A material transfer device

Abstract

The present invention relates to a material transfer device, which comprises a vertical plate with a chute formed on the plate body, and a first slide rail provided at the bottom side of the vertical plate; a driving mechanism, which includes a swing arm and a power unit for driving the swing arm to swing, and a long hole extending along the length direction of the swing arm is provided in the middle of the swing arm; a lifting frame, which includes a second slide rail perpendicular to the length direction of the first slide rail, a roller seat provided at the upper end of the second slide rail, a roller rotatably arranged on the roller seat, and a handling frame provided at the lower end of the second slide rail, and the roller passes through the long hole and is adapted to the chute; a transverse movement frame, which includes a first slider cooperating with the first slide rail and a second slider cooperating with the second slide rail; a damping member, which is provided between the lifting frame and the transverse movement frame or on the vertical movement path of the roller. This material transfer device can distribute the supporting force on the lifting frame to positions other than the roller through the damping member, so that the swing arm can easily reverse its direction, reduce the wear of the rotating shaft of the power unit, improve the service life of the parts, and ensure the reliability of the operation of the material transfer device.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation devices, and particularly relates to a material transfer device. Background Art

[0002] A photovoltaic module is a device used to convert light energy into electrical energy, generally assembled by a photovoltaic panel and a photovoltaic frame. In the manufacturing process of photovoltaic modules, many handling mechanisms are involved.

[0003] The photovoltaic frame is a long-shaped profile. When handling it, a PPU handling module can be used. For example, a precision cam picking and placing mechanism disclosed in Chinese Patent CN214454950U includes a base, a bearing, a central shaft, a horizontal guide rail, a sliding seat, two vertical guide rails, a swing arm, and a motor; a reverse U-shaped guide groove is provided on the front side of the base; the bearing is adapted to the guide groove and moves back and forth along the guide groove; the central shaft is arranged on the bearing and extends longitudinally front and back; the horizontal guide rail is fixed on the front side of the base and is located below the guide groove; the sliding seat is horizontally slidably installed on the horizontal guide rail through a first slider, and two second sliders arranged left and right are provided on the sliding seat; the two vertical guide rails are respectively slidably installed on the corresponding second sliders and move up and down vertically back and forth, and the upper ends of the two vertical guide rails are connected to the central shaft through a connecting block; the swing arm is connected to the central shaft; the motor is fixed on the base and drives the swing arm to rotate. Under the restriction of the reverse Y-shaped guide groove, the bearing can only move along a movement trajectory of first upward, then horizontally, and then downward, and the handling component connected below the bearing can only move along the movement trajectory of the bearing in a vertical plane. The bearing is driven by the swing arm to move. When the swing arm swings to the horizontal position, the outer end of the swing arm needs to overcome the torques of the vertical guide rail, the connecting block, the handling component, and the handling object to change the direction. In the case of a very fast handling rhythm, this torque will cause a large force on the bearing, resulting in rapid wear of the motor rotating shaft.

[0004] Therefore, it is necessary to improve the structure of the handling mechanism to solve the above problems. Summary of the Invention

[0005] The main purpose of the present invention is to provide a material transfer device, which can reduce the wear of the rotating shaft of the power unit, improve the service life of parts, and ensure the reliability of the operation of the handling mechanism.

[0006] The present invention realizes the above object through the following technical solutions: A material transfer device includes:

[0007] A vertical plate, on whose plate body a chute is opened. The chute includes a connected horizontal chute section and a vertical chute section, and a first slide rail is provided at the bottom side of the vertical plate;

[0008] A driving mechanism, which includes a swing arm and a power unit for driving the swing arm to swing. A long hole extending along the length direction of the swing arm is provided in the middle of the swing arm;

[0009] The lifting frame includes a second slide rail perpendicular to the length direction of the first slide rail, a roller seat provided at the upper end of the second slide rail, rollers rotatably provided on the roller seat, and a handling frame provided at the lower end of the second slide rail. The rollers pass through the long holes and are adapted to the chutes;

[0010] The transverse movement frame includes a first slider cooperating with the first slide rail and a second slider cooperating with the second slide rail;

[0011] The damping member is provided between the lifting frame and the transverse movement frame or on the vertical movement path of the rollers.

