Material transferring device and production equipment

Abstract

The invention relates to a material transferring device and production equipment, the material transferring device comprises a base frame and a transferring assembly, the transferring assembly comprises a connector and a picking arm connected to the connector in a cantilever shape, the picking arm is used for picking a workpiece, the connector is movably arranged on the base frame in the first direction, and the connector is movably arranged on the base frame in the second direction; the multiple transferring assemblies comprise the first transferring assembly and the second transferring assembly which are arranged side by side in the second direction, and the free end of a picking arm of the first transferring assembly and the free end of a picking arm of the second transferring assembly extend in the direction away from the connected connector in the positive direction and the negative direction of the first direction correspondingly. The second direction intersects with the first direction; the picking arm of at least one of the first transferring assembly and the second transferring assembly can rotate around the extending axis of the picking arm relative to the connector connected with the picking arm.

Description

Technical Field

[0001] The present application relates to the technical field of material transportation, and in particular to a material transfer device and production equipment. Background Art

[0002] With the rapid development of mechatronics and industrial automation, modern production equipment has widely adopted automated processing systems to complete product manufacturing processes. A typical production line configuration usually includes processing equipment and its supporting material transfer system. The material transfer system usually requires independent material transfer mechanisms on the upstream and downstream sides of the processing equipment to respectively handle loading and unloading operations.

[0003] However, this traditional equipment layout has significant structural flaws: Because at least one complete set of material handling equipment must be installed on both the upstream and downstream sides of the processing unit, the overall equipment structure requires significant redundancy. This dual mechanical configuration not only increases the total length of the production line but also significantly reduces space utilization on the production floor, as the two material handling areas require independent workspaces. Summary of the Invention

[0004] Based on this, it is necessary to provide a material transfer device and production equipment to address the problem of low space utilization in the current production equipment layout.

[0005] On the one hand, the present application provides a material transferring device, which includes a base frame and a transferring assembly, the transferring assembly including a connecting head and a picking arm connected to the connecting head in a cantilevered manner, the picking arm being used to pick up workpieces, the connecting head being movably provided on the base frame along a first direction, a plurality of the transferring assemblies including a first transferring assembly and a second transferring assembly arranged side by side along a second direction, the free end of the picking arm of the first transferring assembly and the free end of the picking arm of the second transferring assembly extending in a positive direction and a reverse direction of the first direction respectively in a direction away from the connected connecting head, the second direction intersecting with the first direction; wherein, the picking arm of at least one of the first transferring assembly and the second transferring assembly can rotate around its extension axis relative to the connected connecting head.

[0006] In one embodiment, the connecting head of the first transferring assembly is a first connecting head, the picking arm of the first transferring assembly is a first picking arm, the connecting head of the second transferring assembly is a second connecting head, and the picking arm of the second transferring assembly is a second picking arm. At least one of the first connecting head and the second connecting head can move along the second direction to approach and move away from the other, and the second direction is the height direction of the base frame.

[0007] In one embodiment, the first transfer assembly further includes a first rotary driver connected between the first connector and the first pickup arm, the first rotary driver driving the first pickup arm to rotate around a first axis, and the first axis intersects with the second direction.

[0008] In one embodiment, the second transfer assembly further includes a second rotary driver connected between the second connector and the second pickup arm, the second rotary driver driving the second pickup arm to rotate around a second axis, and the second axis intersects the second direction.

[0009] In one embodiment, the first axis, the second axis, and the first direction are parallel to each other, and the first direction is perpendicular to the second direction.

[0010] In one embodiment, the material transfer device also includes a first adapter and a first longitudinal movement driver. The first adapter is movably provided on the base frame along the first direction. The first longitudinal movement driver is connected between the first adapter and the first connecting head for driving the first connecting head to move along the second direction.

[0011] In one embodiment, the material transfer device also includes a second adapter and a second longitudinal movement driver, the second adapter is movably provided on the base frame along the first direction, and the second longitudinal movement driver is connected between the second adapter and the second connecting head for driving the second connecting head to move along the second direction.

[0012] In one embodiment, the base frame includes a base and a stand, the stand is extended along the second direction and is arranged on the base; the first transfer assembly and the second transfer assembly are arranged side by side on the stand in the second direction.

[0013] In one embodiment, the base frame includes a base and a stand, and the stand is extended along the second direction and is arranged on the base; one of the first transfer assembly and the second transfer assembly is arranged on the stand, and the other is arranged on the base.

[0014] In one embodiment, the material transfer device also includes a first drive module and a second drive module, the first drive module and the second drive module are both arranged on the base frame, the first drive module is connected to the connecting head of the first transfer component to drive the first transfer component to move along the first direction, and the second drive module is connected to the connecting head of the second transfer component to drive the second transfer component to move along the first direction; at least one of the first drive module and the second drive module is configured as a linear motor module.

[0015] In one embodiment, the pickup arm includes a connecting end and a free end, the connecting end is connected to the connecting head, and in at least one direction perpendicular to the extension axis of the pickup arm, the size of the free end is smaller than the size of the connecting end.

[0016] In one embodiment, the picking arm includes an arm beam and a jig, the jig is used to pick up the workpiece, a plurality of the jigs are rotatably provided on the arm beam around a direction intersecting with an extension axis of the arm beam, and the plurality of the jigs are arranged at intervals.

[0017] In one embodiment, the transfer assembly further includes a driving component, which is disposed on the arm beam and connected to the plurality of jigs. The driving component drives the plurality of jigs to rotate synchronously relative to the arm beam around their own rotation axis.

[0018] In one embodiment, the transfer assembly further includes a positioning component, which is disposed on the arm beam and is located on the same side of the arm beam as the jig. The positioning component includes a first positioning component and a second positioning component, and at least one of the first positioning component and the second positioning component is movably disposed on the arm beam to push the workpiece picked up by the jig to contact the other.

[0019] In one embodiment, the driving component includes a driving module and a transmission module, the transmission module is connected to each of the fixtures respectively, the driving module is connected to the transmission module to drive each of the fixtures to rotate synchronously through the transmission module, and the transmission module is configured as one of a rack and pinion drive, a belt drive, a chain drive and a worm gear drive.

[0020] In one embodiment, the driving component includes multiple driving modules, each of which includes a self-rotating driver and a self-rotating motor. The self-rotating driver is connected to the self-rotating motor. The self-rotating motors of the multiple driving modules are connected to the multiple fixtures one by one, and each driving module independently drives each fixture to rotate synchronously.

[0021] In one embodiment, the rotation axes of at least part of the jig are parallel to each other, and the rotation axis of the jig is perpendicular to the extension axis of the arm beam on which the jig is arranged.

[0022] In one embodiment, the arm beam includes a first side portion, a second side portion, and a third side portion arranged in sequence in a circumferential direction around its extension axis, the jig is located on the second side portion, and the distribution position of the jig on the second side portion is closer to the side where the first side portion is located or the side where the third side portion is located.

[0023] On the other hand, the present application further provides a production equipment, which includes the material transfer device as described above.

[0024] In one embodiment, the production equipment further includes a processing device, the processing device including a processing component, the processing component is movably arranged in the arrangement direction of the first transfer assembly and the second transfer assembly to move to a position aligned with the first transfer assembly or the second transfer assembly; the processing component and the transfer assembly are spaced apart in a third direction, and the processing component is also movably arranged along the third direction, and the third direction intersects with the first direction.

