Automated transfer device

Abstract

The application discloses an automatic transfer device and relates to the field of automatic production equipment.The technical scheme is as follows: the automatic transfer device comprises a mounting base plate, a lifting mechanism, a swing arm mechanism and a clamping actuator; a main driving device drives the lifting mechanism and connects the swing arm mechanism to realize synchronous lifting; the swing arm mechanism adopts a double-power-source design; a first power source drives a rotary guide arm to rotate; a second power source is fixed to a swing base and converts rotary motion into linear thrust through a connecting rod mechanism composed of a swing arm and a pull rod, thereby driving a main telescopic arm to reciprocate in the rotary guide arm.The application realizes high dynamic response and quick start-stop through the connecting rod mechanism, realizes decoupling of rotary and telescopic actions through the rotary guide arm to improve the rigidity of the cantilever, and has the advantages of high stability, strong space adaptability and low cost.

Description

Technical Field

[0001] This invention relates to the field of automated production equipment, and in particular to an automated transfer device. Background Technology

[0002] In the automotive powertrain manufacturing sector, the production of core rotating parts such as gears, drive shafts, and camshafts typically involves multiple continuous processes, including turning, gear hobbing, heat treatment, cleaning, and inspection. With the increasing adoption of lean manufacturing, automated material transfer and logistics between processing units have become crucial for improving overall production efficiency in order to achieve seamless integration between production line processes and reduce work-in-process inventory.

[0003] Current inter-process automated logistics solutions mainly employ gantry-type robotic arms or six-axis industrial robots. While these general-purpose devices can handle material transport over long distances or along complex trajectories, they are ill-suited for the numerous short-distance, high-frequency, point-to-point transfer scenarios prevalent in production lines, such as transfers from conveyor belts to machine tool receiving stations or island connections between two adjacent dedicated machines. Using large gantry or six-axis robots presents challenges due to high equipment purchase costs, long installation and commissioning cycles, and large floor space requirements, making them difficult to adapt to increasingly compact production line layouts. Summary of the Invention

[0004] The purpose of this invention is to provide an automated transfer device that has the advantages of high stability, strong spatial adaptability and low cost.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution: An automated transfer device includes a mounting base plate, a lifting mechanism disposed on the mounting base plate, a swing arm mechanism connected to the lifting mechanism, and a clamping actuator disposed at the end of the swing arm mechanism; a main drive device is provided on the mounting base plate, the main drive device is connected to the lifting mechanism in a transmission manner, and drives the lifting mechanism and links the swing arm mechanism and the clamping actuator to lift synchronously. The swing arm mechanism includes a swing base, a rotary guide arm, a main telescopic arm, a drive swing arm, a tie rod, a first power source, and a second power source; The swing base is connected to the lifting mechanism. The first power source is installed on the swing base. The output end of the first power source is connected to the rotary guide arm, driving the rotary guide arm to rotate and swing around the vertical axis. The main telescopic arm is slidably mounted inside the rotary guide arm, and the clamping actuator is located at the end of the main telescopic arm; The second power source is fixedly installed on the swing base. The output end of the second power source is connected to one end of the drive swing arm. The other end of the drive swing arm is connected to the main telescopic arm by a tie rod. The two ends of the tie rod are respectively hinged to the drive swing arm and the main telescopic arm. The second power source drives the drive swing arm to swing in an arc and converts the rotational motion into linear thrust through the tie rod, driving the main telescopic arm to perform reciprocating linear telescopic motion within the rotary guide arm.

[0006] Further configuration: The lifting mechanism includes a lifting slide rail vertically mounted on the mounting base plate and a lifting guide rod sliding within the lifting slide rail. A slider is provided on the lifting slide rail, and a cam lever is provided on the slider. The main drive device includes a rotary device and a cam disk mounted on the output shaft of the rotary device. The cam disk abuts against a cam lever. The rotary device drives the cam disk to rotate, and the cam lever is pushed by the change in the contour radius of the cam disk, thereby driving the slider and the lifting guide rod to move up and down in the vertical direction of the lifting slide rail. The swing base is fixedly connected to the lifting guide rod and moves up and down synchronously with the lifting guide rod.

[0007] Further configuration: The main drive device also includes a support frame fixedly mounted on the mounting base plate, the rotary device is rotatably mounted on the support frame, and the cam plate is located between the support frame and the lifting mechanism.