[0012] Specifically, the damping member includes two tension springs. The upper ends of the two tension springs are respectively connected to the two sides of the first slider in the X direction, and the lower ends are respectively connected to the two sides of the handling frame in the X direction.

[0013] Further, a vertical guide rod is provided inside the tension spring. The vertical guide rod is fixed to the upper part of the handling frame or the lower part of the first slider. The length of the vertical guide rod is less than the axial length of the tension spring when it is shortest. When the rollers move to the highest position in the chutes, the tension spring is shortest.

[0014] Further, the elastic coefficient of the tension spring is k1, its natural length L1 is the length of the tension spring when the rollers are at the highest point in the chutes, its maximum stretched length L2 is the length of the tension spring when the rollers are at the lowest point in the chutes, and the total weight of the lifting frame and the material is G. There is G = 2k1*(L2 - L1).

[0015] Specifically, the damping member includes two first compression springs. The upper ends of the two first compression springs abut against the lower part of the roller seat, and the lower ends abut against the upper part of the first slider. A guide rod or a guide tube penetrating into the upper end of the first compression spring is further provided on the roller seat, and a guide tube or a guide rod penetrating into the lower end of the first compression spring is provided on the first slider. The guide tube and the guide rod are slidably fitted in the Z direction.

[0016] Further, the elastic coefficient of the first compression spring is k2, its natural length L3 is the length of the first compression spring when the rollers are at the lowest point in the chutes, its minimum compressed length L4 is the length of the first compression spring when the rollers are at the highest point in the chutes, and the total weight of the lifting frame and the material is G. There is G = 2k2*(L3 - L4).

[0017] Specifically, the damping member includes two second compression springs. Each of the two second compression springs is sleeved on a second slide rail. The upper ends of the two second compression springs abut against the lower part of the roller seat, and the lower ends of the two second compression springs abut against the upper part of the second slider.

[0018] Further, the elastic coefficient of the second compression spring is k3, its natural length L5 is the length of the second compression spring when the roller is at the lowest point of the chute, and its minimum compression length L6 is the length of the second compression spring when the roller is at the highest point of the chute. The total weight of the lifting frame and the material is G, and G = 2k3 * (L5 - L6).

[0019] Specifically, the damping member includes a buffer. The buffer is arranged at the bottom of the vertical groove section and is located on the vertical movement path of the roller.

[0020] Further, the buffer includes a supporting block. The moving direction of the supporting block is the same as the groove length direction of the vertical groove section. In the initial state of the buffer, the supporting block of the buffer is located at the intersection of the horizontal groove section and the vertical groove section.

[0021] Further, the top surface of the supporting block has a concave arc surface matching the outer diameter of the roller. The concave arc surface of the supporting block is at the same height as the bottom surface of the horizontal groove section, and the width of the supporting block is the same as the groove width of the vertical groove section of the chute.

[0022] Further, the chute is integrally in an inverted U shape. Buffers are respectively arranged on the two vertical groove sections of the chute. The buffer further includes a supporting block and a return spring. The supporting block is located below the end of the chute. The lower part of the supporting block has a rod portion vertically passing through the supporting block. The return spring is sleeved outside the rod portion. The upper end of the rod portion abuts against the supporting block, and the lower end abuts against the supporting block. The total weight of the lifting frame and the material is G. When each return spring is compressed to the minimum length, it provides an elastic force of magnitude G.