[0025] In the above-mentioned material transfer device, the first transfer assembly and the second transfer assembly are both transfer assemblies, so both include a connecting head and a cantilevered pickup arm. The connecting head can drive the pickup arm to move along a first direction to carry the workpiece to the location to be processed. The free end of the pickup arm of the first transfer assembly extends away from the connecting head in the positive or negative direction of the first direction. Therefore, when the connecting head of the first transfer assembly moves in the positive or negative direction of the first direction, its pickup arm can be extended outward from the base frame. Similarly, when the connecting head of the second transfer assembly moves in the positive or negative direction of the first direction, its pickup arm can also be extended outward from the base frame. It should be noted that the pickup arm of the first transfer assembly and the pickup arm of the second transfer assembly move in opposite directions, respectively, and extend outward from the base frame from opposite sides. Thus, the first transfer assembly and the second transfer assembly can be used to transfer workpieces to and from material transfer machines located on different sides of the base frame. Furthermore, since the first transfer assembly and the second transfer assembly are arranged side by side in the second direction, and the picking arms of the first transfer assembly and / or the second transfer assembly can rotate around their extension axis, the picking arms can rotate to a posture facing the other transfer assembly arranged side by side. The picking arms are also used to pick up workpieces, so when the picking arms of the first transfer assembly and the second transfer assembly are in a posture facing each other, the two can transfer workpieces to each other. In other words, the first transfer assembly and the second transfer assembly can not only interactively transfer workpieces with the material transfer machines located on both sides of the base frame, but can also transfer workpieces to each other, so that the transfer assembly also serves as a link in the workpiece assembly line conveying, realizing the relay conveying of workpieces from upstream to downstream. In the present application, the first transfer assembly and the second transfer assembly both have the function of actively loading and unloading materials, as well as the function of driving the workpiece for processing. Therefore, the upstream and downstream sides do not need to be equipped with material transfer devices respectively, which can simplify the overall equipment structure and the space occupied. Furthermore, the first transfer assembly and the second transfer assembly both have the functions of actively loading and unloading materials and driving the workpiece for processing, so that the workpiece does not need to be frequently transferred between different devices, thereby facilitating higher position accuracy of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is an axonometric diagram of the production equipment provided in one embodiment of the present application.

[0027] Figure 2 A schematic block diagram showing the location distribution of various devices included in the production equipment provided in another embodiment of the present application.

[0028] Figure 3 This is an axonometric diagram of a material transfer device provided in the first aspect of an embodiment of the present application.

[0029] Figure 4 for Figure 3 A front view of the material transfer device is shown.

[0030] Figure 5 This is an axonometric diagram of a material transfer device provided in the second aspect of an embodiment of the present application.

[0031] Figure 6 for Figure 3 The diagram shows an axonometric view of the first transfer assembly, the first adapter and the first longitudinal drive in the material transfer device.

[0032] Figure 7 for Figure 3 A schematic axonometric view of the second transfer assembly in the material transfer device shown.

[0033] Figure 8 A top view of a transfer assembly provided in one embodiment of the present application.

[0034] Figure 9 This is an axonometric diagram of a material transfer device provided in the third aspect of an embodiment of the present application.

[0035] Figure 10 for Figure 3 Exploded schematic diagram of the pick-up arm of the transfer assembly in the material transfer device shown.

[0036] Figure 11 A top view of a local area of a transfer assembly provided in one embodiment of the present application.

[0037] Figure 12a A side schematic diagram of an exemplary pick-up arm, a workpiece, and a processing device provided in a first aspect of an embodiment of the present application.

[0038] Figure 12b A side schematic diagram of an exemplary pick-up arm, a workpiece, and a processing device provided in a second aspect of an embodiment of the present application.

[0039] Figure 12c A schematic side view of a pickup arm, a workpiece, and a processing device provided in one embodiment of the present application.

[0040] Figure 13 for Figure 1 Axonometric diagram of the processing unit in the production plant shown.

[0041] Reference numerals: 10, production equipment; 20, material transfer device; 30, processing device; 31, processing component; 31a, light source; 31b, camera; 32, pallet; 33, connector; 34, shift drive; 35, lifting component; 35a, support frame; 35b, lifting drive; 100, base frame; 110, base; 120, stand; 200, transfer assembly; 201, connector; 202, pick-up arm; 203, rotation Driver; 204, fixture; 205, arm beam; 205a, beam plate; 205b, beam shell; 206, connection end; 207, free end; 208, pick-up side; 209, rotation motor; 210, first transfer assembly; 211, first connector; 211a, first connection surface; 212, first pick-up arm; 213, first rotation driver; 214, first fixture; 215, first arm beam; 220, second transfer assembly; 221 , second connector; 221a, second connecting surface; 222, second pick-up arm; 223, second rotary actuator; 224, second fixture; 225, second arm beam; 230, positioning component; 231, first positioning member; 232, second positioning member; 240, first side portion; 250, second side portion; 260, third side portion; 300, adapter; 310, first adapter; 320, second adapter; 400, longitudinal actuator; 4 10. First longitudinal movement driver; 420. Second longitudinal movement driver; 500. Drive module; 510. First drive module; 520. Second drive module; SY, upstream side; XY, downstream side; S1, first direction; S11, positive direction; S12, negative direction; S2, second direction; S3, third direction; O1, first axis; O2, second axis; O3, rotation axis; O31, first rotation axis; O32, second rotation axis. DETAILED DESCRIPTION

[0042] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0043] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0044] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0045] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0046] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0047] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0048] Current production equipment typically includes a processing device and a material transfer device. The processing device is used to perform specific processing operations on the workpiece. There are typically two material transfer devices, located on the upstream and downstream sides of the processing device, respectively, to load and unload the workpiece into and out of the processing device. The processing device itself also has a material transfer assembly to adjust the workpiece's position, change its posture, and transfer the workpiece from the upstream to the downstream side. The upstream material transfer device transfers the workpiece to the material transfer assembly of the processing device, which then drives the workpiece for processing. After processing is completed, the material transfer assembly transfers the workpiece to the downstream material transfer device, forming an assembly-line-style transport system. However, in current production equipment, on the one hand, both the upstream and downstream sides of the processing device must be equipped with at least one complete material transfer device, resulting in a high level of redundancy in the overall equipment structure and a large space requirement. On the other hand, on the upstream side, the workpiece is transferred from the material transfer device to the material transfer assembly, while on the downstream side, the workpiece is transferred from the material transfer assembly to the material transfer device. This frequent transfer of workpieces between different devices is not conducive to improving the positional accuracy of the workpiece.

[0049] To address the above-mentioned issues, the present application provides a material transfer device comprising a base frame and a transfer assembly. The transfer assembly is used to pick up workpieces and transport them to a workstation where they can be processed. Furthermore, the transfer assembly is configured to be cantilevered from the base frame, allowing it to extend outward relative to the base frame. This allows the transfer assembly to align with other devices (such as a loader and unloader) to pick up workpieces awaiting processing from other devices and transfer completed workpieces to another device. This configuration allows the transfer assembly to simultaneously perform active loading and unloading functions and to move workpieces for processing. This eliminates the need for separate material transfer devices on both the upstream and downstream sides, simplifying the overall equipment structure and the space required. Furthermore, the transfer assembly's combined functions of active loading and unloading and moving workpieces for processing eliminate the need for frequent transfer of workpieces between different devices, facilitating high workpiece positioning accuracy. The material transfer device and production equipment incorporating the same, as provided in various embodiments of the present application, are described in detail below, in conjunction with the accompanying drawings and specific embodiments.

