driving device includes a reducer and a motor, the reducer is fixedly arranged on the reverse side of the substrate, the motor is connected to the reducer, and the driving shaft is the output shaft of the reducer.

[0012] As a possible implementation manner, a fixed limiting pin is provided at one end of the guide shaft away from the connecting shaft, and the fixed limiting pin is used to limit the guide shaft.

[0013] As a possible implementation, the induction switch is a slot-type switch, and the slot-type switch cooperates with the detection board; the slot-type switch is fixed on the base plate by a right-angle plate.

[0014] As a possible implementation, a bushing bearing is arranged between the connecting shaft and the connecting shaft seat, and the connecting shaft can rotate in the bushing bearing; the rotating shaft is limited on the front side of the substrate by a bearing, a bearing seat and a bearing sleeve; a circular through hole is arranged on the bearing mounting block, and a linear bearing is arranged in the circular through hole, and the linear bearing is limited in the circular through hole by a cover plate, and the guide shaft passes through the linear bearing, and the guide shaft can slide in the linear bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The various technical features of the present application and the relationship between them are further explained below with reference to the accompanying drawings. The accompanying drawings are exemplary, and some technical features are not shown in actual proportion. In addition, some drawings may omit technical features that are commonly used in the technical field to which the present application belongs and are not essential for understanding and implementing the present application, or additional technical features that are not essential for understanding and implementing the present application may be shown. In other words, the combination of the various technical features shown in the accompanying drawings is not used to limit the present application. In addition, throughout the present application, the same figure numbers refer to the same content. The specific description of the drawings is as follows:

[0016] Figure 1 A schematic diagram of a material transfer device according to an embodiment of the present application;

[0017] Figure 2 An exploded view of a portion of parts on the front side of a substrate in a material transfer device according to an embodiment of the present application;

[0018] Figure 3 An exploded view of another part of the front side of the substrate in the material transfer device involved in the embodiment of the present application;

[0019] Figure 4 A schematic diagram of the gas path portion on the back side of the substrate in the material transfer device involved in the embodiment of the present application;

[0020] Figure 5A schematic diagram of a front gas path portion of a substrate in a material transfer device according to an embodiment of the present application;

[0021] Figure 6 This is a schematic diagram of a waiting material suction station of a material transfer device according to an embodiment of the present application;

[0022] Figure 7 This is a schematic diagram of a material suction station of a material transfer device according to an embodiment of the present application;

[0023] Figure 8 This is a schematic diagram of a first material moving station of a material transfer device according to an embodiment of the present application;

[0024] Fig. 9 This is a schematic diagram of a second material moving station of a material transfer device according to an embodiment of the present application;

[0025] Fig.10 This is a schematic diagram of a material discharge station of a material transfer device according to an embodiment of the present application;

[0026] Fig.11 This is a schematic diagram of a suction cup type robot arm in a material transfer device at a material suction station according to an embodiment of the present application.

[0027] Description of reference numerals: 10-material; 20-base plate; 21-mounting hole; 30-bottom plate; 100-baffle; 110-baffle bracket; 120-electric eye; 130-amplifier; 140-electric eye bracket; 200-blow nozzle; 210-flow regulating valve; 220-blow nozzle mounting block; 230-blow nozzle bracket; 300-suction cup; 310-suction cup mounting block; 311-trachea joint; 320-suction cup bracket; 400-mechanical arm; 410-connecting shaft; 411-connecting shaft seat; 412-bushing bearing; 420-reducer; 421-driving shaft; 430-motor; 500 -rotating shaft; 510-bearing seat; 520-bearing; 530-bearing sleeve; 540-detection plate; 550-slot switch; 560-right angle plate; 600-guide shaft; 610-bearing mounting block; 620-linear bearing; 630-cover plate; 640-fixed limit pin; 1000-air path device; 1001-air source inlet; 1002-quick plug connector; 1003-three-way connector; 1004-vacuum generator; 1005-solenoid valve; 1006-digital display; 1007-filter; 1008-first air pipe; 1009-third air pipe; 1010-fourth air pipe. DETAILED DESCRIPTION

[0028] Below, the specific implementation methods of the present application are described in detail with reference to the accompanying drawings.