[0023] The beneficial effects of the technical solution of the present invention are:

[0024] This material transfer device can distribute the supporting force on the lifting frame to positions other than the rollers through the damping member, reduce the wear of the rotating shaft of the power unit, improve the service life of the parts, and ensure the reliability of the operation of the material transfer device. Description of the Drawings

[0025] Figure 1 The front view of the material transfer device in Embodiment 1 with one of its tension springs hidden;

[0026] Figure 2 The left view of the material transfer device in Embodiment 1;

[0027] Figure 3 Partial perspective view of the material transfer device of Example 1 when the roller is at the lowest height;

[0028] Figure 4 Front view of the material transfer device of Example 2 with one of its first compression springs hidden;

[0029] Figure 5 Front view of the material transfer device of Example 3 with one of its second compression springs hidden;

[0030] Figure 6 Front view of the material transfer device of Example 4;

[0031] Figure 7 Enlarged view of the buffer of Example 4 when it is about to contact the roller.

[0032] The numbers in the figure indicate:

[0033] 1 - vertical plate, 11 - chute, 12 - first slide rail;

[0034] 2 - drive mechanism, 21 - swing arm, 211 - long hole, 22 - power unit;

[0035] 3 - lifting frame, 31 - second slide rail, 32 - roller seat, 33 - roller, 34 - handling frame;

[0036] 4 - transverse movement frame, 41 - first slider, 42 - second slider;

[0037] 5 - damping member, 51 - tension spring, 52 - vertical guide rod, 53 - first compression spring, 54 - guide rod, 55 - guide cylinder, 56 - second compression spring, 57 - buffer, 571 - support block, 572 - support block, 5721 - rod portion, 5722 - concave arc surface, 573 - return spring. Detailed implementation manners

[0038] The present invention will be further described in detail below with reference to specific embodiments.

[0039] Example 1:

[0040] As Figures 1 to 3As shown in the figure, a material transfer device of the present invention includes a vertical plate 1, a driving mechanism 2, a lifting frame 3, a transverse movement frame 4 and a damping member 5; a chute 11 is provided in the upper part of the plate body of the vertical plate 1, the chute 11 includes a connected horizontal chute section and a vertical chute section, and a first slide rail 12 is provided on the bottom side of the vertical plate 1; the driving mechanism 2 includes a swing arm 21 and a power unit 22 for driving the swing arm 21 to swing, and a long hole 211 extending along the length direction of the swing arm 21 is provided in the middle of the swing arm 21; the lifting frame 3 includes a pair of second slide rails 31, a roller seat 32 provided at the upper end of the second slide rail 31, a roller 33 rotatably provided at the rear part of the roller seat 32 and a handling frame 34 provided at the lower end of the second slide rail 31, the roller 33 passes through the long hole 211 and is adapted to the chute 11, and the handling frame 34 is used for handling materials; the transverse movement frame 4 includes a first slider 41 cooperating with the first slide rail 12 and a second slider 42 cooperating with the second slide rail 31; the damping member 5 is provided between the lifting frame 3 and the transverse movement frame 4, and the damping member 5 is used to offset the total weight G of the lifting frame 3 and the materials.

[0041] The length direction of the first slide rail 12 is along the X direction, the axial direction of the power unit 22 is along the Y direction, the length direction of the second slide rail 31 is along the Z direction, the X direction and the Y direction are both in the horizontal plane and perpendicular to each other, and the Z direction is the vertical direction. The vertical plate 1, the driving mechanism 2, the lifting frame 3 and the transverse movement frame 4 actually form a double-guide PPU handling module (also known as a PPU manipulator, a PPU cam handling module, etc.), and its main function is to pick up a moving object from one station, pass through an inverted U-shaped movement path (along the YZ plane), and transfer it to another station with a determined X-direction distance. Here, the power unit 22 is a rotary servo motor fixed on the vertical plate 1. At the moment of rotation of the swing arm 21, the lifting frame 3 will generate a large resistance moment on the swing arm 21, which will cause an impact on the rotating shaft of the power unit 2. In the case of larger material sizes, the size of the lifting frame 3 will also be larger, the self-weight will increase accordingly, the generated resistance moment will be larger, and the rotating shaft of the power unit 22 will be more easily damaged. The purpose of setting the damping member 5 is to distribute the supporting force on the lifting frame 3 to positions other than the rollers 33, reduce the wear of the rotating shaft of the power unit 2, improve the service life of the parts, and ensure the reliability of the operation of the material transfer device.