[0050] It should be noted that, during the overall transport process of the workpiece, the workpiece that passes first is relatively upstream, and the workpiece that passes later is relatively downstream, that is, the workpiece is transported from upstream to downstream. In each embodiment of the present application, the upstream side and the downstream side are used to illustrate different sides of the material transfer device.

[0051] See Figure 1 , Figure 1 The figure shows an isometric view of a production device provided in one embodiment of the present application. The production device 10 provided in one embodiment of the present application includes a material transfer device 20 and a processing device 30. The material transfer device 20 is used to pick up a workpiece and move the workpiece to a position where it can be processed by the processing device 30. The processing device 30 can perform processing operations on the workpiece, including but not limited to: inspection, cutting, turning, milling, drilling, assembly, welding, dispensing, spraying, coating, and performance testing. The following embodiments are described using the processing device 30 performing inspection and processing on the workpiece as an example. In this case, the processing device 30 is configured as an inspection device.

[0052] like Figure 2 Furthermore, the production equipment 10 also includes a material transfer machine, and the number of material transfer machines can be two. The processing device 30 can be provided on the material transfer device 20 to process the workpiece carried by the material transfer device 20. The two material transfer machines are respectively provided on the upstream side SY and the downstream side XY of the material transfer device 20. As one example, the material transfer machine located on the upstream side SY can provide the workpiece to be processed to the material transfer device 20. After the workpiece to be processed is transferred to the material transfer device 20, the processing device 30 can process it. The material transfer machine located on the downstream side XY can receive the workpiece that has been processed and transferred by the material transfer device 20.

[0053] See also Figure 3 and Figure 4 , Figure 3 FIG2 shows an axonometric diagram of a material transfer device provided in an embodiment of the present application. Figure 4 for Figure 3A front view of the material transfer device shown. The material transfer device 20 provided in one embodiment of the present application includes a base frame 100 and a transfer assembly 200. The transfer assembly 200 is movably provided on the base frame 100, and the transfer assembly 200 is capable of driving the workpiece to move. The transfer assembly 200 includes a connecting head 201 and a picking arm 202. The picking arm 202 is cantilevered and connected to the connecting head 201. The picking arm 202 is used to pick up the workpiece. The connecting head 201 is movably provided on the base frame 100 along a first direction S1. The connecting head 201 is capable of driving the picking arm 202 to move along the first direction S1 to a position extending outward from the base frame 100 to align with the material conveyor. When the picking arm 202 and the material conveyor are aligned, they are used to transfer the workpiece to each other. In addition, the connecting head 201 is also capable of driving the picking arm 202 to move along the first direction S1 to a position aligned with the processing device 30. It is understandable that when the picking arm 202 is aligned with the processing device 30 , the processing device 30 can process the workpiece picked up by the picking arm 202 .

[0054] Combine Figure 4 The plurality of transfer assemblies 200 include a first transfer assembly 210 and a second transfer assembly 220, which are arranged side by side along a second direction S2. The free ends of the pickup arms 202 of the first transfer assembly 210 and the free ends of the pickup arms 202 of the second transfer assembly 220 extend away from the connected connector 201 along a positive direction S11 and a reverse direction S12 of the first direction S1, respectively. The second direction S2 intersects the first direction S1. The pickup arm 202 of at least one of the first transfer assembly 210 and the second transfer assembly 220 can rotate about its extension axis relative to the connected connector 201.

[0055] The material transfer device 20, including the first transfer assembly 210 and the second transfer assembly 220, is a transfer assembly 200. Therefore, both include a connector 201 and a cantilevered pickup arm 202. The connector 201 can drive the pickup arm 202 to move in a first direction S1 to transport a workpiece to a location for processing. The free end 207 of the pickup arm 202 of the first transfer assembly 210 extends away from the connector 201 in either the positive direction S11 or the negative direction S12 of the first direction S1. Therefore, when the connector 201 of the first transfer assembly 210 moves in either the positive direction S11 or the negative direction S12 of the first direction S1, the cantilevered pickup arm 202 can be extended beyond the base frame 100. Similarly, when the connector 201 of the second transfer assembly 220 moves in either the negative direction S12 or the positive direction S11 of the first direction S1, the cantilevered pickup arm 202 can also be extended beyond the base frame 100. It should be noted that the pick-up arm 202 of the first transfer assembly 210 and the pick-up arm 202 of the second transfer assembly 220 respectively move in opposite directions, extending outward from the base frame 100 from opposite sides. Thus, the first transfer assembly 210 and the second transfer assembly 220 can be used to transfer workpieces to and from material transfer machines located on different sides of the base frame 100. Furthermore, because the first transfer assembly 210 and the second transfer assembly 220 are arranged side by side in the second direction S2, and the pick-up arm 202 of the first transfer assembly 210 and / or the second transfer assembly 220 can rotate about its extension axis, the pick-up arm 202 can rotate to face the other transfer assembly 200 arranged side by side. The pick-up arm 202 is also used to pick up workpieces. Therefore, when the pick-up arms 202 of the first transfer assembly 210 and the second transfer assembly 220 are facing each other, the two can transfer workpieces to each other. That is to say, the first transfer assembly 210 and the second transfer assembly 220 can not only interactively transfer workpieces with the material transfer machines located on both sides of the base frame 100, but the two can also transfer workpieces to each other, so that the transfer assembly 200 also serves as a link in the workpiece assembly line transportation, realizing the relay transportation of workpieces from upstream to downstream. In this application, the first transfer assembly 210 and the second transfer assembly 220 both have the function of actively loading and unloading materials, as well as the function of driving the workpiece for processing. Therefore, the upstream side SY and the downstream side XY do not need to be equipped with material transfer devices (such as robots, etc.) respectively, which can simplify the overall equipment structure and the space occupied. In addition, the first transfer assembly 210 and the second transfer assembly 220 both have the function of actively loading and unloading materials and the function of driving the workpiece for processing, so that the workpiece does not need to be frequently transferred between different devices, which facilitates the workpiece to have a higher position accuracy.

[0056] In the present application, the first transfer assembly 210 and the second transfer assembly 220 are responsible for picking up or placing the workpiece to the material transfer machine located on the side. Therefore, the material transfer machine located on the side has the basis for omitting the material transfer device, making the structure of the production equipment 10 simpler. However, it should be emphasized that the embodiments of the present application do not limit the material transfer machine located on the side to not being equipped with a material transfer device such as a manipulator. For example, the material transfer machine can have a manipulator to pick up the workpiece and place the workpiece on the first transfer assembly 210 and / or the second transfer assembly 220, so as to simplify the actions required to be performed by the first transfer assembly 210 and / or the second transfer assembly 220, and to improve the efficiency of workpiece transfer. Since the material transfer device included in the material transfer machine does not need to move to a position aligned with the base 110, even if the material transfer machine has a material transfer device, the production equipment 10 can have a simpler structure to a certain extent relative to the related equipment in the traditional technology.

[0057] See also Figure 4 For ease of understanding, the above description uses the positive direction S11 and the reverse direction S12 of the first direction S1 to illustrate the distribution of the pick-up arms 202 of the first transfer assembly 210 and the pick-up arms 202 of the second transfer assembly 220 extending in opposite directions. It should be emphasized that, with the base frame 100 as a reference, the direction pointing toward one side of the base frame 100 in the first direction S1 is the positive direction S11, and the direction pointing toward the other side is the reverse direction S12. This application does not impose specific limitations on these directions; the first transfer assembly 210 and the second transfer assembly 220 can each extend outward from the base frame 100 in opposite directions.

