Stepping backflow type conveying method and conveying device

Abstract

The invention discloses a stepping backflow type conveying method and a conveying device.The stepping backflow type conveying method is applied to the conveying device, the conveying device comprises a stepping type conveying unit, a backflow conveying unit and a transferring unit, the stepping backflow type conveying method comprises stepping type moving conveying and backflow conveying, and the stepping backflow type conveying method specifically comprises the following steps that step-by-step moving conveying and step-by-step backflow conveying are adopted; the jigs in the no-load state obtain materials at the starting end of the stepping type conveying unit. The jig obtained with the materials is moved and conveyed in a stepping mode; after the jig moves to the tail end of the stepping type conveying unit, the materials are output and are unloaded again; the jig outputting the materials is subjected to backflow moving conveying through the backflow conveying unit, the jig is subjected to backflow moving to the starting end of the stepping type conveying unit, the materials are obtained again, and next stepping type moving conveying is carried out; wherein in the step-by-step movement, at least two jigs are driven by the step-by-step conveying unit to move each time, and each jig enters a limiting static state after moving one step each time, so that materials on the jigs are machined.

Description

Technical Field

[0001] The present invention relates to the technical field of jig transportation, and in particular to a step-by-step reflux transportation method and a transportation device. Background Art

[0002] During the processing of wire harnesses, strict requirements are placed on the transportation of jigs. Efficient, precise, and stable transportation is required to meet the complex process requirements of wire harness processing. Traditional wire harness conveying equipment mostly uses a single-station conveying method. That is, each conveying unit can only transport one jig at a time. The jig is placed on the wire harness for processing. Manual switching of the conveying unit is required for each processing station of the wire harness, resulting in extremely high manpower requirements and low production efficiency. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a step-by-step reflux conveying method, which can realize the step-by-step movement of the fixture by realizing the steps of step-by-step movement of the fixture, automatic limit fixation, fully automated workstation switching and automatic material reflux, and each moving point is equipped with a limit mechanism to meet the assembly line processing scenario, without the need for manual workstation switching. After the processing is completed, the fixture automatically refluxes to re-load the material and enters the next conveying and processing step again, realizing fully automated workstation switching and material transportation, and improving processing efficiency.

[0004] The present invention also provides a transport device for applying the above transport method.

[0005] The step-by-step reflux conveying method according to the first embodiment of the present invention is applied to a conveying device, which includes a step-by-step conveying unit, a reflux conveying unit, and a transfer unit, and is characterized in that: The step-by-step reflux conveying method includes step-by-step moving conveying and reflux conveying, and specifically includes the following steps: The unloaded fixture obtains the material at the starting end of the step-by-step conveying unit; After acquiring the material, the jig performs the step-by-step movement and transportation; After the jig moves to the end of the step-by-step conveying unit, it outputs the material and becomes empty again; After outputting the material, the jig is transported back through the reflux conveying unit, and then moves back to the starting end of the step-by-step conveying unit to obtain the material again and perform the next step-by-step conveying; In the step-by-step movement, at least two jigs are driven to move by the step-by-step conveying unit each time, and the step-by-step conveying unit further comprises a limiting mechanism (430), wherein the limiting mechanism (430) is used to connect the jig (500) to prevent the jig (500) from shaking or detaching.

[0006] According to the step-by-step reflux conveying method of an embodiment of the present invention, there are at least the following beneficial effects: through the coordinated work of the step-by-step conveying unit and the reflux conveying unit, the jig can automatically complete the switch from one workstation to the next without human intervention, and automatically reflux after processing. This fully automated workstation switching method greatly improves production efficiency, reduces errors and delays caused by manual operation, and ensures the continuity and stability of the production process. In addition, during the step-by-step movement process, each jig enters a limited static state after each single movement, providing a stable processing environment for the material on the jig. This enables the processing equipment to accurately operate on the material, effectively improving the processing quality and precision, and is particularly suitable for assembly line processing scenarios such as wire harness processing that require high processing precision.

[0007] Furthermore, at least two fixtures are moved simultaneously in a stepwise manner, fully utilizing production space and equipment resources and enabling multi-station parallel processing. Furthermore, the automatic reflow and recycling of fixtures eliminates the time wasted in manually repositioning fixtures, further shortening production cycles and significantly improving overall processing efficiency.

[0008] According to some embodiments of the first aspect of the present invention, the step-by-step conveying unit includes a plurality of movable modules arranged along a conveying direction, and in the step-by-step conveying, two adjacent movable modules include a first movable module and a second movable module that sequentially convey the jig; The two first gripping mechanisms of the first moving module include a first front gripping mechanism and a first rear gripping mechanism for sequentially conveying the jig; The two first gripping mechanisms of the second moving module include a second front gripping mechanism and a second rear gripping mechanism for sequentially conveying the jig; The first moving module moves, the first front grasping mechanism places the jig at the initial position of the first rear grasping mechanism, and the first rear grasping mechanism places the jig from the first front grasping mechanism at the initial position of the second front grasping mechanism; The second moving module moves, the second front grasping mechanism places the jig from the first rear grasping mechanism at the initial position of the second rear grasping mechanism, and the second rear grasping mechanism places the jig from the second front grasping mechanism on the next moving module or the transfer unit.

[0009] According to some embodiments of the first aspect of the present invention, in the step-by-step reflow conveying, after each jig moves one step, the jig is fixedly clamped by a limiting mechanism, or the jig is fixedly clamped on the frame or conveying direction after moving to limit the shaking of the jig.

[0010] According to some embodiments of the first aspect of the present invention, assuming that the standard spacing between each mobile module is L, assuming that each mobile module needs to complete the task of moving the fixture from the initial position of one gripping mechanism to the initial position of the next adjacent gripping mechanism, and the spacing between the initial positions of adjacent gripping mechanisms is d, then the moving distance S of the mobile module = d.

[0011] According to some embodiments of the first aspect of the present invention, the step of reflux conveying is the same as the step of step-by-step movement conveying; Alternatively, the reflux conveying is performed by a conveyor belt, a transmission roller or a conveyor belt to carry out the reflux conveying of the jig.

[0012] A transport device according to an embodiment of the second aspect of the present invention is used to apply the step-by-step reflux transport method as described above, comprising a step-by-step transport unit, a reflux transport unit, and a transfer unit arranged vertically up and down, wherein the transfer unit is used to cyclically transfer the jig between the step-by-step transport unit and the reflux transport unit; The step-by-step conveying unit includes a plurality of mobile modules arranged adjacent to each other along the conveying direction of the jig. The mobile modules include two first grasping mechanisms, which are used to grasp two jigs respectively. The plurality of mobile modules move along the conveying direction, and two adjacent mobile modules can grasp one jig at the same time. The jig can be transferred between two adjacent mobile modules to make step-by-step linear movements along the conveying direction.