[0042] As Figure 1 and Figure 3 shown in the figure, the damping member 5 includes two tension springs 51, the upper ends of the two tension springs 51 are respectively connected to the two sides of the first slider 41 in the X direction, and the lower ends are respectively connected to the two sides of the handling frame 34 in the X direction.

[0043] This damping member 5 uses the elastic force generated by stretching the tension spring 51 from its natural length to counteract the gravity of the lifting frame 3. Therefore, the elastic force of the tension spring 51 on the lifting frame 3 should be upward. Thus, the lower end of the tension spring 51 should hold the handling frame 34 located below the crosswise moving frame 4. In practical applications, the axial direction of the tension spring 51 may not be strictly along the Z direction, but the X-direction components of the elastic forces of the two tension springs 51 are preferably required to cancel each other out so as not to increase the Z-direction sliding friction force.

[0044] As Figure 1 shown, a vertical guide rod 52 is provided inside the tension spring 51. The vertical guide rod 52 is fixed to the lower part of the first slider 41. The length of the vertical guide rod 52 is less than the axial length of the tension spring 51 when it is at its shortest. When the roller 33 moves to the highest position in the chute 11, the tension spring 51 is at its shortest.

[0045] In this design, the axial direction of the tension spring 51 is strictly along the Z direction. The vertical guide rod 52 is used to restrict the axial direction of the tension spring 51 to the Z direction. In practical applications, the vertical guide rod 52 can be fixed to the upper part of the handling frame 34, which can also achieve the same effect.

[0046] As Figure 1 and Figure 3 shown, the elastic coefficient of the tension spring 51 is k1, its natural length L1 is the length of the tension spring 51 when the roller 33 is at the highest point in the chute 11, and its maximum stretched length L2 is the length of the tension spring 51 when the roller 33 is at the lowest point in the chute 11. There is G = 2k1 * (L2 - L1).

[0047] According to this formula, when the swing arm 21 swings to the horizontal direction (at this time the roller 33 is approximately at the lowest point in the chute 11), the elastic forces generated by the two tension springs 51 just counteract the gravity of the lifting frame 3; when the swing arm 21 swings to the vertical direction (at this time the roller 33 is at the highest point in the chute 11), the two tension springs 51 do not generate elastic forces. This can make the roller 33 always under a relatively small acting force, reduce the load on the rotating shaft of the roller 33, and improve the service life of the roller 33.

[0048] Embodiment 2:

[0049] As Figure 4 shown, the difference from Embodiment 1 is that the damping member 5 includes two first compression springs 53. The upper ends of the two first compression springs 53 abut against the lower part of the roller seat 32, and the lower ends abut against the upper part of the first slider 41. A guide cylinder 55 is also provided on the roller seat 32 and penetrates the upper end of the first compression spring 53. A guide rod 54 is provided on the first slider 41 and penetrates the lower end of the first compression spring 53. The guide cylinder 55 and the guide rod 54 are slidably fitted along the Z direction.

[0050] This damping member 5 utilizes the elastic force generated by compressing the compression spring from its natural length to counteract the gravity of the lifting frame 3. Therefore, the elastic force of the first compression spring 53 on the lifting frame 3 should be upward. Thus, the upper end of the first compression spring 53 should support the roller seat 32 located above the transverse movement frame 4. The two compression springs 53 act on the left and right sides of the roller seat 32 from two positions in the X direction respectively. This can reduce the horizontal force of the second slide rail 31 on the second slider 42, and thus reduce the Z-direction sliding friction, making the operation of the material transfer device smoother. In practical applications, the positions of the guide cylinder 55 and the guide rod 54 can be interchanged.