[0058] For the sake of convenience in explanation, in each embodiment, the material transfer device 20 and the processing device 30 are referred to as processing machines, the material transfer machine located on the upstream side SY of the material transfer device 20 is referred to as an upstream machine, and the material transfer machine located on the downstream side XY of the material transfer device 20 is referred to as a downstream machine.

[0059] Combine Figure 2 and Figure 4 The first transfer assembly 210 can extend outward relative to the base 110 along the positive direction S11 of the first direction S1 to a position aligned with the upstream machine. At this point, the first transfer assembly 210 can pick up a workpiece to be processed by the upstream machine. The first transfer assembly 210 can also move back relative to the base 110 along the negative direction S12 of the first direction S1 to carry the workpiece to a position aligned with the processing device 30 and aligned with the second transfer assembly 220.

[0060] Combine Figure 2 and Figure 4The second transfer assembly 220 can extend outward relative to the base 110 in a direction S12 opposite to the first direction S1 to a position aligned with the downstream machine. At this point, the second transfer assembly 220 can transfer the processed workpiece to the downstream machine. The second transfer assembly 220 can also move back relative to the base 110 in a direction S12 opposite to the first direction S1 to align with the first transfer assembly 210, receive the workpiece transferred by the first transfer assembly 210, and transfer the workpiece to a position aligned with the processing device 30.

[0061] See also Figure 1 In one embodiment, the processing device 30 is disposed on the base 110. Therefore, in each embodiment, the first transfer assembly 210 and the second transfer assembly 220 are aligned with the processing device 30, that is, the positions where the first transfer assembly 210 and the second transfer assembly 220 are returned to the base frame 100.

[0062] In one embodiment, the first transfer assembly 210 and the second transfer assembly 220 can alternately move to positions aligned with the processing device 30, that is, the workpiece carried by the first transfer assembly 210 and the workpiece carried by the second transfer assembly 220 are both processed by the same processing device 30. This arrangement can reduce the idle time of the processing device 30 and improve the utilization efficiency of the processing device 30.

[0063] Furthermore, when the first transfer assembly 210 and the processing device 30 are aligned, they typically need to remain aligned for a certain period of time to allow the processing device 30 to fully process the workpiece carried by the first transfer assembly 210. Similarly, when the second transfer assembly 220 and the processing device 30 are aligned, they typically need to remain aligned for a certain period of time to allow the processing device 30 to fully process the workpiece carried by the second transfer assembly 220. Therefore, during at least a portion of the time that the first transfer assembly 210 and the processing device 30 remain aligned, the second transfer assembly 220 can be configured to extend outward from the base frame 100 and align with one material transfer machine (i.e., a downstream machine). During at least a portion of the time that the second transfer assembly 220 and the processing device 30 remain aligned, the first transfer assembly 210 can be configured to extend outward from the base frame 100 and align with another material transfer machine (i.e., an upstream machine). This configuration allows the first and second transfer assemblies 210 and 220 to move efficiently and orderly between various workstations, thereby improving overall efficiency.

[0064] See also Figure 3In one embodiment, the material transfer device 20 further includes a drive module 500, which is disposed on the base frame 100. The drive module 500 is connected to the transfer assembly 200 to drive the transfer assembly 200 to reciprocate along the first direction S1. There can be multiple drive modules 500, each of which is connected to a plurality of transfer assemblies 200 in a one-to-one correspondence and independently drives each transfer assembly 200 to move along the first direction S1. Furthermore, the drive module 500 can be connected to the connector 201 of the transfer assembly 200.

[0065] See also Figure 6 、 Figure 7 , combined with Figure 4 In one embodiment, the connecting head 201 of the first transfer assembly 210 is a first connecting head 211, and the picking arm 202 of the first transfer assembly 210 is a first picking arm 212. That is, the first transfer assembly 210 includes a first connecting head 211 and a first picking arm 212, and the first picking arm 212 is cantilevered and connected to the first connecting head 211. The first connecting head 211 is movably provided on the base frame 100 along the first direction S1. The first connecting head 211 can drive the first picking arm 212 to move along the first direction S1 to a position extending outside the base frame 100 so as to align with the material transfer machine (i.e., the upstream machine). In addition, the first connecting head 211 can also drive the first picking arm 212 to move to a position aligned with the processing device 30.

[0066] The connecting head 201 of the second transfer assembly 220 is a second connecting head 221, and the picking arm 202 of the second transfer assembly 220 is a second picking arm 222. Specifically, the second transfer assembly 220 includes the second connecting head 221 and the second picking arm 222. The second picking arm 222 is cantilevered and connected to the second connecting head 221. The second connecting head 221 is movably mounted on the base frame 100 along the first direction S1. The second connecting head 221 is capable of driving the second picking arm 222 to a position extending beyond the base frame 100 in the first direction S1, thereby aligning it with the material transfer machine (i.e., the downstream machine). Furthermore, the second connecting head 221 is capable of driving the second picking arm 222 to a position aligned with the processing device 30.

[0067] Please continue reading Figure 4In one embodiment, at least one of the first connector 211 and the second connector 221 can move along the second direction S2 to approach and move away from the other. It is easy to understand that the first pick-up arm 212 and the second pick-up arm 222 face each other to transfer the workpiece to each other. This transfer method usually requires the first pick-up arm 212 and the second pick-up arm 222 to be close enough to each other. With such a configuration, it is also easy for the two pick-up arms 202 to collide and interfere with each other when the two pick-up arms 202 are rotated to face each other. In this embodiment, at least one of the first connector 211 and the second connector 221 is configured to move along the second direction S2 to approach and move away from the other, so that the spacing distance between the two pick-up arms 202 can be flexibly adjusted to reduce the probability of interference and collision between the two. For example, the two pick-up arms 202 can be pre-adjusted to switch to a face-to-face posture, and then the two can be brought close to each other to transfer the workpiece.

[0068] Furthermore, the first connecting head 211 and / or the second connecting head 221 moves along the second direction S2, and at the same time, it is convenient for the first picking arm 212 and / or the second picking arm 222 to transfer the workpiece to each other when they are aligned with the material transfer machine.

[0069] See also Figure 3 and Figure 4 In one embodiment, the second direction S2 is the height direction of the base frame 100, that is, at least when the material transfer device 20 is in working condition, the second direction S2 is parallel to the direction of gravity. That is to say, one of the first transfer assembly 210 and the second transfer assembly 220 is located at a high position in the direction of gravity, and the other is located at a low position in the direction of gravity. When the first transfer assembly 210 and the second transfer assembly 220 pick up the side of the workpiece facing each other, one of them is facing upward and the other is facing downward, and the workpiece can be conveniently dropped from the upper transfer assembly 200 to the lower transfer assembly 200 under the action of gravity. When the upper transfer assembly 200 is extended, it can be aligned with the upstream machine, and when the lower transfer assembly 200 is extended, it can be aligned with the downstream machine. In one embodiment, the first transfer assembly 210 can be configured to be located above in the second direction S2, and the second transfer assembly 220 can be configured to be located below in the second direction S2.

[0070] In one embodiment, the first direction S1 and the second direction S2 may be perpendicular to each other. It is easy to understand that the first transfer assembly 210 and the second transfer assembly 220 may be arranged side by side and spaced apart in the second direction S2.