[0013] The transport device according to an embodiment of the present invention has at least the following beneficial effects: The design of simultaneous jig grabbing and transfer between multiple moving modules in the step-by-step conveying unit and between adjacent moving modules enables jigs to move linearly in a step-by-step manner along the conveying direction. Compared to traditional continuous conveying methods, step-by-step movement can precisely control the position and dwell time of the jig, facilitating precise machining of workpieces on the jig, significantly improving product processing accuracy and quality stability. Each moving module is equipped with two first grabbing mechanisms capable of simultaneously grabbing two jigs, significantly improving jig grabbing and transport efficiency compared to traditional single grabbing mechanisms. Furthermore, the coordinated operation of multiple moving modules enables continuous and efficient jig transport, meeting the needs of large-scale production, effectively shortening production cycles, and improving enterprise production efficiency. The transport device has a rational structural design, with tight coordination between its components, ensuring stable operation during jig transfer and transport. The simultaneous grabbing and transfer of jigs between adjacent moving modules reduces the risk of jigs shaking or falling during transport, improving the reliability and stability of the device, and reducing equipment failure rates and maintenance costs.

[0014] According to some embodiments of the second aspect of the present invention, the step-by-step conveying unit includes a guide rail arranged along the conveying direction of the jig, and a plurality of sliders slidably connected to the guide rails, and the plurality of sliders are used to install the jig.

[0015] According to some embodiments of the second aspect of the present invention, the moving module is connected to the guide rail, and the two first grasping mechanisms are arranged adjacent to each other along the radial direction of the guide rail. The moving module also includes a first driving member, and the output end of the first driving member is connected to the two first grasping mechanisms to drive the two first grasping mechanisms to perform linear reciprocating motion along the radial direction of the guide rail.

[0016] According to some embodiments of the second aspect of the present invention, the mobile module further includes a second driving member, which is respectively connected to and drives the two first grasping mechanisms to move upward and downward, so that the first grasping mechanisms grasp or release the fixture; Alternatively, the moving module includes two second driving members, and the two second driving members are respectively connected to the two first grasping mechanisms for lifting and lowering movements, so that the first grasping mechanisms grasp or release the fixture.

[0017] According to some embodiments of the second aspect of the present invention, the first gripping mechanism includes a fixing block, and the slider is provided with a fixing slot; Alternatively, the first gripping mechanism includes a fixing slot, and the slider is provided with a fixing block; The fixing block is clamped in the fixing groove to enable the first grasping mechanism to grasp and fix the fixture.

[0018] According to some embodiments of the second aspect of the present invention, the first grasping mechanism includes a pillar, the top of the pillar has a recess to form the fixing groove, and the pillar is provided with guiding inclined walls along both sides of the opening of the fixing groove.

[0019] According to some embodiments of the second aspect of the present invention, two buffer wheels are provided on the top of the pillar, and the two buffer wheels are arranged along both sides of the opening of the fixing groove.

[0020] According to some embodiments of the second aspect of the present invention, the mobile module is provided with a limiting mechanism, which is used to connect the jig to offset the inertial force of the jig moving along the conveying direction to prevent the goods on the jig from shaking or falling off.

[0021] According to some embodiments of the second aspect of the present invention, the limiting mechanism includes a second grasping mechanism, the second grasping mechanism includes a third driving member and a limiting member, and the third driving member is connected to and drives the limiting member to move up and down so that the limiting member is connected to or separated from the fixture.

[0022] According to some embodiments of the second aspect of the present invention, the limiting member is provided with a first latching tooth, and the fixture is provided with a second latching tooth, and the first latching tooth is engaged with the second latching tooth to limit the shaking of the fixture.

[0023] According to some embodiments of the second aspect of the present invention, the reflux conveying unit has the same structure as the step-by-step conveying unit; Alternatively, the reflux conveying unit is provided with a conveying member for driving the jig to move from the end to the starting end of the conveying direction.

[0024] According to some embodiments of the second aspect of the present invention, the transfer unit includes two lifting units, and the two lifting units are respectively arranged at a starting end and an end end along the conveying direction of the jig.

[0025] According to some embodiments of the second aspect of the present invention, in the step-by-step mobile conveying, the two adjacent mobile modules include a first mobile module and a second mobile module that sequentially convey the jig; The two first gripping mechanisms of the first moving module include a first front gripping mechanism and a first rear gripping mechanism for sequentially conveying the jig; The two first gripping mechanisms of the second moving module include a second front gripping mechanism and a second rear gripping mechanism for sequentially conveying the jig; The first moving module moves, the first front grasping mechanism places the jig at the initial position of the first rear grasping mechanism, and the first rear grasping mechanism places the jig from the first front grasping mechanism at the initial position of the second front grasping mechanism; The second moving module moves, the second front grasping mechanism places the jig from the first rear grasping mechanism at the initial position of the second rear grasping mechanism, and the second rear grasping mechanism places the jig from the second front grasping mechanism on the next moving module or the transfer unit.

[0026] According to some embodiments of the second aspect of the present invention, the step of reflux conveying is the same as the step of step-by-step movement conveying.

[0027] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which: Figure 1 is a schematic diagram of a transport device according to an embodiment of the present invention; Figure 2 is a schematic diagram of a mobile module of a transportation device according to an embodiment of the present invention; Figure 3 is a schematic diagram of a mobile module of a transportation device according to an embodiment of the present invention from another perspective; Figure 4 1 is a schematic flow chart of the steps of the step-by-step reflux conveying method according to an embodiment of the present invention.

[0029] Figure numerals: step-by-step conveying unit 100; guide rail 110; return conveying unit 200; transfer unit 300; lifting unit 310; moving module 400; first gripping mechanism 410; pillar 411; fixing groove 412; guide inclined wall 413; buffer wheel 414; second driving member 420; limiting mechanism 430; third driving member 431; second gripping mechanism 432; limiting member 433; first latching tooth 434; fixture 500; second latching tooth 510. DETAILED DESCRIPTION

[0030] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0031] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0032] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0033] In the description of the present invention, unless otherwise explicitly defined, terms such as "set," "install," and "connect" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meanings of these terms in the present invention based on the specific content of the technical solution. In the description of the present invention, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with such embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In the description of this specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with such embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0034] Reference Figure 1 and Figure 2 In a first aspect, the present invention provides a step-by-step reflux conveying method, which is applied to a transport device. The transport device includes at least a step-by-step conveying unit, a reflux conveying unit, and a transfer unit. The step-by-step reflux conveying method specifically includes two major steps: step-by-step moving conveying and reflux conveying. It further specifically includes the following steps that are performed cyclically: S100: The unloaded fixture obtains the material at the beginning of the stepping conveying unit; S200: The fixture is transported in a step-by-step manner; S300: The fixture moves to the end of the step-by-step conveying unit to output the material; S400: After discharging the material, the empty fixture is returned for transport.