[0008] Further features include a slow-descent mechanism; the slow-descent mechanism includes an active movable pulley mounted on the lifting guide rod, a first fixed pulley and a second fixed pulley fixed on the mounting base and located on both sides of the lifting guide rod, and a follower movable pulley mounted on the mounting base and located below the lifting guide rod, the follower movable pulley being equipped with a counterweight; a follower guide rail is provided on the mounting base and located below the lifting guide rod, in the same direction as the lifting slide rail, the follower movable pulley being slidably disposed within the follower guide rail; the slow-descent mechanism also includes a flexible traction member, the flexible traction member passing sequentially through the first fixed pulley, the active movable pulley, the second fixed pulley and the follower movable pulley.

[0009] Further configuration: The flexible traction component is made of a non-elastic material.

[0010] Further configuration: The clamping actuator includes a connecting back plate, a guide bracket fixed to the connecting back plate, and a drive slider slidably disposed within the guide bracket; a first transmission link and a second transmission link are respectively hinged to both sides of the drive slider, the end of the first transmission link is connected to a first clamp, and the end of the second transmission link is connected to a second clamp; the middle parts of the first clamp and the second clamp are both hinged to the guide bracket, and when the drive slider moves axially, it drives the first clamp and the second clamp to open and close synchronously through the first transmission link and the second transmission link.

[0011] Further features include a linear actuator mounted on the connecting back plate, with a drive slider mounted on the output shaft of the linear actuator.

[0012] Further configuration: The inner surfaces of both the first clamp and the second clamp are concave arc-shaped structures.

[0013] Further configuration: The output shaft of the first power source is provided with a first rotating shaft joint, and one end of the rotary guide arm is provided on the first rotating shaft joint; The output shaft of the second power source is provided with a second rotating shaft joint, and one end of the drive swing arm is located on the second rotating shaft joint.

[0014] Further configuration: The rotary guide arm is a hollow frame structure, and the main telescopic arm passes through the inside of the rotary guide arm and is restricted to sliding within the range of the hollow frame structure.

[0015] In summary, the present invention has the following beneficial effects: First, this invention fixes the second power source on the swing base and uses a linkage mechanism consisting of a drive swing arm and a tie rod to connect the second power source and the main telescopic arm, converting the rotational motion of the second power source into a linear thrust that pushes the main telescopic arm to slide; thus, it achieves high dynamic response and rapid start-stop of the robotic arm under short-distance transfer conditions, effectively solving the problem of limited action cycle of traditional transfer equipment when facing high-frequency fixed-point material transfer.

[0016] This invention employs a sliding configuration of a rotary guide arm in conjunction with a main telescopic arm, utilizing the rotary guide arm as an external support and guide frame for the main telescopic arm. This effectively enhances the overall rigidity and bending resistance of the cantilever structure while ensuring the telescopic stroke. Combined with a structural design that drives the rotary guide arm to rotate around a vertical axis using a first power source, the decoupling and combination of rotation and telescopic actions are achieved. This allows the device to flexibly complete obstacle avoidance and transfer within a compact production line layout or narrow space, overcoming the technical shortcomings of general-purpose six-axis robots or large gantry robots, such as large footprint and low space utilization.

[0017] This invention sets up a main drive device on the mounting base plate and drives it to be connected to the lifting mechanism to drive the swing arm mechanism and clamping actuator to lift synchronously. It constructs a motion architecture in which vertical lifting and horizontal composite transfer are independent of each other. While simplifying the equipment control logic, it ensures the stability of the load flow between different height workstations. It provides a dedicated automated logistics solution for automotive powertrain production lines with low purchase cost, short installation and commissioning cycle and adaptability to isolated connection conditions.

[0018] Secondly, this invention transforms the continuous rotary motion of the main drive device into the vertical linear motion of the lifting guide rod through the transmission of the cam disk and cam lever. By utilizing the specific contour curve characteristics of the cam disk, the lifting speed and acceleration are mechanically constrained, ensuring that the swing base and its load fixed on the lifting guide rod can strictly follow the preset motion law for lifting and lowering. This achieves smooth acceleration and deceleration and flexible start and stop of the transfer device in the vertical stroke, effectively overcoming the technical defects of traditional cylinder drive methods that are prone to rigid impact and strong vibration when lifting and lowering at high speed. Thus, while meeting the high-speed operation requirements of automated production lines, it improves the overall stability of the equipment operation and reduces the risk of precision workpieces falling off or being damaged due to impact and vibration.