[0071] See also Figure 3In one embodiment, the base frame 100 includes a base 110 and a stand 120. The stand 120 is disposed on the base 110 and extends along the second direction S2. The first transfer assembly 210 and the second transfer assembly 220 are disposed side by side on the stand 120 in the second direction S2. The stand 120 can conveniently support the first transfer assembly 210 and the second transfer assembly 220 to be spaced apart and arranged side by side in the second direction S2.

[0072] See also Figure 5 In another embodiment, one of the first transfer assembly 210 and the second transfer assembly 220 may be disposed on the stand 120, and the other on the base 110. In this configuration, one of the first transfer assembly 210 and the second transfer assembly 220 is supported by the stand 120 and can be conveniently positioned above the other, so that the two are arranged side by side in the second direction S2.

[0073] See also Figure 3 and Figure 4 In one embodiment, the pick arm 202 includes an arm beam 205 and a jig 204. The jig 204 is mounted on the arm beam 205 and is used to pick up workpieces. In some embodiments, the jig 204 can be retractably mounted on the arm beam 205. Thus, when the two transfer assemblies 200 need to transfer a workpiece to each other, the jig 204 can be extended or retracted to ensure that the workpiece can be transferred between the first transfer assembly 210 and the second transfer assembly 220 while reducing the risk of interference and collision when the pick arm 202 rotates to a face-to-face position.

[0074] In each embodiment of the present application, the side of the picking arm 202 where the jig 204 is located is the side of the picking arm 202 used to pick up the workpiece. That is to say, in each embodiment, the first transfer assembly 210 and the second transfer assembly 220 face each other, the first picking arm 212 and the second picking arm 222 mentioned below face each other, and the first arm beam 215 and the second arm beam 225 mentioned below face each other, all of which refer to the side where the jig 204 is provided facing each other. Similarly, in each embodiment, the picking arm 202 rotates to the side used to pick up the workpiece toward the processing device 30, which also refers to the side of the picking arm 202 where the jig 204 is provided facing the processing device 30. Combined Figure 4 The side of the picking arm 202 on which the jig 204 is provided is referred to as the picking side 208, that is, the picking arm 202 has a picking side 208, and at least one of the picking arm 202 of the first transfer assembly 210 and the picking arm 202 of the second transfer assembly 220 can be rotated to a posture in which the picking sides 208 of the two picking arms 202 are arranged facing each other.

[0075] See also Figure 4 , combined with Figure 6 and Figure 7In one embodiment, the first connecting head 211 includes a first connecting surface 211a, and the second connecting head 221 includes a second connecting surface 221a. The first connecting surface 211a and the second connecting surface 221a face opposite sides of the base frame 100. The first picking arm 212 is connected to the first connecting surface 211a, and the second picking arm 222 is connected to the second connecting surface 221a.

[0076] See also Figure 8 In one embodiment, the pick arm 202 includes a connecting end 206 and a free end 207. The connecting end 206 is connected to the connector 201. In at least one direction perpendicular to the extension axis of the pick arm 202 (i.e., the first axis O1 or the second axis O2, referred to below), the free end 207 is smaller than the connecting end 206. This allows the connecting end 206 to have sufficient area for contact and connection with the connector 201, while reducing the size of the free end 207 and making it relatively lighter. This reduces the bending moment at the connecting end 206 of the cantilevered pick arm 202, facilitating flexible movement of the transfer assembly 200. It will be appreciated that in at least one direction perpendicular to the first direction S1, the free end 207 of the first pick arm 212 is smaller than the connecting end 206, and the free end 207 of the second pick arm 222 is smaller than the connecting end 206.

[0077] See also Figure 4 , combined with Figure 6 and Figure 7 In one embodiment, at least part of the transfer assembly 200 further includes a rotary actuator 203 connected between the connector 201 and the pick-up arm 202. The rotary actuator 203 is configured to drive the pick-up arm 202 to rotate so as to face the other pick-up arm 202; and the rotary actuator 203 can also drive the pick-up arm 202 to rotate so as to face the processing device 30.

[0078] See also Figure 6 The first transfer assembly 210 further includes a first rotary driver 213, which is connected between the first connector 211 and the first pickup arm 212. The first rotary driver 213 is used to drive the first pickup arm 212 to rotate to a posture in which the side with the workpiece picked up faces the second pickup arm 222, and to drive the first pickup arm 212 to rotate to a posture in which the side with the workpiece picked up faces the processing device 30. Furthermore, the first rotary driver 213 drives the first pickup arm 212 to rotate around the first axis O1. At the same time, the first pickup arm 212 can also be configured to extend along the first axis O1, that is, the extension axis of the pickup arm 202 of the first transfer assembly 210 is the first axis O1, and the first axis O1 intersects with the second direction S2.

[0079] See also Figure 7 In the second transfer assembly 220, the second transfer assembly 220 further includes a second rotary driver 223, which is connected between the second connector 221 and the second pick-up arm 222. The second rotary driver 223 is used to drive the second pick-up arm 222 to rotate to a posture in which the side with the workpiece picked up faces the first pick-up arm 212, and to drive the second pick-up arm 222 to rotate to a posture in which the side with the workpiece picked up faces the processing device 30. Furthermore, the second rotary driver 223 drives the second pick-up arm 222 to rotate about the second axis O2. At the same time, the second pick-up arm 222 can also be configured to extend along the second axis O2, that is, the extension axis of the pick-up arm 202 of the second transfer assembly 220 is the second axis O2, and the second axis O2 intersects with the second direction S2.

[0080] Of course, the present application does not limit any transfer assembly 200 to having a rotary drive 203. When one of the transfer assemblies 200 does not include a rotary drive 203, the pick-up arm 202 of the transfer assembly 200 can be preset to face the side where the other transfer assembly 200 is located, so that the pick-up arms 202 of the two transfer assemblies 200 face each other to transfer the workpiece. For example, see Figure 5 In one embodiment, the first transfer assembly 210 can include a rotary actuator 203 (i.e., a first rotary actuator 213). In the second transfer assembly 220, the second connector 221 is directly connected to the second pick-up arm 222. In this case, the second pick-up arm 222 is positioned upward in the second direction S2, that is, toward the side of the first transfer assembly 210, so that the first and second pick-up arms 212 and 222 face each other and transfer workpieces. In this case, the processing components of the processing device 30 (i.e., the processing component 31, referred to below) can be positioned above the second transfer assembly 220 in the second direction S2 to facilitate inspection of the workpieces carried by the second transfer assembly 220. Alternatively, the processing device 30 can be configured to be movable so as to be positioned above the second transfer assembly 220 in the second direction S2. Of course, if the second pick-up arm 222 is positioned fixedly and facing upward, the downstream machine can also be configured with a corresponding handling device (e.g., a robot) to pick up and transfer the workpieces carried by the second pick-up arm 222.

[0081] See also Figure 4 and Figure 5 In one embodiment, the first axis O1, the second axis O2 and the first direction S1 are parallel to each other. The first direction S1 may also be perpendicular to the second direction S2, in which case the first axis O1 and the second axis O2 are also perpendicular to the first direction S1.

[0082] Of course, in some embodiments, any two of the first axis O1 , the second axis O2 and the first direction S1 may be arranged to intersect based on structural and layout requirements, or the three may be arranged to intersect separately.