[0029] The present application provides a material transfer device, such as Figure 1As shown, it includes a bottom plate 30 and a substrate 20 vertically arranged at the edge of the bottom plate 30. The end surface of the substrate 20 facing the bottom plate 30 is the reverse side, and the other end surface is the front side. Figure 3 As shown, a mounting hole 21 is provided on the base plate 20 , and a suction cup type mechanical arm is provided through the mounting hole 21 .

[0030] Among them, Figure 2 As shown, a baffle 100 is vertically arranged on the front of the substrate 20 for carrying the material 10 so that the material 10 can be attached to the baffle 100. At the same time, an electric eye 120 is also arranged in conjunction with the baffle 100 for detecting whether there is a material 10 being transported in front of the baffle 100. The electric eye 120 is electrically connected to an amplifier 130, and the amplifier 130 is fixedly arranged on the front of the substrate 20. A blowing nozzle 200 facing the baffle 100 and connected to an air path is also arranged on the front of the substrate 20. The blowing nozzle 200 is used to blow air when the electric eye 120 detects the material 10, so as to attach the material 10 to the baffle 100.

[0031] In this embodiment, if Figure 2 As shown, the baffle 100 is fixedly arranged on the front side of the substrate 20 through the baffle bracket 110. The electric eye 120 is fixedly mounted on the baffle bracket 110 through the electric eye bracket 140. In addition, in other embodiments, the baffle 100 and the electric eye 120 can be fixedly arranged on the substrate 20 directly or by other means.

[0032] In this embodiment, if Figure 2 As shown, the mouthpiece 200 is fixed to the mouthpiece bracket 230 through the mouthpiece mounting block 220, and the mouthpiece bracket 230 is fixedly arranged on the front of the substrate 20. A flow regulating valve 210 is arranged at the mouthpiece 200, and the flow regulating valve 210 is used to adjust the air volume of the mouthpiece 200. In addition, in other embodiments, other methods can also be used to adjust the air volume, for example, using a solenoid valve 1005, a variable nozzle and other devices.

[0033] In this embodiment, if Figure 2 As shown, the electric eye 120 is an optical fiber electric eye 120, which has a high anti-interference performance. In addition, in other embodiments, other types of electric eyes 120 may also be used, such as infrared electric eyes 120, ultrasonic electric eyes 120, etc.

[0034] Among them, Figure 3 , 10As shown, the suction cup type robot arm includes a robot arm 400 and a suction cup 300 located at the end of the robot arm 400. The suction cup 300 is connected to an air circuit device 1000. When the electric eye 120 detects the material 10, the air pump makes the suction cup 300 in a negative pressure state, and the robot arm 400 is driven to move toward the baffle 100, so that the suction cup 300 absorbs the material 10 attached to the baffle 100; then, the robot arm 400 is driven away from the baffle 100 and moves to the position where the material 10 is to be released, and the air circuit device 1000 works to make the suction cup 300 in a positive pressure state to release the material 10.

[0035] Among them, Figure 3 , 10 As shown, the end of the mechanical arm 400 where the suction cup 300 is not provided is connected to a drive shaft 421, and the drive shaft 421 is connected to a drive device, and the drive device is fixedly arranged at the mounting hole 21 on the reverse side of the substrate 20. The end of the mechanical arm 400 for connecting the suction cup 300 is provided with a connecting shaft 410, and the connecting shaft 410 is fixed to the mechanical arm 400 through a connecting shaft seat 411. The suction cup 300 is arranged on a suction cup mounting block 310, and the suction cup mounting block 310 is fixedly arranged on the connecting shaft 410 through a suction cup bracket 320, and can rotate with the connecting shaft 410. A bushing bearing 412 is arranged between the connecting shaft 410 and the connecting shaft seat 411, and the connecting shaft 410 can rotate in the bushing bearing 412. The rotating shaft 500 is limited on the front side of the substrate 20 by the bearing 520, the bearing seat 510 and the bearing sleeve 530.