[0051] As Figure 4 shown, the elastic coefficient of the first compression spring 53 is k2, its natural length L3 is the length of the first compression spring 53 when the roller is at the lowest point of the chute 11, and its minimum compression length L4 is the length of the first compression spring 53 when the roller 33 is at the highest point of the chute 11. There is G = 2k2 * (L3 - L4).

[0052] According to this formula, when the swing arm 21 swings to the horizontal direction (at this time, the roller 33 is approximately at the lowest point in the chute 11), the elastic forces generated by the two first compression springs 53 just counteract the gravity of the lifting frame 3; when the swing arm 21 swings to the vertical direction (at this time, the roller 33 is at the highest point in the chute 11), the two first compression springs 53 do not generate elastic force. This can keep the roller 33 under a relatively small force all the time, reduce the load on the rotating shaft of the roller 33, and improve the service life of the roller 33.

[0053] Embodiment 3:

[0054] As Figure 5 shown, the difference from Embodiment 1 is that the damping member 5 includes two second compression springs 56. The two second compression springs 56 are each sleeved on a second slide rail 31. The upper ends of the two second compression springs 56 abut against the lower part of the roller seat 32, and the lower ends of the two second compression springs 56 abut against the upper part of the second slider 42. The elastic coefficient of the second compression spring 56 is k3, its natural length L5 is the length of the second compression spring 56 when the roller 33 is at the lowest point of the chute 11, and its minimum compression length L6 is the length of the second compression spring 56 when the roller 33 is at the highest point of the chute 11. There is G = 2k3 * (L5 - L6).

[0055] The working principle of the second compression spring 56 is the same as that of the first compression spring 53. However, here the second slide rail 31 is directly used as the guiding structure, replacing the functions of the guide cylinder 55 and the guide rod 54. The second compression spring 56 has no risk of falling out or bending, and the part cost can be more saved. The second compression spring 56 can also keep the roller 33 under a relatively small force all the time, reduce the load on the rotating shaft of the roller 33, and improve the service life of the roller 33.

[0056] Example 4:

[0057] As Figure 6 and Figure 7 shown, the difference from Example 1 is that: the damping member 5 includes two buffers 57 provided on the vertical plate 1, the buffers 57 are located on the vertical movement path of the roller 33, the chute 11 is integrally inverted U-shaped and includes two vertical chute segments, and the two vertical chute segments are respectively provided with buffers 57. The buffer 57 includes a support block 571, a support block 572 and a return spring 573. The support block 571 is located below the end of the chute 11. The lower part of the support block 572 has a rod portion 5721 vertically passing through the support block 571. The return spring 573 is sleeved outside the rod portion 5721. The upper end of the rod portion 5721 abuts against the support block 572, and the lower end abuts against the support block 571. The total weight of the lifting frame 3 and the material is G. When each return spring 573 is compressed to the minimum length, it provides an elastic force of magnitude G. The upper part of the support block 572 has a concave arc surface 5722 matching the outer diameter of the roller 33.

[0058] The return spring 573 can be a tension spring or a compression spring. Its function is to reset the support block 572 upward and generate an elastic force that offsets the weight G of the lifting frame 3 after the support block 572 is pressed. The support block 571 is axially hollow to guide the rod portion 5721 to lift and lower along the Z direction. If the upper surface of the support block 572 is a plane, the contact area with the roller 33 will be very small, which is likely to cause the surface of the roller 33 to be sunken and deformed during collision. After deformation, when the roller 33 is at the highest point of the chute 11, the relative height will also become inaccurate. When the upper surface of the support block 572 is a concave arc surface 5722, the impact force is dispersed, the surface of the roller 33 will remain intact, when the roller 33 is at the highest point of the chute 11, the relative height will be more accurate, and the service life of the parts will be longer.

[0059] As Figure 6 shown, the moving direction of the support block 572 is consistent with the groove length direction of the vertical groove segment. In the initial state of the buffer 57, the support block 572 of the buffer 57 is located at the intersection of the horizontal groove segment and the vertical groove segment. The concave arc surface 5722 of the support block 572 is consistent with the height of the groove bottom surface of the horizontal groove segment, and the width of the support block 572 is consistent with the groove width of the vertical groove segment of the chute.