[0083] It should be noted that the first pickup arm 212 and / or the second pickup arm 222 are capable of rotation, and can also adjust and switch the position of the workpiece facing the processing device 30, thereby improving the comprehensiveness of the processing. For example, when the processing device 30 is used as an inspection device, the first pickup arm 212 and / or the second pickup arm 222 can be controlled to rotate so that different sides of the workpiece are evenly exposed in the field of view of the processing device 30, thereby improving the comprehensiveness of the inspection.

[0084] See also Figure 3 、 Figure 4 , combined with Figure 6 and Figure 7 In one embodiment, multiple jigs 204 are rotatably mounted on the arm 205 about a direction intersecting the extended axis of the arm 205. This means that a workpiece picked up by the pick arm 202 can not only rotate along with the pick arm 202 about the first axis O1 / second axis O2, but the jigs 204 mounted on the pick arm 202 can also rotate the workpiece. Thus, the workpiece can rotate in at least two intersecting directions under the control of the transfer assembly 200, allowing the workpiece to present a wider variety of postures in the processing device 30, ensuring full exposure to the processing device 30 and improving processing efficiency.

[0085] See also Figure 3 Furthermore, the jig 204 rotates relative to the arm beam 205 about a rotation axis O3, which can be the central axis of the jig 204. The rotation axis O3 intersects the first axis O1 and also intersects the second axis O2. Furthermore, the rotation axis O3 can be configured to be perpendicular to the first axis O1 and the second axis O2.

[0086] See also Figure 6 、 Figure 7 , combined with Figure 3 and Figure 4In one embodiment, multiple jigs 204 are spaced apart on the arm 205, allowing the transfer assembly 200 to carry multiple workpieces simultaneously. The jig 204 of the first transfer assembly 210 is the first jig 214, and the arm 205 of the first transfer assembly 210 is the first arm 215; the jig 204 of the second transfer assembly 220 is the second jig 224, and the arm 205 of the second transfer assembly 220 is the second arm 225. The distribution positions of the multiple first jigs 214 on the first arm 215 correspond to the distribution positions of the multiple second jigs 224 on the second arm 225, for example, they are arranged in the same manner and at the same intervals. As a result, when the first arm 215 and the second arm 225 face each other, the multiple first jigs 214 and the multiple second jigs 224 correspond one-to-one, allowing them to transfer workpieces to each other.

[0087] See Figure 6 and Figure 7 , combined with Figure 4 The first fixture 214 can rotate with the first arm beam 215 around the first rotation axis O31, and the second fixture 224 can rotate with the second arm beam 225 around the second rotation axis O32. The first rotation axis O31 and the second rotation axis O32 are both the above-mentioned rotation axis O3.

[0088] See also Figure 6 and Figure 7 In one embodiment, the rotation axes O3 of at least some of the jigs 204 are parallel to one another, allowing each jig 204 to uniformly drive each workpiece to change posture. The rotation axes O3 of the jigs 204 are perpendicular to the extension axis (i.e., the first axis O1 or the second axis O2) of the arm 205 on which the jig 204 is deployed.

[0089] In one embodiment, the picking arm 202 of the first transfer assembly 210 and the picking arm 202 of the second transfer assembly 220 can pick up different parts of the workpiece respectively. That is, when the first transfer assembly 210 picks up the workpiece, the workpiece will reveal different parts compared to when the second transfer assembly 220 picks up the workpiece, so that the processing device 30 can process different parts of the workpiece respectively, thereby improving the uniformity and comprehensiveness of the processing of various parts of the workpiece. Regarding the way in which the first transfer assembly 210 and the second transfer assembly 220 transfer the workpiece to each other when facing each other, for example, the first fixture 214 and the second fixture 224 can pick up the workpiece at the same time, and one of them can pass the workpiece to the other after being released. The embodiments of the present application do not specifically limit the way in which the fixture 204 picks up the workpiece, and the picking method may include but is not limited to vacuum adsorption picking, electromagnetic adsorption picking, clamping picking, and clamping picking. Similarly, the present application does not limit the first jig 214 and the second jig 224 to be configured with the same picking method. While meeting the needs of mutual transfer of workpieces and processing requirements, the picking method of the first jig 214 and the second jig 224 picking up workpieces can be configured arbitrarily according to needs.

[0090] See also Figure 3 and Figure 4 In one embodiment, the material transfer device 20 further includes an adapter 300 and a longitudinal actuator 400. The adapter 300 is movably mounted on the base frame 100 along a first direction S1. The longitudinal actuator 400 is connected between the adapter 300 and the connector 201 and is configured to drive the connector 201 to move along a second direction S2. This allows the transfer assembly 200 to move relative to the base frame 100 along the second direction S2.

[0091] See Figure 9 Furthermore, the adapter 300 may include a first adapter 310 and a second adapter 320, and the longitudinal actuator 400 may include a first longitudinal actuator 410 and a second longitudinal actuator 420. That is, the material transfer device 20 further includes a first adapter 310 and a first longitudinal actuator 410. The first adapter 310 is movably disposed on the base frame 100 along the first direction S1. The first longitudinal actuator 410 is connected between the first adapter 310 and the first connector 211 and is configured to drive the first connector 211 to move along the second direction S2, thereby enabling the first transfer assembly 210 to move relative to the base frame 100 along the second direction S2.

[0092] The material transfer device 20 also includes a second adapter 320 and a second longitudinal movement driver 420. The second adapter 320 is movably arranged on the base frame 100 along the first direction S1. The second longitudinal movement driver 420 is connected between the second adapter 320 and the second connecting head 221, and is used to drive the second connecting head 221 to move along the second direction S2, so that the second transfer component 220 can move relative to the base frame 100 along the second direction S2.

[0093] Of course, the present application does not limit the first transfer assembly 210 and the second transfer assembly 220 to be able to move along the second direction S2. Figure 4 and Figure 5 In one embodiment, the first transfer assembly 210 is connected to the base frame 100 through the first adapter 310 and the first longitudinal drive 410. The second connector 221 of the second transfer assembly 220 is directly movably provided on the base frame 100 along the first direction S1. It should be noted that some embodiments and some drawings of the specification of this application take the second transfer assembly 220 not including the second rotation drive 223 and the second transfer assembly 220 not moving longitudinally as an example, in order to illustrate that not all transfer assemblies 200 need to be configured to be movable and rotatable along the second direction S2, and it is not limited to the specific second transfer assembly 220 not being movable and rotatable along the second direction S2. Those skilled in the art can freely match the motion mode of the transfer assembly 200 according to actual conditions, while meeting the workpiece transportation requirements and processing requirements.

[0094] See also Figure 4 In one embodiment, the drive module 500 includes a first drive module 510 and a second drive module 520, that is, the material transfer device 20 also includes the first drive module 510 and the second drive module 520, and the first drive module 510 and the second drive module 520 are both arranged on the base frame 100. The first drive module 510 is connected to the connector 201 of the first transfer component 210 to drive the first transfer component 210 to move along the first direction S1. The second drive module 520 is connected to the connector 201 of the second transfer component 220 to drive the second transfer component 220 to move along the first direction S1. It is understandable that when the first transfer component 210 and the second transfer component 220 are capable of moving along the second direction S2, the first drive module 510 is connected to the connector 201 via the adapter 300 and the longitudinal drive 400. For example, the first connector 211 is connected to the first drive module 510 via the first longitudinal drive 410 and the first adapter 310.

[0095] Furthermore, at least one of the first drive module 510 and the second drive module 520 is configured as a linear motor module. Linear motor modules have the characteristics of long service life and low operating noise. Of course, the first drive module 510 and the second drive module 520 can also be configured as other linear drive devices.