[0035] In a specific embodiment, after the transport device is activated, the unloaded jig located at the beginning of the step-by-step conveyor unit is moved to the material acquisition position under the action of the conveying power. This position is usually equipped with a positioning device to ensure that the jig is accurately docked above the material. The jig is equipped with a material grasping mechanism, such as a vacuum suction cup, a mechanical gripper, etc., and the appropriate grasping method is selected according to the characteristics of the material. When the jig reaches the material acquisition position, the control system issues a command, and the material grasping mechanism is activated, firmly grasping the material, so that the material and the jig become a whole. At this time, the jig is in the material loading state.

[0036] After loading, the jig begins to move and transport in a step-by-step manner under the drive of the step-by-step conveying unit. The step-by-step movement is achieved by precisely controlling the start and stop of the conveying unit through the control system. The distance of each movement is pre-set according to the requirements of the production process to ensure that the jig can accurately reach the processing station. During the movement of the jig, the guide device on the step-by-step conveying unit ensures that the jig moves along the predetermined path to prevent the jig from offsetting or shaking. When the jig moves to the end of the step-by-step conveying unit, it reaches the material output position. A material release mechanism is provided here to cooperate with the material grabbing mechanism on the jig. The control system issues a command, and the material grabbing mechanism releases the material and accurately places the material in the designated working area of ​​the next processing equipment. At this time, the jig becomes unloaded again.

[0037] The unloaded fixtures must pass through the mobile unit and enter the return conveyor unit for return transport, returning to the starting point of the step-by-step conveyor unit. The return conveyor unit's conveying direction is opposite to that of the step-by-step conveyor unit. The fixtures move along the predetermined return path on the return conveyor unit.

[0038] When the jig moves to the end of the reflux conveying unit, that is, near the starting end of the stepping conveying unit, the transfer unit again transfers the jig from the reflux conveying unit to the starting end of the stepping conveying unit, preparing for the next material acquisition and stepping movement conveying.

[0039] It should be noted that the entire conveying process forms a cycle. The fixture is transported in a step-by-step manner on the step-by-step conveying unit. After completing the material processing and conveying tasks, it is refluxed through the reflux conveying unit and the transfer unit, and returns to the starting end of the step-by-step conveying unit to obtain new materials. This cycle is repeated to achieve continuous material transportation and production processing.

[0040] It should be noted that the step-by-step reflux conveying method proposed in the present invention can be used in single material transfer scenarios between different processing equipment. In other embodiments, it can be applied to assembly lines that simultaneously process materials while being transported. Specifically, after loading the material, the jig begins step-by-step movement driven by a step-by-step conveyor unit. This step-by-step movement allows the jig to move at each step, each distance pre-set according to the production process requirements, ensuring that the jig accurately reaches each processing station. During the jig's movement, a guide device on the step-by-step conveyor unit ensures that the jig moves along the predetermined path, preventing it from drifting or shaking. Simultaneously, sensors on the conveyor unit monitor the jig's position and status in real time and provide feedback to the control system for timely adjustment of the conveying speed and position. As the jig moves to each processing station on the step-by-step conveyor unit, the corresponding processing equipment processes the material on the jig. After processing is completed, the jig continues to move in a step-by-step manner to the next station until it reaches the end of the step-by-step conveyor unit. When the jig reaches the end of the step-by-step conveyor unit, it reaches the material output position. The control system issues a command, and the material grabbing mechanism releases the material and accurately places the processed material in the designated material collection area.

[0041] In the specific implementation steps of the assembly line processing scenario, a material supply device is installed at the beginning of the stepping conveyor unit. An empty jig is placed at the starting position of the stepping conveyor unit. When the jig is detected to be in place, the material supply device automatically places the material to be processed onto the jig, completing the material loading. The stepping conveyor unit starts, driving the jig to move step by step.

[0042] When each jig reaches a preset point after each single step of movement, the clip body of the limiting mechanism set at this point will pop out quickly under the action of the elastic reset device, accurately clamping a specific part of the jig, such as the edge protrusion or groove of the jig, firmly fixing the jig in the current position and limiting the shaking of the jig. Alternatively, after reaching the preset point, the jig itself has mechanical claws or electromagnet adsorption parts, which can be automatically clamped and fixed on the frame or guide rail of the conveyor line. At this time, the material on the jig is in a stable processing state, and the processing equipment can perform corresponding operations on the material, such as cutting, stripping, welding, etc. of the wire harness. When the material on the jig completes all the preset processing steps, the jig moves to the end of the stepping conveyor unit.

[0043] A material discharging device is located at the end of the machine, automatically removing the processed material from the jig. At this point, the jig is unloaded. To ensure smooth entry into the return conveyor unit, the retaining mechanism's buckle body rotates under external force before the jig leaves the step-by-step conveyor unit, releasing the jig's securement.

[0044] The empty jig is transferred from the end of the step-by-step conveyor unit to the return conveyor unit via the transfer unit. The return conveyor unit activates, driving the jig for a return motion, transporting it back to the beginning of the step-by-step conveyor unit. During this return motion, the jig does not require any processing; it simply returns to its starting position quickly and stably. Once the empty jig returns to the beginning of the step-by-step conveyor unit, step S100 is repeated to retrieve the material and proceed to the next step-by-step motion, thus completing the entire conveying and processing cycle.

[0045] Through the coordinated work of the step-by-step conveying unit and the reflow conveying unit, the fixture can automatically switch from one workstation to the next without human intervention, and automatically reflow after processing. This fully automated workstation switching method greatly improves production efficiency, reduces errors and delays caused by manual operation, and ensures the continuity and stability of the production process. In addition, during the step-by-step movement process, each fixture enters a limited static state after each single step, providing a stable processing environment for the material on the fixture. This enables the processing equipment to accurately operate on the material, effectively improving the processing quality and precision, and is especially suitable for assembly line processing scenarios such as wire harness processing that require high processing precision.