[0019] Third, by setting up a slow-descent mechanism including an active pulley, a first fixed pulley, a second fixed pulley, and a follower pulley, this invention addresses the rapid change in the contour radius and the corresponding rapid descent that occurs when the cam disk rotates to the return section. Utilizing the reverse traction tension and gravity compensation provided by this mechanism as the lifting component descends with the cam contour, it flexibly supports and smoothly guides the downward reset of the lifting component. This effectively mitigates the risk of dynamic impact caused by the load's own weight during the rapid return transition of the cam mechanism, transforming the potential rigid drop into a controlled tension traction descent. It eliminates the mechanical vibration generated by the robot during the switching of the action cycle, ensuring the posture stability and safety of precision workpieces during high-speed transfer cycles.

[0020] Furthermore, by using non-elastic materials to make flexible traction components, the elastic expansion and stress relaxation phenomena of flexible transmission links during drastic load changes or high-speed start-stop processes are eliminated; the rigidity and real-time performance of tension transmission between pulley blocks and lifting components are ensured, effectively preventing response lag and load position oscillation caused by elastic elongation of traction components during rapid lifting, thereby ensuring the positional certainty and operational stability of the transfer device during dynamic operation.

[0021] Fourth, this invention, by employing a drive slider in conjunction with symmetrically arranged transmission links and a clamping structure hinged in the middle, transforms the axial reciprocating linear motion of the drive slider into the opening and closing action of two clamps rotating relative to each other around the central fulcrum. Utilizing the torque amplification principle of the linkage mechanism, a significant increase in clamping force is achieved within a limited drive stroke, ensuring a firm lock on heavy rotating workpieces and effectively preventing the workpiece from slipping due to inertial forces during transfer. Simultaneously, the linkage method of a single slider driving two connecting rods forcibly constrains the synchronicity of the two clamps' movements, ensuring that the workpiece can automatically find its center at the moment of clamping, thus improving the repeatability and positioning accuracy of the loading position. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of an automated transfer device; Figure 2 This is a schematic diagram of the swing arm mechanism; Figure 3 This is a structural diagram of the lifting mechanism; Figure 4 This is a schematic diagram of the descent control mechanism; Figure 5 This is a schematic diagram of the clamping actuator.

[0023] In the diagram, 100 represents the mounting base plate. 200. Lifting mechanism; 201. Lifting slide rail; 202. Lifting guide rod; 203. Slider; 204. Cam lever; 210. Deceleration mechanism; 211. Active pulley; 212. First fixed pulley; 213. Second fixed pulley; 214. Follower pulley; 215. Follower guide rail; 216. Flexible traction component; 300. Main drive unit; 301. Support frame; 302. Rotary device; 303. Cam plate; 400. Swing arm mechanism; 401. Rotary guide arm; 402. Main telescopic arm; 403. Tie rod; 404. Drive swing arm; 405. First rotating shaft joint; 406. First power source; 407. Second rotating shaft joint; 408. Second power source; 409. Swing base; 500, clamping actuator; 501, connecting back plate; 502, guide bracket; 503, drive slider; 504, first clamp; 505, second clamp; 506, first transmission link; 507, second transmission link; 508, linear push rod. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings.

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] An automated transfer device, such as Figure 1 and Figure 2As shown, the system includes a mounting base 100, a lifting mechanism 200, a swing arm mechanism 400, and a clamping actuator 500. The mounting base 100 is vertically arranged as an integral support structure, and the lifting mechanism 200 is arranged on the mounting base 100. The swing arm mechanism 400 is connected to the power output end of the lifting mechanism 200, and the clamping actuator 500 is installed at the end of the swing arm mechanism 400. The mounting base 100 is also provided with a main drive device 300, which is connected to the lifting mechanism 200. When the main drive device 300 is running, it drives the lifting mechanism 200 to move, and simultaneously moves the swing arm mechanism 400 and the clamping actuator 500 to perform lifting movements.