[0036] In this embodiment, if Figure 3 As shown, the driving device includes a reducer 420 and a motor 430, and the reducer 420 is fixedly arranged on the reverse side of the substrate 20. The motor 430 is connected to the reducer 420, and the drive shaft 421 is the output shaft of the reducer 420. Through the rotation of the motor, the reducer 420 drives the mechanical arm 400 to reciprocate within the range of motion through the drive shaft 421. In addition, in other embodiments, other types of driving devices can also be used, or other layout structures can be adopted, for example, using a servo motor, etc.

[0037] Among them, Figure 3As shown, the front or back side of the substrate 20 also includes a rotatable shaft 500. A detection plate 540 is arranged on the shaft 500. A guide shaft 600 is connected to the shaft 500 through a bearing mounting block 610, and one end of the guide shaft 600 is fixedly connected to the connecting shaft 410. The guide shaft 600 can slide in the bearing mounting block 610. A fixed limit pin 640 is arranged at one end of the guide shaft 600 away from the connecting shaft 410, and the fixed limit pin 640 is used to limit the guide shaft 600. An induction switch is fixedly arranged on the front or back side of the substrate 20, and the induction switch cooperates with the detection plate 540 to control the driving device. The slot switch is fixedly arranged on the front or back side of the substrate 20 through a right angle plate 560.

[0038] In this embodiment, if Figure 3 As shown, a circular through hole is provided on the bearing mounting block 610, and a linear bearing 620 is provided in the circular through hole. The linear bearing 620 is limited in the circular through hole by a cover plate 630. The guide shaft 600 passes through the linear bearing 620, and the guide shaft 600 can slide in the linear bearing 620.

[0039] In this embodiment, the inductive switch is a slot switch 550. The slot switch 550 includes a slot in which a sensing device is disposed. The sensing device cooperates with the detection board 540 to control the driving device. In addition, in other embodiments, other types of inductive switches may also be used, for example, the sensing device is directly used in conjunction with the detection board 540.

[0040] Among them, Figure 4 , 5 As shown, the material transfer device involved in the present application also includes an air circuit device 1000 arranged on the bottom plate 30, and the air circuit device 1000 includes an air source inlet 1001 connected to an external air source. The air source inlet 1001 is connected to a three-way joint 1003 in an air circuit, and one end of the three-way joint 1003 is connected to the blowing nozzle 200 through a first air pipe 1008, and a solenoid valve 1005 is arranged on the first air pipe 1008. The other end of the three-way joint 1003 is connected to the air circuit of the air inlet of a vacuum generator 1004, and the air outlet of the vacuum generator 1004 is connected to the suction cup 300 through a second air pipe, and the second air pipe passes from the back side of the substrate 20 to the front side of the substrate 20.

[0041] In this embodiment, if Figure 4 , 5As shown, a quick-connect connector 1002 is provided on the substrate 20, and the quick-connect connector 1002 is connected to the front and back sides of the substrate 20. The second air pipe includes a third air pipe 1009 and a fourth air pipe 1010. The third air pipe 1009 is connected to the quick-connect connector 1002 from the air outlet. The third air pipe 1009 includes: a digital display 1006, which is provided on the bottom plate 30 and is used to display the real-time pressure of the suction cup 300; a filter 1007, which is provided on the back side of the substrate 20 and is used to filter the gas entering from the negative pressure suction cup 300 to prevent dust and the like from entering the vacuum generator 1004 and causing damage to it. The filter 1007 is externally arranged to facilitate the replacement of the filter element. An air pipe connector 311 is provided on the suction cup mounting block 310, and the air pipe connector 311 is connected to the suction cup 300. The fourth air pipe 1010 is connected from the quick-connect connector 1002 to the air pipe connector 311.