[0096] Please continue reading Figure 4 When the first transfer assembly 210 and the second transfer assembly 220 are both mounted on the stand 120, the first drive module 510 and the second drive module 520 are also both mounted on the stand 120. Figure 5 When the second transfer assembly 220 is disposed on the base 110 , the second driving module 520 is correspondingly disposed on the base 110 .

[0097] See also Figure 10 In one embodiment, the transfer assembly 200 further includes a drive component mounted on the arm 205. The drive component is connected to the plurality of jigs 204 and drives the jigs 204 to rotate synchronously about the rotation axis O3 relative to the arm 205. The synchronized rotation and switching of the jigs 204 facilitates unified processing by the processing device 30.

[0098] Furthermore, the arm beam 205 includes a beam plate 205a and a beam shell 205b. The driving component and the fixture 204 are both arranged on the beam plate 205a. The beam shell 205b covers the driving component and the fixture 204 and is connected to the beam plate 205a.

[0099] In one embodiment, the drive assembly includes multiple drive modules, each of which includes a rotation driver (not shown, the same below) and a rotation motor 209, which is connected to the rotation motor 209. The rotation motors 209 of the multiple drive modules are connected to the multiple jigs 204 in a one-to-one correspondence, and each drive module independently drives each jig 204 to rotate synchronously. Because each drive module independently drives each jig 204 to rotate, if one or more jigs 204 have a different posture from the other jigs 204, the drive module can independently adjust the posture of the one or more jigs 204 to further move them to the same posture as the other jigs 204. In other words, in this embodiment, by independently driving the rotation of each jig 204, the posture consistency of each jig 204 during movement is ensured, improving the posture consistency of the workpieces picked up by the jig 204 and facilitating processing.

[0100] In another embodiment, the driving component includes a driving module and a transmission module, the transmission module is connected to each fixture 204 respectively, and the driving module is connected to the transmission module so as to drive each fixture 204 to rotate synchronously through the transmission module. The transmission module can be configured as one of a rack and pinion drive, a belt drive, a chain drive, and a worm gear drive. For example, the transmission module includes a first transmission member and a second transmission member, taking a belt drive as an example. In this case, the first transmission member can be configured as a synchronous belt, and the second transmission member can be configured as a synchronous wheel. The number of second transmission members is multiple, and the multiple second transmission members are connected to the multiple fixtures 204 in a one-to-one correspondence. The driving module is connected to one of the second transmission members, and the first transmission member is wound around the outside of each second transmission member, so that when one of the second transmission members is driven to rotate, the other second transmission members are driven to rotate together, so that the fixtures 204 rotate synchronously.

[0101] See also Figure 11 In one embodiment, the transfer assembly 200 further includes a positioning member 230, which is disposed on the arm beam 205 and is located on the same side of the arm beam 205 as the jig 204. The positioning member 230 includes a first positioning member 231 and a second positioning member 232. At least one of the first positioning member 231 and the second positioning member 232 is movably disposed on the arm beam 205 to push the workpiece picked up by the jig 204 into contact with the other. Thus, the first positioning member 231 and the second positioning member 232 can position the workpiece picked up by the jig 204 by generally clamping it toward each other, thereby improving the accuracy of the workpiece's positioning. Furthermore, the first positioning member 231 and the second positioning member 232 can be provided in multiple numbers to respectively position multiple workpieces picked up by the jig 204. Alternatively, the first positioning member 231 and the second positioning member 232 can each have multiple positioning portions, each corresponding one-to-one with a plurality of jigs 204, to respectively position the workpieces picked up by the plurality of jigs 204.

[0102] See also Figure 12a and Figure 12b For processing steps (such as inspection), the processing device 30 needs to be close enough to the workpiece 40 picked up by the fixture 204 to ensure the accuracy of the processing. Figure 12a As shown, due to the existence of a certain physical structure of the arm beam 205, the arm beam 205 and the processing device 30 may cause blocking interference, resulting in the processing device 30 being unable to get close enough to the workpiece 40 picked up by the fixture 204. Figure 12b , combined with Figure 10One solution in the conventional technology is to increase the axial length of the jig 204 on the rotation axis O3 so that the workpiece 40 picked up by the jig 204 can be far enough away from the arm beam 205 to prevent the arm beam 205 from interfering with the processing device 30. However, the conventional solution still has the problem that the distance between the workpiece 40 and the first axis O1 / second axis O2 is too large, and the rotation radius of the workpiece 40 is too large when it rotates with the arm beam 205. In the conventional technology, the rotation radius of the workpiece 40 is as follows: Figure 12b Indicated by the label L1.

[0103] To reduce the rotation radius of the workpiece 40 when it rotates with the arm beam 205, refer to Figure 8 , combined with Figure 12c In one embodiment, the arm 205 includes a first side 240, a second side 250, and a third side 260. The first side 240, second side 250, and third side 260 are arranged sequentially in a circumferential direction around the axis of extension of the arm 205 (i.e., the first axis O1 or the second axis O2). The jig 204 is located on the second side 250, i.e., the second side 250 has the aforementioned pickup side 208. Furthermore, the jig 204 is positioned on the second side 250 closer to the first side 240 or the third side 260, i.e., the jig 204 is offset. As a result, the jig 204 is positioned closer to the edge of the arm 205, allowing the processing device 30 to easily approach the workpiece 40 being picked up by the jig 204 without interfering with the arm 205. This arrangement in this embodiment reduces the rotation radius of the workpiece 40 while preventing interference between the processing device 30 and the arm 205. In this embodiment, the rotation radius of the workpiece 40 is as follows: Figure 12c As indicated by the reference numeral L2, L1>L2. It should be noted that when the radius of rotation of the workpiece 40 with the arm beam 205 is too large, the workpiece 40 is susceptible to positional instability, such as vibration and shaking, particularly when the pickup arm 202 is configured as a cantilever beam 205 connected to the connector 201. This design in this embodiment reduces the radius of rotation of the workpiece 40 about the first axis O1 and / or the second axis O2, improving the positional stability of the workpiece 40 and enhancing the connection stability between the pickup arm 202 and the connector 201.

[0104] Furthermore, the offset position of the first fixture 214 on the first arm beam 215 can be opposite to the offset position of the second fixture 224 on the second arm beam 225, so that when the two picking arms 202 face each other, the positions of the fixtures 204 correspond and the workpieces are transferred to each other.

[0105] See also Figure 13In one embodiment, the processing device 30 further includes a processing component 31. When the processing device 30 is a detection device, the processing component 31 may include components such as a light source 31a and a camera 31b. The processing component 31 and the transfer assembly 200 are spaced apart in the third direction S3, and the processing component 31 is also movably arranged along the third direction S3 to approach and move away from the transfer assembly 200. In this way, the processing distance can be easily adjusted to cope with different workpieces. The third direction S3 can intersect with the first direction S1 and the second direction S2 respectively. Furthermore, the first direction S1, the second direction S2 and the third direction S3 are perpendicular to each other.

[0106] See also Figure 13 , combined with Figure 9 Furthermore, the processing device 30 further includes a support plate 32, a connecting member 33, and a shift driver 34. The connecting member 33 is connected to the base frame 100, and the processing component 31 is provided on the support plate 32. The shift driver 34 is connected between the support plate 32 and the connecting member 33 to drive the support plate 32 to move relative to the connecting member 33 in the third direction S3.