[0027] The swing arm mechanism 400 specifically includes a swing base 409, a rotary guide arm 401, a main telescopic arm 402, a drive swing arm 404, a pull rod 403, a first power source 406, and a second power source 408. The swing base 409 is fixedly connected to the lifting mechanism 200 and moves up and down with the lifting mechanism 200. The first power source 406 is mounted on the swing base 409, and its output end is connected to the rotary guide arm 401. Driven by the first power source 406, the rotary guide arm 401 can rotate and swing around a vertical axis.

[0028] The main telescopic arm 402 is slidably disposed within the internal space of the rotary guide arm 401 along its length, and is guided and constrained by the rotary guide arm 401. The clamping actuator 500 is disposed at the extended end of the main telescopic arm 402. The second power source 408 is fixedly mounted on the swing base 409. The output end of the second power source 408 is fixedly connected to one end of the drive swing arm 404. A pull rod 403 is connected between the other end of the drive swing arm 404 and the main telescopic arm 402. One end of the pull rod 403 is hinged to the drive swing arm 404, and the other end is hinged to the main telescopic arm 402.

[0029] In this embodiment, a first rotating shaft connector 405 is provided on the output shaft of the first power source 406. The first rotating shaft connector 405 is sleeved and fixed to the output end of the first power source 406, serving as an intermediate connecting component. One end of the rotary guide arm 401 is mounted on the first rotating shaft connector 405, and the rotary guide arm 401 is fixedly connected to the output shaft of the first power source 406 through the first rotating shaft connector 405, thereby rotating together with the output shaft.

[0030] A second shaft connector 407 is provided on the output shaft of the second power source 408. The second shaft connector 407 is coaxially fixed to the output end of the second power source 408. One end of the drive swing arm 404 is mounted on the second shaft connector 407, and the drive swing arm 404 is fixed to the output end of the second power source 408 by the second shaft connector 407, so that the drive swing arm 404 can directly receive the torque output of the second power source 408.

[0031] As one embodiment, the first shaft connector 405 and the second shaft connector 407 may employ a keyed sleeve, a flange coupling, or an expansion sleeve structure to ensure connection stability under high torque transmission.

[0032] In this embodiment, the rotary guide arm 401 is constructed as a hollow frame structure with an internal accommodating space, extending along its length. The main telescopic arm 402 passes through the interior of the rotary guide arm 401, and is entirely contained within the rotary guide arm 401. The outer surface of the main telescopic arm 402 mates with the inner wall of the hollow frame structure, thus strictly confining the main telescopic arm 402 within the range of the hollow frame structure. It can only slide relative to the rotary guide arm 401 along its axial direction, and cannot detach radially.

[0033] As one embodiment, the rotary guide arm 401 can be made of rectangular tubular steel structure or aluminum profile, and guide rollers or self-lubricating sliders 203 can be set at the four corners inside to support and constrain the linear movement of the main telescopic arm 402.

[0034] During the telescopic movement, the second power source 408 drives the drive arm 404 to swing in an arc. The rotational motion of the drive arm 404 is converted into linear thrust through the pull rod 403, thereby driving the main telescopic arm 402 to perform reciprocating linear telescopic motion within the rotary guide arm 401.

[0035] As one embodiment, the first power source 406 and the second power source 408 can be selected from servo motors, stepper motors, or motor modules with reducers.

[0036] like Figure 3 and Figure 4 As shown, the lifting mechanism 200 specifically includes a lifting slide rail 201, a lifting guide rod 202, a slider 203, and a cam lever 204. The lifting slide rail 201 is vertically fixedly mounted on the surface of the mounting base plate 100. The lifting guide rod 202 is slidably engaged within the lifting slide rail 201 and can move vertically along the length of the lifting slide rail 201. The slider 203 is disposed on the lifting slide rail 201, and the cam lever 204 is fixedly mounted on the slider 203 and extends towards the main drive device 300. The swing base 409 is fixedly connected to the lifting guide rod 202, and the swing base 409 and the lifting guide rod 202 form a linked whole.

[0037] The main drive unit 300 includes a rotary device 302 and a cam disk 303 mounted on the output shaft of the rotary device 302. The rotary device 302 is fixedly mounted on the mounting base plate 100 and is located below or to the side of the lifting mechanism 200. The cam disk 303 is fixedly fitted onto the output end of the rotary device 302, and the outer peripheral contour of the cam disk 303 is in contact with the cam lever 204, which rests on the variable diameter surface of the cam disk 303.