[0042] Among them, in the material transfer device involved in the present application, the suction cup type mechanical arm includes multiple stations in the process of transferring the material 10:

[0043] (1) Waiting for the suction station: Figure 6 As shown, when the material is delivered to the position by the front device, the motor 430 drives the mechanical arm 400 to rotate through the driving shaft 421, so that the suction cup 300 is close to the baffle 100. At this position, after the electric eye 120 detects the material 10, the blowing nozzle 200 starts to blow air, blowing the material 10 to the baffle 100 and sticking it to the baffle 100. In addition, at this position, it is the starting position of the suction cup type mechanical arm.

[0044] (2) Suction station / material cutting station: Figure 7 As shown, the motor 430 drives the drive shaft 421 to rotate counterclockwise and drives the mechanical arm 400 to rotate, so that the suction cup 300 is close to the material 10 and absorbs the material 10. Then, the blowing nozzle 200 stops blowing and uses the cutting mechanism to cut the material 10. In addition, at this station, the detection plate 540 is coupled with the slot switch, so that the slot switch sends an electrical signal. (3) Material moving station: Figure 8-9 As shown, the motor 430 drives the driving shaft 421 to rotate clockwise and drives the mechanical arm 400 to rotate, thereby driving the material 10 to be transported from the baffle 100 to other locations.

[0045] (4) Unloading station: Fig.10 As shown, when the material 10 is transported to the material discharging position, a release signal is obtained, and the suction cup 300 enters a positive pressure state to put the material 10 down.

[0046] When the motor 430 receives a reset signal, the suction cup type robot arm can perform two actions:

[0047] (1) When the motor 430 receives a reset signal and the slot switch 550 has no electrical signal, the motor 430 drives the robot arm 400 to rotate counterclockwise; when the suction cup robot arm rotates to the suction station, the motor 430 receives an electrical signal from the slot switch 550, causing the motor 430 to drive the robot arm 400 to rotate clockwise. The motor 430 stops after a fixed number of pulses, and this position is the waiting position for suction. By setting the number of pulses, a specific waiting position for suction can be preset.

[0048] (2) When the motor 430 receives a reset signal and the slot switch 550 receives an electrical signal, the motor 430 drives the robot arm 400 to rotate clockwise, as described in action (1), so that the robot arm 400 stops at the waiting position for the material suction.

[0049] In this embodiment, a control device and a control program applied to the control device are also included, which are used to send release signals, reset signals, switch signals, etc. to the driving device and / or the air circuit device, so as to realize the control of the material transfer device involved in the embodiment of the present application.

[0050] It can be understood that the present application also provides a material transfer method for transferring materials using the material transfer device involved in the embodiment of the present application.

[0051] In summary, the material transfer device provided by the present application uses the blowing nozzle 200 to position the material 10, and the suction cup 300 and the mechanical arm 400 to fix and move the material 10, so that the force applied to the material 10 is relatively small. Therefore, when transferring relatively small, light or fragile materials 10, the material transfer device provided by the present application can avoid or reduce damage to the material 10.

[0052] The term "comprising" used throughout the present application should not be interpreted as being limited to what is listed thereafter; it does not exclude other structural elements or steps.

[0053] It can be understood that those skilled in the art can combine the features mentioned in one or more embodiments mentioned in the entire application with the features in other embodiments in any appropriate manner to implement the application.

[0054] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the technical concept of the present application, all of which belong to the protection scope of the present application.

Claims

1. A material transfer device, characterized in that: include: A base plate is vertically arranged on the edge of a bottom plate, the end surface of the base plate facing the bottom plate is the reverse side, the other end surface is the front side, and a mounting hole is arranged on the base plate; A vertically arranged baffle is fixed on the front side of the substrate. An electric eye is used to detect whether there is material being transported in front of the baffle; A blowing nozzle is fixed on the front side of the substrate, the blowing nozzle is connected to an air path device, the blowing nozzle faces the baffle, and the blowing nozzle is used to blow air to attach the material to the baffle when the electric eye detects the material; A suction cup type robotic arm comprises a robotic arm and a suction cup at the end of the robotic arm, wherein the suction cup is connected to the air circuit device, and when the electric eye detects the material, the robotic arm is driven to move toward the baffle so that the suction cup contacts the material attached to the baffle, and the air circuit device works to put the suction cup into a negative pressure state to complete the absorption of the material, and the robotic arm is driven away from the baffle and moved to a position where the material is to be released, and the air circuit device works to put the suction cup into a positive pressure state to release the material.