[0046] Furthermore, at least two fixtures are moved simultaneously in a stepwise manner, fully utilizing production space and equipment resources and enabling multi-station parallel processing. Furthermore, the automatic reflow and recycling of fixtures eliminates the time wasted in manually repositioning fixtures, further shortening production cycles and significantly improving overall processing efficiency.

[0047] Optionally, the jig's return conveying motion can also be performed in a step-by-step manner. Because return conveying uses the same steps as step-by-step conveying, the control system's programming and logic control can be highly unified. This eliminates the need to develop a separate set of complex control algorithms and programs specifically for return conveying, reducing software development costs and workload. Furthermore, the unified control logic makes it easier for operators to understand and master, reducing the difficulty and time required for operator training and improving the overall operability and management efficiency of the production line.

[0048] Alternatively, one or more conveyor belts can be installed next to or below the step-by-step mobile conveyor line as a return conveying channel. The material of the conveyor belt can be selected according to the weight and characteristics of the fixture. For example, rubber conveyor belts are suitable for lighter fixtures, and metal chain conveyor belts are suitable for fixtures in heavier or high-temperature environments. The layout of the conveyor belt should be reasonable to ensure smooth docking with the starting and ending ends of the step-by-step mobile conveyor. The smooth transfer of fixtures between the two can be achieved by setting guide plates, transition rollers and other devices. The conveyor belt is a relatively low-cost conveying equipment with a simple structure and easy installation and maintenance. Compared with the step-by-step return conveying method using multiple mobile modules, the use of conveyor belts to achieve return conveying can greatly reduce equipment procurement costs and operating costs, and is especially suitable for production companies that are more sensitive to costs.

[0049] It is understood that the use of a step-by-step mobile conveying method can precisely control the movement distance and docking position of the jig, ensuring accurate jig transfer. At the same time, the return conveying design allows the jig to be recycled, avoiding the time-consuming frequent jig replacement and further improving the production efficiency of the entire production line. During the step-by-step mobile conveying process, the jig's docking position at each processing station is accurate and stable, reducing processing errors caused by material position deviations. This makes it suitable for the synchronous movement and conveying of two or more jigs, ensuring the stability of material movement, and thus improving product quality consistency. In addition, the jig is well guided and positioned during the return conveying process, avoiding collisions and damage, ensuring the accuracy of jig reuse, and also contributing to improved product quality. By implementing a return conveying unit to achieve return conveying of the jig, the vertical or horizontal space of the production workshop is fully utilized, avoiding the large space occupied by the long-distance reverse movement of the jig in traditional conveying methods, optimizing the production layout, and saving production space. At the same time, the recycling of jigs reduces the number of jigs required, reducing the procurement and maintenance costs of jigs. The entire conveying process can be automated through the control system, which not only improves the accuracy and stability of production, but also reduces manual intervention, reduces labor intensity, and improves the level of intelligent production.

[0050] It should be noted that the automated control uses sensors to monitor the position and status of the fixture in real time and feeds the information back to the control system. The control system accurately controls the start and stop of the conveying unit, the movement of the transfer unit, and the operation of the material grabbing and releasing mechanism according to the preset program.

[0051] It should be noted that this step-by-step reflux conveying method allows for flexible adjustment of the step length, speed, number of processing stations, and the path and method of reflux conveying, depending on the production process and product requirements. This flexibility enables the conveying device to adapt to the production and processing of a wide variety of product types, improving the versatility and adaptability of the production line, and facilitating rapid adjustments to production plans to meet diverse market demands.

[0052] In the step-by-step reflow conveying method proposed by the present invention, a single mobile module synchronously drives two jigs. The specific conveying steps include: the first mobile module begins moving at a preset speed and acceleration. Simultaneously, the first front gripping mechanism activates, its gripping components firmly grasping the jig. The first mobile module drives the first front gripping mechanism and the jig toward the initial position of the first rear gripping mechanism. After the first front gripping mechanism accurately places the jig at the initial position of the first rear gripping mechanism, the first front gripping mechanism releases the jig and returns to its original position along a preset return path and speed for standby. Subsequently, the first rear gripping mechanism activates, grabbing the jig at its initial position. The first mobile module then moves again, placing the jig from the initial position of the first rear gripping mechanism to the initial position of the second front gripping mechanism. Once placement is complete, the first rear gripping mechanism releases the jig and returns to its original position. After the first mobile module completes these actions, the control system issues a command to the second mobile module, causing it to begin moving.

[0053] The second front grasping mechanism is actuated to grasp the jig from the first rear grasping mechanism at its initial position. The second moving module drives the second front grasping mechanism and the jig to move to the initial position of the second rear grasping mechanism. After the second front grasping mechanism accurately places the jig at the initial position of the second rear grasping mechanism, the second front grasping mechanism releases the jig and returns to its original position. Finally, the second rear grasping mechanism is actuated to grasp the jig at its initial position. If there is a subsequent moving module, the second moving module places the jig at the initial position of the grasping mechanism corresponding to the next moving module; if there is no next moving module, the second rear grasping mechanism places the jig in the transfer unit so that the jig can be refluxed and transported to enter the next cycle.

[0054] The above steps complete one step-by-step transport of the jig. The control system repeats the above steps according to the preset program and production requirements, so that the jig continues to move step by step on the step-by-step transport unit and passes through each processing station in sequence.

[0055] It's important to note that, assuming the standard spacing between each mobile module is L, to ensure the fixture can accurately move from one grasping position to the next, while also taking into account the accuracy of the grasping and placement actions of the grasping mechanism, the movement distance S of each mobile module should satisfy a certain relationship. Assuming that each mobile module needs to complete the task of moving the fixture from the initial position of one grasping mechanism to the initial position of the next grasping mechanism, and the spacing between the initial positions of adjacent grasping mechanisms is d, then the movement distance S of the mobile module = d.

[0056] In particular, if the acceleration and deceleration phases of movement are taken into account, to ensure smoother movement, the acceleration distance Sa, the uniform speed distance Sv, and the deceleration distance Sd are typically set, with S = Sa + Sv + Sd. Assuming the acceleration magnitudes of the acceleration and deceleration phases are equal, a, the uniform speed is v, the acceleration and deceleration times are both t1, and the uniform speed time is t2, then Sa = Sd = 1 / 2at12, Sv = vt2, and v = at1. By properly setting these parameters, smooth movement and precise docking of the mobile module can be achieved.