[0038] During operation, the rotary device 302 drives the cam disk 303 to rotate around the horizontal axis. As the cam disk 303 continues to rotate, its radius changes, thereby continuously pushing the cam lever 204 to produce a vertical displacement. Under this force, the cam lever 204 drives the slider 203 and the lifting guide rod 202 to move vertically up and down along the guide path of the lifting slide rail 201, which in turn drives the swing base 409 fixed on the lifting guide rod 202 to move up and down synchronously.

[0039] As one embodiment, the rotary device 302 can be an AC servo motor or a stepper motor, and the cam disk 303 can be a special-shaped disk made of wear-resistant steel.

[0040] Furthermore, the main drive unit 300 also includes a support frame 301 fixedly mounted on the mounting base 100. The support frame 301 serves as a mounting base, securely connected to the surface of the mounting base 100. The rotary device 302 is rotatably mounted on the support frame 301, with its output portion extending outward through the support frame 301. A cam disk 303 is fixedly connected to the output end of the rotary device 302. In terms of spatial arrangement, the cam disk 303 is located between the support frame 301 and the lifting mechanism 200; that is, the support frame 301, the cam disk 303, and the lifting mechanism 200 are arranged in a sequentially stacked manner perpendicular to the mounting base 100. The support frame 301 supports the rotary device 302, ensuring that the cam disk 303 at its output end remains on the same working plane as the lifting mechanism 200.

[0041] As one embodiment, the support frame 301 can be a bracket structure composed of three metal rods arranged radially, or it can be a cast bearing seat structure to support the rotating shaft system of the rotary device 302.

[0042] like Figure 3 and Figure 4As shown, the automated transfer device also includes a descent mechanism 210. The descent mechanism 210 mainly includes a movable pulley, a first fixed pulley 212, a second fixed pulley 213, a following movable pulley 214, a following guide rail 215, and a flexible traction component 216. The active movable pulley 211 is mounted on the lifting guide rod 202 and moves synchronously with the lifting guide rod 202. The first fixed pulley 212 and the second fixed pulley 213 are fixedly mounted on the mounting base plate 100 and are located on the left and right sides of the lifting guide rod 202, respectively.

[0043] A follower rail 215 is provided on the mounting base plate 100 and in the area below the lifting guide rod 202. The extension direction of the follower rail 215 is consistent with the direction of the lifting slide rail 201, and it is arranged vertically. The follower pulley 214 is slidably disposed inside the follower rail 215 and is restricted to sliding up and down within the stroke range of the follower rail 215.

[0044] The flexible traction element 216 connects the various pulleys, and its path passes sequentially through the first fixed pulley 212, the driving pulley 211, the second fixed pulley 213, and the following pulley 214, connecting the pulleys in series to form a traction structure. The flexible traction element 216 is made of a non-elastic material, which maintains a relatively fixed length during the process of being subjected to force and does not produce elastic deformation.

[0045] As one embodiment, the flexible traction component 216 can be made of multi-strand steel wire rope or high-modulus polyethylene fiber rope; the follower guide 215 can be made of U-shaped channel steel or linear guide pair.

[0046] Furthermore, in this embodiment, the return reset action of the lifting mechanism 200 mainly relies on the overall weight of the slider 203, the lifting guide rod 202, and the swing arm mechanism 400. When the cam disk 303 rotates to the return segment with a decreasing radius, the above-mentioned components move downward under the action of gravity, so that the cam lever 204 always remains in close contact with the contour surface of the cam disk 303, preventing the cam from disengaging.

[0047] Meanwhile, to ensure the tension stability of the descent mechanism 210 during operation and to prevent the flexible traction component 216 from slackening or dislodging during rapid lifting or sudden stops, a counterweight can be installed below the follower pulley 214. The counterweight uses its own weight to continuously pull the follower pulley 214 downwards, applying a constant tension to the flexible traction component 216. This not only eliminates the transmission backlash of the inelastic rope but also further assists the slider 203 in resetting and descending through tension balance, ensuring the stability and reliability of the transfer device during reciprocating motion.

