Conveying device

Abstract

This invention belongs to the technical field of industrial production equipment, specifically relating to a transfer device. The transfer device of this invention includes a frame, a lateral movement component, a vertical movement component, a longitudinal movement component, a rotating component, and a clamping component. The lateral movement component includes a lateral drive component and a lateral output component, the lateral drive component driving the lateral output component to reciprocate along the length direction of the frame; the vertical movement component includes a vertical drive component and a vertical output component, the vertical drive component driving the vertical output component to reciprocate along the height direction of the frame; the longitudinal movement component includes a longitudinal drive component and a longitudinal output component, the longitudinal drive component driving the longitudinal output component to reciprocate along the width direction of the frame; the rotating component includes a rotating drive component and a rotating output component, the rotating drive component driving the rotating output component to rotate; the clamping component is connected to the rotating output component and is used to clamp the item to be transferred. The transfer device of this technical solution can effectively improve the transfer efficiency of the item to be transferred.

Description

Technical Field

[0001] This invention belongs to the field of industrial production equipment technology, and specifically relates to a transfer device. Background Technology

[0002] An engine transfer pallet is a pallet used for transferring diesel engines. While the pallet itself has a general structure, it cannot transfer engines alone; it requires support legs to be configured for specific engine types. As a key component of the engine transfer pallet, the pallet support legs are typically made of cast iron, weighing approximately 7.5 kg each. They play a crucial role in securing and supporting different types of diesel engines during transfer. Depending on the diesel engine model and the structure of the matching pallet, the support legs must be selected according to different specifications, forming approximately eight different configurations to meet the transfer needs of about 20 diesel engine models. Therefore, although the support legs are auxiliary devices in the overall system, their variety and complex configuration significantly impact the flexibility of the production line and the workload of operators.

[0003] Currently, in most diesel engine production lines, the replacement, handling, and recycling of pallet support legs primarily rely on manual operation. Specifically, at the support leg removal station, operators wait for the pallet containing the engine to arrive, then manually remove the support legs from the pallet and sort them according to different models and specifications, stacking them in designated material boxes. Subsequently, logistics personnel push the sorted material boxes to the installation process; at the installation station, another group of operators selects the appropriate support leg from the material box according to the model of the next engine to be assembled, and then manually installs it onto the pallet, thus achieving the recycling of support legs.

[0004] However, the aforementioned manual operation mode has revealed several shortcomings in actual production. First, the support legs are relatively heavy, requiring operators to frequently disassemble, move, and sort them, resulting in high labor intensity and a risk of occupational musculoskeletal disorders with prolonged operation. Second, the coexistence of multiple models requiring manual identification and sorting easily leads to misassembly, omissions, or material mixing, affecting the accuracy of engine transport posture and even causing mismatch between pallets and engines, resulting in production line shutdowns or product damage. Third, manual disassembly and handling have limited efficiency and are difficult to adapt to the pace of high-speed, flexible production lines, becoming one of the bottlenecks restricting the overall production capacity. In addition, the stacking and transfer of material boxes occupy a lot of operating space, making on-site management difficult and logistics paths complex, further increasing the complexity of production organization.

[0005] Therefore, there is an urgent need to develop a device that can automate the transfer of pallet support legs, in order to reduce the intensity of manual labor, improve operational efficiency and accuracy, and adapt to the needs of rapid switching and cyclic use of multiple support leg models. Summary of the Invention

[0006] The objective of this invention is to improve the transfer efficiency of items to be transferred. This objective is achieved through the following technical solution: A first aspect of the present invention provides a transfer device comprising: frame; A lateral movement assembly includes a lateral drive and a lateral output. The lateral drive is fixedly connected to the frame and connected to the lateral output. The lateral drive is used to drive the lateral output to reciprocate along the length direction of the frame. A vertical moving component includes a vertical drive and a vertical output. The vertical drive is fixedly connected to the horizontal output, and the vertical output is connected to the vertical drive. The vertical drive is used to drive the vertical output to reciprocate along the height direction of the frame. A longitudinal movement component includes a longitudinal drive and a longitudinal output. The longitudinal drive is fixedly connected to the longitudinal output, and the longitudinal output is connected to the longitudinal drive. The longitudinal drive is used to drive the longitudinal output to reciprocate along the width direction of the frame. A rotating assembly includes a rotating drive and a rotating output, wherein the rotating drive is fixedly connected to the longitudinal output, and the rotating output is connected to the rotating drive; the rotating drive is used to drive the rotating output to rotate. A clamping assembly connected to the rotating output component, the clamping assembly being used to clamp the component to be transferred.