[0060] When the roller 33 is located in the horizontal groove section, the vertical plate 1 can directly provide a supporting force for the lifting frame 3. If the supporting block 572 is not at the intersection of the horizontal groove section and the vertical groove section, at the moment when the roller 33 moves from the horizontal groove section of the sliding groove 11 to the vertical groove section, the swing arm 21 will instantaneously bear the gravity of the lifting frame 3 and the material. Not only will the drive shaft of the power unit 22 be impacted, but also the running stability of the lifting frame 3 and the handling frame 34 during material transfer will be very poor, and the vulnerable materials will be damaged. After the supporting block 572 is butted with the horizontal groove section, at the moment when the roller 33 moves from the horizontal section of the sliding groove 11 to the vertical section, the roller 33 will directly press on the concave arc surface 5722 of the supporting block 572, and the return spring 573 provides a bearing capacity for the supporting block 572 to support the roller 33. This not only significantly reduces the impact on the drive shaft of the power unit 22 and extends the service life of the power unit 22, but also significantly improves the stability of the handling frame 34 during the transfer process and ensures that the material can be transferred smoothly.

[0061] The above are only some embodiments of the present invention. For those of ordinary skill in the art, without departing from the inventive concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A material transfer device, characterized in that, Comprising: A vertical plate, on which a sliding groove is formed. The sliding groove includes a connected horizontal groove section and a vertical groove section, and a first slide rail is provided at the bottom side of the vertical plate; A driving mechanism, which includes a swing arm and a power unit for driving the swing arm to swing. A long hole extending along the length direction of the swing arm is provided in the middle of the swing arm; A lifting frame, including a second slide rail perpendicular to the length direction of the first slide rail, a roller seat provided at the upper end of the second slide rail, a roller rotatably provided on the roller seat, and a handling frame provided at the lower end of the second slide rail. The roller passes through the long hole and is adapted to the sliding groove; A transverse movement frame, including a first slider cooperating with the first slide rail and a second slider cooperating with the second slide rail; A damping member, which is provided between the lifting frame and the transverse movement frame; The damping member includes two tension springs. The upper ends of the two tension springs are respectively connected to the two sides of the first slider in the X direction, and the lower ends are respectively connected to the two sides of the handling frame in the X direction; A vertical guide rod is provided inside the tension spring. The vertical guide rod is fixed to the upper part of the handling frame or fixed to the lower part of the first slider. The length of the vertical guide rod is less than the axial length of the tension spring when it is shortest. When the roller moves to the highest position in the sliding groove, the tension spring is the shortest; The elastic coefficient of the tension spring is k1, its natural length L1 is the length of the tension spring when the roller is at the highest point of the sliding groove, its maximum stretching length L2 is the length of the tension spring when the roller is at the lowest point of the sliding groove, and the total weight of the lifting frame and the material is G, and G = 2k1×(L2 - L1).

2. A material transfer device, characterized in that, Comprising: A vertical plate, on which a sliding groove is formed. The sliding groove includes a connected horizontal groove section and a vertical groove section, and a first slide rail is provided at the bottom side of the vertical plate; A driving mechanism, which includes a swing arm and a power unit for driving the swing arm to swing. A long hole extending along the length direction of the swing arm is provided in the middle of the swing arm; A lifting frame, including a second slide rail perpendicular to the length direction of the first slide rail, a roller seat provided at the upper end of the second slide rail, a roller rotatably provided on the roller seat, and a handling frame provided at the lower end of the second slide rail. The roller passes through the long hole and is adapted to the sliding groove; A transverse movement frame, including a first slider cooperating with the first slide rail and a second slider cooperating with the second slide rail; A damping member, which is provided between the lifting frame and the transverse movement frame; The damping member includes two first compression springs. The upper ends of the two first compression springs abut against the lower part of the roller seat, and the lower ends abut against the upper part of the first slider. A guide rod or a guide cylinder penetrating into the upper end of the first compression spring is further provided on the roller seat, and a guide cylinder or a guide rod penetrating into the lower end of the first compression spring is provided on the first slider. The guide cylinder and the guide rod are slidably matched along the Z direction; The elastic coefficient of the first compression spring is k2, its natural length L3 is the length of the first compression spring when the roller is at the lowest point of the sliding groove, its minimum compression length L4 is the length of the first compression spring when the roller is at the highest point of the sliding groove, and the total weight of the lifting frame and the material is G, and G = 2k2×(L3 - L4).