[0048] like Figure 5As shown, the clamping actuator 500 specifically includes a connecting back plate 501, a guide bracket 502, a drive slider 503, a first transmission link 506, a second transmission link 507, a first clamp 504, a second clamp 505, and a linear push rod 508. The connecting back plate 501 serves as the mounting base for the clamping unit, and the guide bracket 502 is fixedly mounted on the front surface of the connecting back plate 501. The linear push rod 508 is disposed on the connecting back plate 501, and its power output shaft extends axially. The drive slider 503 is fixedly connected to the output shaft of the linear push rod 508 and slides within the internal groove of the guide bracket 502, and is constrained by the guide bracket 502 to perform linear reciprocating motion along the axial direction.

[0049] A first transmission link 506 and a second transmission link 507 are hinged to the left and right sides of the drive slider 503, respectively. One end of the first transmission link 506 is connected to the side of the drive slider 503, and the other end is hinged to the tail end of the first clamp 504. One end of the second transmission link 507 is connected to the other side of the drive slider 503, and the other end is hinged to the tail end of the second clamp 505. The first clamp 504 and the second clamp 505 are symmetrically arranged, and their middle parts are both hinged to the front end of the guide bracket 502 by a pin, forming a lever fulcrum.

[0050] During operation, the linear push rod 508 drives the drive slider 503 to move axially along the guide bracket 502. During this movement, the drive slider 503 simultaneously pushes and pulls the tail ends of the first clamp 504 and the second clamp 505 via the first transmission link 506 and the second transmission link 507. Since the middle of the first clamp 504 and the second clamp 505 is hinged to the guide bracket 502, their front clamping parts rotate relative to each other around the central fulcrum, thus achieving synchronous closing and clamping or synchronous opening and releasing.

[0051] As one embodiment, the linear actuator 508 can be a miniature electric actuator or a pen-type cylinder; the first clamp 504 and the second clamp 505 can be made of alloy steel or stainless steel.

[0052] As an alternative implementation, the independent linear push rod 508 and drive slider 503 can be omitted, and an electric slide module with built-in guiding function or a dual-axis cylinder can be used as the driving component. Its output slider 203 is directly hinged to the first transmission link 506 and the second transmission link 507.

[0053] The first clamp 504 and the second clamp 505 are arranged opposite each other at the front end of the guide bracket 502. The inner surface of the first clamp 504 is designed as a concave arc-shaped structure, and the inner surface of the second clamp 505 is also designed as a corresponding concave arc-shaped structure. The arc surfaces of the first clamp 504 and the second clamp 505 are arranged opposite each other, and the concave surfaces of both face the central axis between the two clamps. Thus, when the two clamps are brought together and closed, the two concave arc-shaped structures together form a roughly circular receiving cavity.

[0054] As one embodiment, the curvature of the concave arc structure can be designed as a semicircle or a smaller arc, with its radius of curvature matching the outer diameter of the rotating part to be grasped.

[0055] The above embodiments are merely explanations of the present invention and are not intended to limit the present invention. After reading this specification, those skilled in the art can make modifications to these embodiments without contributing any inventive step, but as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. An automated transfer device, characterized in that, The device includes a mounting base plate (100), a lifting mechanism (200) disposed on the mounting base plate (100), a swing arm mechanism (400) connected to the lifting mechanism (200), and a clamping actuator (500) disposed at the end of the swing arm mechanism (400); the mounting base plate (100) is provided with a main drive device (300), which is connected to the lifting mechanism (200) and drives the lifting mechanism (200) and the swing arm mechanism (400) and the clamping actuator (500) to lift synchronously; The swing arm mechanism (400) includes a swing base (409), a rotary guide arm (401), a main telescopic arm (402), a drive swing arm (404), a tie rod (403), a first power source (406), and a second power source (408); The swing base (409) is connected to the lifting mechanism (200). The first power source (406) is installed on the swing base (409). The output end of the first power source (406) is connected to the rotary guide arm (401) for transmission, driving the rotary guide arm (401) to rotate and swing around the vertical axis. The main telescopic arm (402) is slidably disposed within the rotary guide arm (401), and the clamping actuator (500) is disposed at the end of the main telescopic arm (402); The second power source (408) is fixedly installed on the swing base (409). The output end of the second power source (408) is connected to one end of the drive swing arm (404). The other end of the drive swing arm (404) is connected to the main telescopic arm (402) by a pull rod (403). The two ends of the pull rod (403) are respectively hinged to the drive swing arm (404) and the main telescopic arm (402). The second power source (408) drives the drive swing arm (404) to swing in an arc and converts the rotational motion into linear thrust through the pull rod (403), driving the main telescopic arm (402) to perform reciprocating linear telescopic motion in the rotary guide arm (401).