[0057] In particular, the stroke of the entire step-by-step mobile conveying is D, which is the total distance the fixture moves from the starting end to the end of the step-by-step conveying unit. Assume that there are n mobile modules involved in the conveying process, and the displacement distance of each mobile module is Si (i=1,2,⋯,n). Ideally, if the conveying tasks of each mobile module are evenly distributed without overlap or gaps, then D=(n-1)Si. In reality, due to some special circumstances, such as some mobile modules needing to complete additional adjustment actions or to adapt to different processing station layouts, the displacement distances of each mobile module may be different. But overall, the stroke of the entire step-by-step mobile conveying is composed of the displacement distances of each mobile module. By rationally designing and controlling the movement of each mobile module, precise step-by-step movement of the fixture throughout the entire conveying stroke can be achieved.

[0058] It's easy to understand that step-by-step motion conveying enables continuous and orderly jig transportation. Each moving module can operate simultaneously, reducing waiting time during material transportation. Furthermore, high-precision positioning and a stable conveying process improve processing equipment utilization, reduce processing adjustment time caused by inaccurate material positioning, and thus enhance overall production efficiency. Furthermore, the step-by-step motion method divides the jig conveying process into multiple independent steps, each with a clear action and goal. The smooth movement of the moving modules and the reliable gripping and release of the gripping mechanism ensure that the jig does not experience violent shaking or fall during conveying, thus improving conveying stability. Even during long, continuous production processes, stable conveying quality is maintained, reducing production failures and product defective rates caused by unstable conveying. Furthermore, because the conveying process is broken down into multiple relatively independent modules and steps, in the event of a fault, the problematic moving module or gripping mechanism can be quickly located, facilitating repair and replacement. This modular design also facilitates routine maintenance of the equipment, allowing for independent inspection and maintenance of each module, extending the equipment's service life and reducing maintenance costs and downtime.

[0059] Reference Figure 2 、 Figure 3 and Figure 4 In a second aspect, the present invention provides a transport device comprising a step-by-step conveyor unit 100, a return conveyor unit 200, and a transfer unit 300. The step-by-step conveyor unit 100 and the return conveyor unit 200 are arranged vertically in an upper and lower arrangement, with the transfer unit 300 positioned between the step-by-step conveyor unit 100 and the return conveyor unit 200 to facilitate the cyclic transfer of the jig 500 between the two conveyor units. This upper and lower layered structural design fully utilizes space, reduces the equipment footprint, and facilitates layered processing of different processes.

[0060] The step-by-step conveying unit 100 comprises multiple mobile modules, arranged adjacent to each other along the conveying direction of the jig 500. Each mobile module is equipped with two first gripping mechanisms 410, each of which is used to grip two jigs 500. During operation, the multiple mobile modules move synchronously along the conveying direction. When two adjacent mobile modules move to the appropriate position, they can simultaneously grip the same jig 500. For example, if mobile module A and mobile module B are adjacent, when they move to a specific workstation, one first gripping mechanism 410 of mobile module A and one first gripping mechanism 410 of mobile module B will simultaneously grip the jig 500 located between them. Subsequently, as the mobile modules continue to move, the jig 500 transfers between the two adjacent mobile modules, thereby achieving step-by-step linear movement of the jig 500 along the conveying direction. This step-by-step movement method enables precise control of the position of the jig 500, facilitating subsequent processing operations and improving processing accuracy and product quality.

[0061] The design of the jig 500, which is designed to be simultaneously grasped and transferred between multiple moving modules within the step-by-step conveyor unit 100 and between adjacent moving modules, enables the jig 500 to move linearly in a step-by-step manner along the conveying direction. Compared to traditional continuous conveying methods, step-by-step movement allows for precise control of the jig 500's position and dwell time, facilitating precise machining of workpieces on the jig 500 and significantly improving product processing accuracy and quality stability.

[0062] Two first grasping mechanisms 410 are provided on each mobile module, which can grasp two jigs 500 at the same time. Compared with the traditional single grasping mechanism, the grasping and transportation efficiency of the jig 500 is greatly improved. Moreover, multiple mobile modules work together to achieve continuous and efficient transportation of the jig 500, which can meet the needs of large-scale production, effectively shorten the production cycle, and improve the production efficiency of the enterprise. The structural design of this transportation device is reasonable, and the various components are closely matched, and it can maintain stable operation during the transfer and transportation of the jig 500. The simultaneous grasping and transfer of the jig 500 between adjacent mobile modules reduces the risk of shaking and falling of the jig 500 during movement, improves the reliability and stability of the equipment, and reduces the equipment failure rate and maintenance costs.

[0063] Reference Figure 2Specifically, in the step-by-step conveying unit 100, the guide rail 110 is carefully arranged along the conveying direction of the jig 500. The guide rail 110 is made of high-precision, wear-resistant materials to ensure its straightness and stability. A plurality of sliders are mounted on the guide rail 110 through a precise sliding connection structure. These sliders can slide smoothly on the guide rail 110 and have low friction resistance. An interface for installing the jig 500 is reserved on each slider, and the jig 500 is firmly mounted on the slider by means of bolts, snaps, etc. When the moving module drives the jig 500 to move, the slider slides along the guide rail 110, thereby realizing the conveyance of the jig 500. This design makes the installation and disassembly of the jig 500 more convenient and quick, and facilitates the replacement of different types of jigs 500 according to different production needs. At the same time, the guide rail 110 provides precise guidance for the movement of the slider and the jig 500, ensuring the straightness and position accuracy of the jig 500 during the transportation process, improving the stability and reliability of the entire transportation device, and facilitating the subsequent precise processing of the workpiece on the jig 500.

[0064] Furthermore, the mobile module is secured to the guide rail 110 via a specific connection structure, ensuring stable movement along the guide rail 110. The two first gripping mechanisms 410 are positioned adjacent to each other radially along the guide rail 110. This arrangement allows them to conveniently grasp adjacent jigs 500. The first driver utilizes a high-performance motor or cylinder, with its output connected to the two first gripping mechanisms 410 via a transmission mechanism such as a connecting rod and gears. When the first driver is activated, the output drives the transmission mechanism, which in turn drives the two first gripping mechanisms 410 in linear reciprocating motion radially along the guide rail 110. For example, to grasp a jig 500, the first driver drives the first gripping mechanism 410 toward the jig 500, bringing it closer to the jig 500 for grasping. Once grasping is complete, the first driver reverses the direction of motion, moving the jig 500 to the desired position. Simultaneously driving both first gripping mechanisms 410 with a single first driver simplifies the drive structure and reduces the cost and complexity of the device. At the same time, this synchronous driving method ensures the movement consistency of the two first grasping mechanisms 410, so that they can accurately grasp adjacent fixtures 500 at the same time, improving the efficiency and accuracy of grasping the fixtures 500, and further improving the production efficiency of the entire transportation device.