[0107] Please continue reading Figure 13 In one embodiment, the processing component 31 is movably disposed in the arrangement direction of the first transfer assembly 210 and the second transfer assembly 220 to move to a position aligned with the first transfer assembly 210 or the second transfer assembly 220. In other words, the processing component 31 can move along the second direction S2 to a position aligned with the first transfer assembly 210 or the second transfer assembly 220, respectively. It will be understood that when one or more transfer assemblies 200 are configured to be unable to move in the second direction S2, the processing component 31 can be controlled to actively move along the second direction S2 to align with the transfer assembly 200 and process the workpiece carried by the transfer assembly 200.

[0108] Furthermore, the processing device 30 further includes a lifting component 35, which includes a support frame 35a and a lifting driver 35b. The support frame 35a is disposed on a side of the connecting member 33 facing away from the support plate 32, and the lifting driver 35b is disposed on the support frame 35a. The output rod of the lifting driver 35b passes through the connecting member 33 and is connected to the support plate 32 to lift the support plate 32, causing the support plate 32 to move in the second direction S2, thereby allowing the processing component 31 to move in the third direction S3 along with the support plate 32. In this case, the connecting member 33 can be constructed in a plate shape.

[0109] like Figure 9 When both the first transfer assembly 210 and the second transfer assembly 220 are capable of moving in the second direction S2, the processing device 30 may not include the lifting member 35. In this case, the connecting member 33 may be configured in a frame shape to raise the processing member 31 to a height that matches the height of each transfer assembly 200.

[0110] It should be emphasized that the embodiments of the present application are not limited to two transfer assemblies 200 , and the number of transfer assemblies 200 can be multiple, such as three, four, or five, as required. The transfer assemblies 200 can be arranged side by side and spaced apart in the second direction S2 .

[0111] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A material transfer device, characterized in that: The material transfer device comprises: scaffolding; A transfer assembly includes a connecting head and a pick-up arm connected to the connecting head in a cantilevered manner, the pick-up arm being used to pick up a workpiece, the connecting head being movably provided on the base frame along a first direction, a plurality of the transfer assemblies including a first transfer assembly and a second transfer assembly arranged side by side along a second direction, a free end of the pick-up arm of the first transfer assembly and a free end of the pick-up arm of the second transfer assembly extending in a positive direction and a reverse direction of the first direction, respectively, in a direction away from the connected connecting head, the second direction intersecting the first direction; The picking arm of at least one of the first transfer assembly and the second transfer assembly can rotate around its extension axis relative to the connected connecting head.

2. The material transfer device according to claim 1, characterized in that: The connecting head of the first transferring assembly is a first connecting head, the picking arm of the first transferring assembly is a first picking arm, the connecting head of the second transferring assembly is a second connecting head, and the picking arm of the second transferring assembly is a second picking arm. At least one of the first connecting head and the second connecting head can move along the second direction to approach and move away from the other, and the second direction is the height direction of the base frame.

3. The material transfer device according to claim 2, characterized in that: The first transfer assembly further includes a first rotary driver connected between the first connector and the first pickup arm, the first rotary driver driving the first pickup arm to rotate around a first axis, the first axis intersecting the second direction; and / or The second transfer assembly further includes a second rotary driver connected between the second connector and the second pickup arm, and the second rotary driver drives the second pickup arm to rotate around a second axis, where the second axis intersects the second direction.

4. The material transfer device according to claim 3, characterized in that: The first axis, the second axis and the first direction are parallel to each other, and the first direction is perpendicular to the second direction.

5. The material transfer device according to claim 2, characterized in that: The material transfer device further includes a first adapter and a first longitudinal drive, wherein the first adapter is movably provided on the base frame along the first direction, and the first longitudinal drive is connected between the first adapter and the first connector to drive the first connector to move along the second direction; and / or The material transfer device also includes a second adapter and a second longitudinal drive. The second adapter is movably provided on the base frame along the first direction. The second longitudinal drive is connected between the second adapter and the second connecting head for driving the second connecting head to move along the second direction.

6. The material transfer device according to claim 1, characterized in that: The base frame includes a base and a stand, and the stand extends along the second direction and is arranged on the base; The first transfer assembly and the second transfer assembly are arranged side by side on the stand in the second direction; or One of the first transfer assembly and the second transfer assembly is arranged on the stand, and the other is arranged on the base.

7. The material transfer device according to claim 1, characterized in that: The material transfer device further includes a first drive module and a second drive module, wherein the first drive module and the second drive module are both arranged on the base frame, the first drive module is connected to the connecting head of the first transfer component to drive the first transfer component to move along the first direction, and the second drive module is connected to the connecting head of the second transfer component to drive the second transfer component to move along the first direction; At least one of the first driving module and the second driving module is configured as a linear motor module.

8. The material transfer device according to claim 1, characterized in that: The pickup arm includes a connecting end and a free end. The connecting end is connected to the connecting head. In at least one direction perpendicular to the extension axis of the pickup arm, the size of the free end is smaller than that of the connecting end.

9. The material transfer device according to claim 1, characterized in that: The picking arm includes an arm beam and a jig, the jig is used to pick up the workpiece, a plurality of jigs are rotatably provided on the arm beam around a direction intersecting with an extension axis of the arm beam, and the plurality of jigs are arranged at intervals.

10. The material transfer device according to claim 9, characterized in that: The transfer assembly further includes a driving component, the driving component is provided on the arm beam, the driving component is connected to the plurality of fixtures, and the driving component drives the plurality of fixtures to rotate synchronously relative to the arm beam around their own rotation axis; and / or The transfer assembly also includes a positioning component, which is provided on the arm beam and is located on the same side of the arm beam as the jig. The positioning component includes a first positioning component and a second positioning component. At least one of the first positioning component and the second positioning component is movably provided on the arm beam to push the workpiece picked up by the jig to contact the other.

11. The material transfer device according to claim 10, characterized in that: The driving component includes a driving module and a transmission module, the transmission module is connected to each of the fixtures respectively, the driving module is connected to the transmission module to drive each of the fixtures to rotate synchronously through the transmission module, and the transmission module is configured as one of a rack and pinion drive, a belt drive, a chain drive and a worm gear drive; or The driving component includes multiple driving modules, each of which includes a self-rotating driver and a self-rotating motor. The self-rotating driver is connected to the self-rotating motor. The self-rotating motors of the multiple driving modules are connected to the multiple fixtures in a one-to-one correspondence. Each driving module independently drives each fixture to rotate synchronously.

12. The material transfer device according to claim 10, characterized in that: The rotation axes of at least part of the jig are parallel to each other, and the rotation axes of the jig are perpendicular to the extension axis of the arm beam on which the jig is arranged.

13. The material transfer device according to claim 9, characterized in that: The arm beam includes a first side portion, a second side portion, and a third side portion arranged in sequence in a circumferential direction around its extension axis. The jig is located on the second side portion, and the distribution position of the jig on the second side portion is closer to the side where the first side portion is located or the side where the third side portion is located.

14. A production equipment, characterized in that The production equipment includes the material transfer device according to any one of claims 1 to 13.

15. The production equipment according to claim 14, characterized in that The production equipment further includes a processing device, the processing device including a processing component, the processing component being movably arranged in the arrangement direction of the first transfer assembly and the second transfer assembly to move to a position aligned with the first transfer assembly or the second transfer assembly; The processing component and the transfer assembly are spaced apart in a third direction. The processing component is also movably provided along the third direction, and the third direction intersects with the first direction.

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