2. The material transfer device according to claim 1, characterized in that: One end of the mechanical arm where the suction cup is not provided is connected to a driving device via a driving shaft, and the driving device is fixedly provided at the mounting hole on the reverse side of the substrate; A connecting shaft is provided on the end of the robotic arm for connecting the suction cup, and the connecting shaft is fixed to the robotic arm through a connecting shaft seat. The suction cup is provided on a suction cup mounting block, and the suction cup mounting block is fixed on the connecting shaft through a suction cup bracket and can rotate with the connecting shaft.

3. The material transfer device according to claim 2, characterized in that: Also includes: A rotating shaft is rotatably fixed on the base plate, and a detection plate is arranged on the rotating shaft; A guide shaft connected to the rotating shaft through a bearing mounting block, one end of the guide shaft is fixedly connected to the connecting shaft, and the guide shaft can slide in the bearing mounting block; The induction switch is fixedly arranged on the substrate, and the induction switch cooperates with the detection board to control the driving device.

4. The material transfer device according to claim 1, characterized in that: The gas path device is arranged on the bottom plate and connected to an external gas source, and the gas path device comprises: An air source inlet is connected to an air source, wherein the air source inlet is connected to a three-way joint air circuit, and one end of the three-way joint is connected to the blowing nozzle through a first air pipe; A vacuum generator, comprising an air inlet and an air outlet, wherein the air inlet is connected to the air path at the other end of the three-way joint, and the air outlet is connected to the suction cup through a second air pipe, and the second air pipe passes from the back side of the substrate to the front side of the substrate; The solenoid valve is arranged on the first air pipe.

5. The material transfer device according to claim 4, characterized in that: The substrate is provided with a quick-connect connector, the quick-connect connector connects the front and back sides of the substrate, the second air pipe includes a third air pipe and a fourth air pipe, the third air pipe is connected to the quick-connect connector from the air outlet, and the third air pipe includes: A digital display is arranged on the bottom plate and is used to display the real-time pressure of the suction cup. A filter, disposed on the reverse side of the substrate, for filtering the gas entering the suction cup; The suction cup mounting block is provided with an air pipe joint, the air pipe joint is communicated with the suction cup, and the fourth air pipe is connected to the air pipe joint from the quick-connect joint; The blowing nozzle is provided with a flow regulating valve, and the flow regulating valve is used to adjust the air volume of the blowing nozzle.

6. The material transfer device according to claim 1, characterized in that: The electric eye is electrically connected to an amplifier, and the amplifier is fixedly arranged on the front side of the substrate.

7. The material transfer device according to claim 2, characterized in that: The driving device comprises a reducer and a motor. The reducer is fixedly arranged on the reverse side of the substrate. The motor is connected to the reducer. The driving shaft is the output shaft of the reducer.

8. The material transfer device according to claim 3, characterized in that: A fixed limiting nail is provided at one end of the guide shaft away from the connecting shaft, and the fixed limiting nail is used to limit the guide shaft; The induction switch is a slot-type switch, and the slot-type switch cooperates with the detection board; The slot switch is fixed on the base plate through a right angle plate.

9. The material transfer device according to claim 3, characterized in that: A bushing bearing is provided between the connecting shaft and the connecting shaft seat, and the connecting shaft can rotate in the bushing bearing; The rotating shaft is limited on the front side of the base plate by means of a bearing, a bearing seat and a bearing sleeve; A circular through hole is provided on the bearing mounting block, a linear bearing is provided in the circular through hole, the linear bearing is limited in the circular through hole by a cover plate, the guide shaft passes through the linear bearing, and the guide shaft can slide in the linear bearing.

10. A material transfer method, characterized in that: The material is transferred using the material transfer device as described in any one of claims 1 to 9.

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