[0065] Reference Figure 3In some embodiments, a second driving member 420 is provided in the mobile module, and the second driving member 420 adopts a device capable of achieving linear motion, such as an electric push rod or a cylinder. The second driving member 420 is connected to the two first grasping mechanisms 410 through a complex mechanical transmission system, such as a connecting rod mechanism, a pulley set, etc. When it is necessary to grasp the jig 500, the second driving member 420 is started, and the two first grasping mechanisms 410 are driven to move upward at the same time through the transmission system, so that the first grasping mechanisms 410 contact the jig 500 and grasp it; when it is necessary to release the jig 500, the second driving member 420 moves in the opposite direction, drives the first grasping mechanism 410 to descend, and places the jig 500 in the designated position. Using a second driving member 420 to drive the two first grasping mechanisms 410 to rise and fall reduces the number of driving components and reduces the cost and energy consumption of the equipment. At the same time, through reasonable transmission system design, the lifting and lowering synchronization of the two first grasping mechanisms 410 can be ensured, ensuring the stability of the fixture 500 when being grasped and released, and avoiding problems such as the fixture 500 tilting or falling due to inconsistent movements of the two grasping mechanisms.

[0066] In other embodiments, the mobile module is provided with two independent second drive members 420, each of which is connected to a first gripping mechanism 410. These two second drive members 420 can utilize electric push rods or pneumatic cylinders of the same specifications and can be independently controlled. When grasping the jig 500, the two second drive members 420 are activated simultaneously, each driving the first gripping mechanism 410 to which they are connected to rise, thereby grasping the jig 500. When releasing the jig 500, the two second drive members 420 simultaneously reverse direction, causing the first gripping mechanism 410 to descend, releasing the jig 500. The two second drive members 420 independently control the two first gripping mechanisms 410, allowing for more flexible adjustment of the lifting speed and position of each gripping mechanism to accommodate jigs 500 of varying shapes and sizes. Furthermore, if one second drive member 420 fails, the other second drive member 420 can continue to operate normally, thereby improving the reliability and fault tolerance of the equipment and reducing production interruptions caused by equipment failures.

[0067] Specifically, the first gripping mechanism 410 is designed with a fixed block whose shape and size match the fixing slot 412 on the slider. The fixed block is made of high-strength material and has a specially treated surface for excellent wear resistance and friction. When the jig 500 is to be grasped, the moving module drives the first gripping mechanism 410 to move, allowing the fixed block to accurately engage the fixing slot 412 on the slider. The tight fit between the fixed block and the fixing slot 412 secures the jig 500. To release the jig 500, the moving module moves in the opposite direction, allowing the fixed block to disengage from the fixing slot 412. This gripping method is simple in structure and easy to operate. The snap-fitting fit between the fixed block and the fixing slot 412 provides a strong gripping force, ensuring that the jig 500 does not easily fall off during transport. This design also facilitates installation and maintenance. If the fixed block or fixing slot 412 becomes worn, they can be easily replaced, reducing equipment maintenance costs.

[0068] In other embodiments, a fixing groove 412 is provided on the first gripping mechanism 410, and a fixing block is provided on the slider. The internal shape of the fixing groove 412 is designed based on the shape of the fixing block to ensure a tight fit between the two. When gripping the jig 500, the moving module inserts the fixing block on the slider into the fixing groove 412 of the first gripping mechanism 410. The jig 500 is gripped and fixed by the friction and latching force between the fixing block and the fixing groove 412. When releasing the jig 500, the moving module removes the fixing block from the fixing groove 412.

[0069] Reference Figure 3 The support 411 of the first grasping mechanism 410 is made of high-strength, lightweight materials, such as aluminum alloy or carbon fiber composite materials. The top of the support 411 is formed into a notch by mechanical processing, thereby forming a fixed groove 412. On both sides of the opening of the fixed groove 412, the guide bevel wall 413 is carefully designed. When the fixed block is inserted into the fixed groove 412, the guide bevel wall 413 can play a guiding role, so that the fixed block can enter the fixed groove 412 smoothly, reducing the occurrence of jamming and collision. The design of the guide bevel wall 413 greatly improves the accuracy and smoothness of the fixed block inserted into the fixed groove 412, reduces the difficulty of operation, and improves the grasping efficiency. At the same time, during the transportation process of the jig 500, the guide bevel wall 413 can also play a certain limiting role on the fixed block, preventing the fixed block from shaking in the fixed groove 412, further enhancing the stability of the gripping of the jig 500, and ensuring the smooth progress of the transportation process.

[0070] Furthermore, two buffer wheels 414 are mounted on the top of the support 411. These two buffer wheels 414 are made of a highly elastic, wear-resistant material, such as rubber or polyurethane. The buffer wheels 414 are mounted on the support 411 via bearings and are able to rotate freely. The two buffer wheels 414 are symmetrically arranged on either side of the opening of the fixing slot 412. When the fixed block is inserted into the fixing slot 412, it first contacts the buffer wheels 414. The buffer wheels 414 elastically deform under the pressure of the fixing block, acting as a buffer and reducing the impact force between the fixing block and the support 411. The provision of the buffer wheels 414 effectively mitigates the impact of the fixing block when inserted into the fixing slot 412, protecting the structure of the fixing block and the support 411, and extending the service life of the device. Furthermore, the elastic deformation of the buffer wheels 414 enables the fixing block to enter the fixing slot 412 more smoothly, improving the stability and reliability of the grip. Furthermore, the rotational characteristics of the buffer wheels 414 reduce the frictional resistance between the fixing block and the support 411, reducing energy consumption and improving the operating efficiency of the device.

[0071] Reference Figure 4 , a limiting mechanism 430 is provided on the mobile module 400, and the limiting mechanism 430 is connected to the jig 500 through a specific connection structure. When the jig 500 moves along the conveying direction with the mobile module 400, the goods on the jig 500 may shake or even fall off the jig 500 due to the action of the inertial force. The limiting mechanism 430 applies a reverse force to the jig 500 through its own elastic or rigid connection method to offset the inertial force of the jig 500 moving along the conveying direction. The design of the limiting mechanism 430 effectively solves the problem of shaking and separation of goods caused by the inertial force of the jig 500 during the conveying process, and ensures the stable transportation of goods on the jig 500. This is particularly important for some production processes that require high accuracy in the position of goods. It can improve the processing quality and consistency of the products, reduce the defective rate caused by the shaking of goods, and reduce production costs.