2. The automated transfer device according to claim 1, characterized in that: The lifting mechanism (200) includes a lifting slide rail (201) vertically mounted on the mounting base plate (100) and a lifting guide rod (202) sliding in the lifting slide rail (201). A slider (203) is provided on the lifting slide rail (201), and a cam lever (204) is provided on the slider (203). The main drive device (300) includes a rotary device (302) and a cam disk (303) disposed on the output shaft of the rotary device (302). The cam disk (303) abuts against the cam lever (204). The rotary device (302) drives the cam disk (303) to rotate. The change in the contour radius of the cam disk (303) pushes the cam lever (204), thereby driving the slider (203) and the lifting guide rod (202) to move up and down along the vertical direction of the lifting slide rail (201). The swing base (409) is fixedly connected to the lifting guide rod (202) and moves up and down synchronously with the lifting guide rod (202).

3. The automated transfer device according to claim 2, characterized in that: The main drive device (300) also includes a support frame (301) fixedly mounted on the mounting base plate (100), the rotary device (302) is rotatably mounted on the support frame (301), and the cam disk (303) is located between the support frame (301) and the lifting mechanism (200).

4. The automated transfer device according to claim 2, characterized in that: It also includes a descent mechanism (210); the descent mechanism (210) includes an active movable pulley (211) disposed on the lifting guide rod (202), a first fixed pulley (212) and a second fixed pulley (213) fixed on the mounting base plate (100) and located on both sides of the lifting guide rod (202), and a follower movable pulley (214) disposed on the mounting base plate (100) and located below the lifting guide rod (202), the follower movable pulley (214) being equipped with a counterweight. A follower guide rail (215) is provided on the mounting base plate (100) and below the lifting guide rod (202) in the same direction as the lifting slide rail (201). The follower pulley (214) is slidably arranged in the follower guide rail (215). The descent mechanism (210) also includes a flexible traction member (216), which passes through the first fixed pulley (212), the active pulley (211), the second fixed pulley (213) and the follower pulley (214) in sequence.

5. The automated transfer device according to claim 4, characterized in that: The flexible traction component (216) is made of a non-elastic material.

6. The automated transfer device according to claim 1, characterized in that: The clamping actuator (500) includes a connecting back plate (501), a guide bracket (502) fixed on the connecting back plate (501), and a drive slider (503) slidably disposed in the guide bracket (502). A first transmission link (506) and a second transmission link (507) are respectively hinged to both sides of the drive slider (503). A first clamp (504) is connected to the end of the first transmission link (506), and a second clamp (505) is connected to the end of the second transmission link (507). The middle parts of the first clamp (504) and the second clamp (505) are both hinged to the guide bracket (502). When the drive slider (503) moves axially, the first clamp (504) and the second clamp (505) are driven to open and close synchronously through the first transmission link (506) and the second transmission link (507).

7. The automated transfer device according to claim 6, characterized in that: It also includes a linear push rod (508) disposed on the connecting back plate (501), and a drive slider (503) disposed on the output shaft of the linear push rod (508).

8. The automated transfer device according to claim 6, characterized in that: The inner surfaces of the first clamp (504) and the second clamp (505) are both concave arc-shaped structures.

9. The automated transfer device according to claim 1, characterized in that: The first power source (406) has a first rotating shaft joint (405) on its output shaft, and one end of the rotary guide arm (401) is located on the first rotating shaft joint (405); The output shaft of the second power source (408) is provided with a second rotating shaft joint (407), and one end of the drive swing arm (404) is provided on the second rotating shaft joint (407).

10. The automated transfer device according to claim 1, characterized in that: The rotary guide arm (401) is a hollow frame structure, and the main telescopic arm (402) passes through the rotary guide arm (401) and is restricted to sliding within the hollow frame structure.

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