3. A material transfer device, characterized in that, Comprising: Vertical plate, on whose plate body a sliding groove is provided. The sliding groove includes a connected horizontal groove section and a vertical groove section, and a first slide rail is provided at the bottom side of the vertical plate; Driving mechanism, which includes a swing arm and a power unit for driving the swing arm to swing. A long hole extending along its length direction is provided in the middle of the swing arm; Lifting frame, which includes a second slide rail perpendicular to the length direction of the first slide rail, a roller seat provided at the upper end of the second slide rail, a roller rotatably provided on the roller seat, and a handling frame provided at the lower end of the second slide rail. The roller passes through the long hole and is adapted to the sliding groove; Transverse movement frame, which includes a first slider cooperating with the first slide rail and a second slider cooperating with the second slide rail; Damping member, which is provided between the lifting frame and the transverse movement frame; The damping member includes two second compression springs. The two second compression springs are respectively sleeved on a second slide rail. The upper ends of the two second compression springs abut against the lower part of the roller seat, and the lower ends of the two second compression springs abut against the upper part of the second slider; The elastic coefficient of the second compression spring is k3, its natural length L5 is the length of the second compression spring when the roller is at the lowest point of the sliding groove, and its minimum compression length L6 is the length of the second compression spring when the roller is at the highest point of the sliding groove. The total weight of the lifting frame and the material is G, and G = 2k3 * (L5 - L6).

4. A material transfer device, characterized in that, Including: Vertical plate, on whose plate body a sliding groove is provided. The sliding groove includes a connected horizontal groove section and a vertical groove section, and a first slide rail is provided at the bottom side of the vertical plate; Driving mechanism, which includes a swing arm and a power unit for driving the swing arm to swing. A long hole extending along its length direction is provided in the middle of the swing arm; Lifting frame, which includes a second slide rail perpendicular to the length direction of the first slide rail, a roller seat provided at the upper end of the second slide rail, a roller rotatably provided on the roller seat, and a handling frame provided at the lower end of the second slide rail. The roller passes through the long hole and is adapted to the sliding groove; Transverse movement frame, which includes a first slider cooperating with the first slide rail and a second slider cooperating with the second slide rail; Damping member, which is provided on the vertical movement path of the roller; The damping member includes a buffer, and the buffer is provided at the bottom of the vertical groove section and is on the vertical movement path of the roller; The buffer includes a supporting block, and the moving direction of the supporting block is consistent with the groove length direction of the vertical groove section. In the initial state of the buffer, the supporting block of the buffer is located at the intersection of the horizontal groove section and the vertical groove section; The top surface of the supporting block has a concave arc surface matching the outer diameter of the roller. The concave arc surface of the supporting block is at the same height as the bottom surface of the horizontal groove section, and the width of the supporting block is the same as the groove width of the vertical groove section of the sliding groove; The chute is integrally in an inverted U shape, and buffers are respectively arranged on two vertical chute segments of the chute. The buffer further includes a support block and a return spring. The support block is located below the end of the chute. The lower part of the support block has a rod portion vertically passing through the support block. The return spring is sleeved outside the rod portion. The upper end of the rod portion abuts against the support block, and the lower end abuts against the support block. The total weight of the lifting frame and the material is G, and each return spring provides an elastic force of G when compressed to the minimum length.

Images