[0072] Specifically, the second gripping mechanism 432 in the limiting mechanism 430 includes a third drive member 431 and a limiting member 433. The third drive member 431 utilizes a device capable of linear motion, such as an electric push rod or a pneumatic cylinder. The limiting member 433 is designed based on the shape and structure of the jig 500 and is generally a clamp or snap with a certain degree of elasticity. The third drive member 431 is mounted on the moving module 400, and its output end is connected to the limiting member 433. When the jig 500 needs to be prevented from shaking, the third drive member 431 is activated, driving the limiting member 433 upward, causing the limiting member 433 to contact and connect with the jig 500. When the jig 500 reaches the designated position and needs to be released, the third drive member 431 reverses direction, driving the limiting member 433 downward, separating the limiting member 433 from the jig 500. By driving the limiting member 433 up and down with the third drive member 431, the limiting member 433 can be quickly connected and disconnected from the jig 500, providing convenient and flexible operation. This design can adjust the working status of the limiting mechanism 430 in time according to actual production needs, quickly establish a connection when anti-sway is needed, and disconnect in time when it is not needed, without affecting the normal transportation and other operations of the fixture 500, thereby improving the degree of automation and production efficiency of the equipment.

[0073] Furthermore, a first latch 434 is provided on the stopper 433. The shape and size of the first latch 434 are designed based on the second latch 510 on the jig 500 to ensure that the two can mesh with each other. The second latch 510 on the jig 500 is made of a high-strength material with a certain degree of hardness and wear resistance. When the stopper 433 is connected to the jig 500, the third drive member 431 drives the stopper 433 upward, allowing the first latch 434 to accurately mesh with the second latch 510. After meshing, the interaction between the first latch 434 and the second latch 510 can limit the jig 500's horizontal and vertical shaking, thereby effectively preventing the goods on the jig 500 from shaking or falling off. The meshing design of the first latch 434 and the second latch 510 provides a more reliable anti-sway effect, capable of withstanding large external forces, ensuring that the jig 500 remains stable even during high-speed transportation or when subjected to large impacts. At the same time, the tooth engagement structure is simple, easy to manufacture and install, low in cost, and highly practical and economical.

[0074] In other embodiments, the limiting mechanism 430 can be connected by a spring, where one end of the spring is fixed to the moving module 400 and the other end is connected to the jig 500. When the jig 500 moves forward and generates inertial force, the spring is stretched to generate a reverse pulling force, thereby preventing the goods on the jig 500 from shaking or falling off.

[0075] It should be noted that the reflux conveying unit 200 adopts the same structural design as the step-by-step conveying unit 100, including components such as the guide rail 110, a slider, a moving module, and a gripping mechanism. This identical structural design enables the reflux conveying unit 200 to have the same conveying function and performance characteristics as the step-by-step conveying unit 100. During the production process, the jig 500 can be seamlessly docked and circulated between the step-by-step conveying unit 100 and the reflux conveying unit 200 to achieve continuous processing of different processes. The use of the same structural design facilitates the manufacture, installation, and maintenance of the equipment, reducing the equipment's R&D costs and production cycle. At the same time, operators only need to be familiar with the operation and maintenance methods of one conveying unit to manage the two conveying units, improving the equipment's operational convenience and management efficiency. In addition, conveying units with the same structure are consistent in performance, which can ensure the stable transmission of the jig 500 between the two conveying units, improving the reliability and stability of the entire transportation device.

[0076] In other embodiments, a conveying member is provided in the reflux conveying unit 200, and the conveying member can be a structure such as a conveyor belt, a chain or a roller. The conveying member is arranged along the conveying direction of the reflux conveying unit 200 to form a closed circulation loop. When the jig 500 reaches the end of the reflux conveying unit 200, the jig 500 is automatically conveyed back to the starting end of the reflux conveying unit 200 by the driving action of the conveying member, thereby realizing the reflux of the jig 500. The driving device of the conveying member adopts a motor or a reducer, etc., and the running speed and direction of the conveying member are precisely controlled by the control system.

[0077] Specifically, two lifting units 310 are provided in the transfer unit 300, which are respectively installed at the starting and end positions of the conveying direction of the jig 500. The lifting unit 310 adopts a structure such as a hydraulic lifting platform or an electric screw lifter, which has a large load-bearing capacity and high lifting accuracy. When the jig 500 needs to be transferred from the step-by-step conveying unit 100 to the return conveying unit 200, the lifting unit 310 at the starting end rises, lifts the jig 500 on the step-by-step conveying unit 100, then moves horizontally to the top of the return conveying unit 200, and then descends to place the jig 500 on the return conveying unit 200; when the jig 500 needs to be transferred from the return conveying unit 200 back to the step-by-step conveying unit 100, the lifting unit 310 at the end performs the opposite operation. The lifting units 310 are respectively provided at the starting and end, so that the transfer process of the jig 500 is more orderly and efficient. The two lifting units 310 can operate independently without interfering with each other, and can simultaneously handle the transfer of jigs 500 in different directions, thereby improving the transfer speed and production efficiency of jigs 500. This layout also facilitates equipment installation and commissioning, reduces equipment footprint, and improves space utilization.

[0078] Optionally, the transfer unit 300 is a key component for realizing the cyclic transfer of the jig 500 between the step-by-step conveying unit 100 and the reflux conveying unit 200. It can adopt a variety of structural forms, such as a robotic arm. In specific applications, one end of the robotic arm is installed on a fixed base, and the other end is provided with a gripping device. When the jig 500 needs to be transferred from the step-by-step conveying unit 100 to the reflux conveying unit 200, the robotic arm will move to the top of the step-by-step conveying unit 100 according to a preset program, the gripping device will grab the jig 500, and then the robotic arm will move downward to place the jig 500 at the designated position of the reflux conveying unit 200. Conversely, when the jig 500 needs to be transferred from the reflux conveying unit 200 back to the step-by-step conveying unit 100, the robotic arm completes the operation according to the opposite action process.

[0079] It should be noted that the transport device proposed in the present invention is suitable for use in wire harness processing equipment. The step-by-step transport unit 100 and the reflow transport unit 200 of the transport device are rationally arranged according to the process flow of wire harness processing, and the jig 500 is equipped with the fixtures required for wire harness processing. The wire harness raw materials are placed on the jig 500 and, as they are transported by the transport device, pass through the various processing stations of the wire harness processing equipment in sequence, such as wire stripping, crimping, and gluing. During the transportation process, the various components of the transport device work together to ensure that the jig 500 reaches each station stably and accurately, thereby achieving efficient and precise processing of the wire harness. The application of this transport device in wire harness processing equipment greatly improves the degree of automation and production efficiency of wire harness processing. The step-by-step linear movement of the transport device and the reflow function of the jig 500 enable wire harness processing to proceed in an orderly manner according to the predetermined process flow, reducing manual operation and material handling time, and reducing production costs. At the same time, the stability and precision of the transport device ensure the quality consistency of wire harness processing and improve product reliability.

[0080] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the scope of the present invention.

Claims

1. A step-by-step reflux conveying method, applied to a transport device, the transport device comprising a step-by-step conveying unit, a reflux conveying unit and a transfer unit, characterized in that: The step-by-step reflux conveying method includes step-by-step moving conveying and reflux conveying, and specifically includes the following steps: The unloaded fixture obtains the material at the starting end of the step-by-step conveying unit; After acquiring the material, the jig performs the step-by-step movement and transportation; The jig moves to the end of the step-by-step conveying unit, outputs the material, and becomes empty again; After outputting the material, the jig is transported back through the reflux conveying unit, and then moves back to the starting end of the step-by-step conveying unit to obtain the material again and perform the next step-by-step conveying; In the step-by-step movement, at least two jigs are driven to move by the step-by-step conveying unit each time, and each jig enters a limited static state after each single movement of one step, so that the material on the jig can be processed.

2. The step-by-step reflux conveying method according to claim 1, characterized in that: The step-by-step conveying unit includes a plurality of moving modules arranged along the conveying direction. In the step-by-step conveying, the two adjacent moving modules include a first moving module and a second moving module that sequentially convey the jig. The two first gripping mechanisms of the first moving module include a first front gripping mechanism and a first rear gripping mechanism for sequentially conveying the jig; The two first gripping mechanisms of the second moving module include a second front gripping mechanism and a second rear gripping mechanism for sequentially conveying the jig; The first moving module moves, the first front grasping mechanism places the jig at the initial position of the first rear grasping mechanism, and the first rear grasping mechanism places the jig from the first front grasping mechanism at the initial position of the second front grasping mechanism; The second moving module moves, the second front grasping mechanism places the jig from the first rear grasping mechanism at the initial position of the second rear grasping mechanism, and the second rear grasping mechanism places the jig from the second front grasping mechanism on the next moving module or the transfer unit.

3. The step-by-step reflux conveying method according to claim 2, wherein: Assume that the standard spacing between each mobile module is L, and that each mobile module needs to complete the task of moving the fixture from the initial position of one gripping mechanism to the initial position of the next adjacent gripping mechanism, and the spacing between the initial positions of adjacent gripping mechanisms is d, then the moving distance of the mobile module S=d.

4. The step-by-step reflux conveying method according to claim 1, wherein: In the step-by-step reflow conveying, after each jig moves one step, the jig is fixedly engaged by a limiting mechanism, or after the jig moves, it is fixedly engaged on a frame or in the conveying direction to limit the shaking of the jig.

5. The step-by-step reflux conveying method according to claim 1, wherein: The steps of the reflux conveying are the same as those of the step-by-step moving conveying; Alternatively, the reflux conveying is performed by a conveyor belt, a transmission roller or a conveyor belt to carry out the reflux conveying of the jig.

6. A transport device for applying the step-by-step reflux transport method according to any one of claims 1 to 5, characterized in that: The transport device comprises a step-by-step conveying unit (100), a reflux conveying unit (200), and a transfer unit (300) arranged vertically up and down, wherein the transfer unit (300) is used for cyclically transferring the jig (500) between the step-by-step conveying unit (100) and the reflux conveying unit (200); The step-by-step conveying unit (100) includes a plurality of movable modules arranged adjacent to each other along the conveying direction of the jig (500), the movable modules including two first gripping mechanisms (410), the two first gripping mechanisms (410) being used to grip two jigs (500) respectively, the plurality of movable modules moving along the conveying direction, and two adjacent movable modules being able to grip one jig (500) at the same time, the jig (500) being able to transfer between two adjacent movable modules to perform step-by-step linear movement along the conveying direction, and the step-by-step conveying unit further includes a limiting mechanism (430), the limiting mechanism (430) being used to connect the jig (500) to prevent the jig (500) from shaking or detaching.

7. The transport device according to claim 6, characterized in that The step-by-step conveying unit (100) comprises a guide rail (110) arranged along the conveying direction of the jig (500), and a plurality of sliders slidably connected to the guide rail (110), wherein the plurality of sliders are used to install the jig (500).

8. The transport device according to claim 7, characterized in that The moving module is connected to the guide rail (110), and the two first gripping mechanisms (410) are adjacently arranged along the radial direction of the guide rail (110). The moving module further comprises a first driving member, the output end of which is connected to the two first gripping mechanisms (410) to drive the two first gripping mechanisms (410) to perform linear reciprocating motion along the radial direction of the guide rail (110).

9. The transport device according to claim 8, characterized in that The moving module further comprises a second driving member (420), the second driving member (420) being respectively connected to and driving one or two of the first grasping mechanisms (410) to move upward and downward, so that the first grasping mechanism (410) grasps or releases the fixture (500).

10. The transport device according to claim 8, characterized in that The first gripping mechanism (410) comprises a fixed block, and the slider is provided with a fixed slot (412); Alternatively, the first gripping mechanism (410) includes a fixing groove (412), and the sliding block is provided with a fixing block; The fixing block is clamped in the fixing groove (412) to enable the first grabbing mechanism (410) to grab and fix the fixture (500).

11. The transport device according to claim 10, characterized in that The first grasping mechanism (410) comprises a support (411), the top of the support (411) having a notch to form the fixing groove (412), and the support (411) is provided with guiding inclined walls (413) along both sides of the opening of the fixing groove (412).

12. The transport device according to claim 11, characterized in that Two buffer wheels (414) are provided on the top of the pillar (411), and the two buffer wheels (414) are arranged along both sides of the opening of the fixing groove (412).

13. The transport device according to claim 6, characterized in that The limiting mechanism (430) includes a second gripping mechanism (432), the second gripping mechanism (432) includes a third driving member (431) and a limiting member (433), the third driving member (431) being connected to and driving the limiting member (433) to move upward and downward, so as to connect or separate the limiting member (433) from the fixture (500).

14. The transport device according to claim 13, characterized in that The limiting member (433) is provided with a first latching tooth (434), and the fixture (500) is provided with a second latching tooth (510), and the first latching tooth (434) is engaged with the second latching tooth (510) to limit the shaking of the fixture (500).

15. The transport device according to claim 6, characterized in that The reflux conveying unit (200) has the same structure as the step-by-step conveying unit (100); Alternatively, the reflux conveying unit (200) is provided with a conveying member for driving the jig (500) to move from the end to the start of the conveying direction.

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