[0007] By utilizing the transfer component in this technical solution, which employs multi-degree-of-freedom coordinated operation of a lateral movement component, a vertical movement component, a longitudinal movement component, a rotation component, and a clamping component, fully automated, multi-dimensional, and high-precision gripping and transfer of the workpiece to be transferred (in this embodiment, the workpiece is the support leg) is achieved. Specifically, the lateral drive component moves the lateral output component along the length of the frame, allowing the clamping component to reach different longitudinal positions of the workpiece storage point or pallet mounting point; the vertical drive component, through the vertical output component, drives the clamping component to move up and down along the height of the frame, adapting to the different installation heights of different models of workpieces to be transferred; the longitudinal drive component moves the longitudinal output component along the width of the frame, allowing the clamping component to flexibly switch between different workpiece positions along the width of the pallet.

[0008] The aforementioned three-axis linear motions are independent and can be performed synchronously. Combined with the rotary drive component, which drives the rotary output component, the clamping assembly can adjust its angle, allowing it to approach and grasp the workpiece to be transferred in any spatial orientation. Compared to the cumbersome actions of bending, turning, and carrying required in the prior art, this embodiment completely replaces manual assembly and disassembly, fundamentally eliminating the risk of musculoskeletal injury caused by repeatedly carrying a single 7.5kg object, significantly reducing labor intensity and improving ergonomics. Furthermore, this embodiment effectively avoids the problems of incorrect assembly, omissions, and material mixing that easily occur with manual operation in the prior art. Because this embodiment uses a clamping component to precisely grasp the specified model of the part to be transferred, and under programmed control in four motion dimensions (longitudinal, vertical, lateral, and rotational), the part to be transferred is removed from the pallet and stored in a preset position. The entire process eliminates the need for manual identification of models, manual sorting and stacking, and manual matching. Therefore, it completely eliminates quality risks such as model mismatch, incorrect installation position, or omissions caused by human fatigue, distraction, or experience differences. This significantly improves the consistency and reliability of the assembly of the parts to be transferred, ensures the accuracy of the engine transfer posture, and avoids production line stoppages or product damage accidents caused by mismatch between the pallet and the engine. Furthermore, this embodiment significantly improves the efficiency of disassembly, assembly, and transfer of the parts to be transferred. Since the moving components can operate in parallel or continuously, the disassembly and assembly cycle time for a single part to be transferred is much shorter than the manual operation time, effectively breaking through the efficiency bottleneck of manual disassembly and assembly described in the background art, and helping to improve the cycle time and capacity of the entire diesel engine production line. In summary, the transfer equipment of this embodiment, through the organic combination of longitudinal, vertical, and longitudinal moving components with rotating and clamping components, has achieved outstanding beneficial effects in reducing labor intensity, preventing assembly errors, improving work efficiency, and optimizing on-site management, effectively solving the long-standing technical problems of manual operation mode in the background art.

[0009] In addition, the transfer device of the present invention may also have the following additional technical features: In some embodiments of the present invention, a longitudinal rail is provided on the frame, and a transverse slider is provided at the bottom of the transverse output component, the transverse slider being slidably connected to the longitudinal rail.

[0010] In some embodiments of the present invention, both the lateral output member and the vertical output member are plate-shaped structures arranged along the width direction of the frame, and the output shaft of the vertical drive member passes through the lateral output member and is connected to the vertical output member.

[0011] In some embodiments of the present invention, the vertical moving component further includes a guide shaft, which is arranged along the height direction of the frame and passes through the horizontal output member and the vertical output member. The vertical output member is capable of reciprocating along the axial direction of the guide shaft.

[0012] In some embodiments of the present invention, the longitudinal output member includes a lead screw disposed at the bottom of the vertical drive member, the lead screw being fitted with a connecting seat, and the rotary drive member being connected to the connecting seat.

[0013] In some embodiments of the present invention, a horizontal rail is provided at the bottom of the vertical output component, and a vertical slider is provided at the top of the connecting seat, the vertical slider being slidably connected to the horizontal rail.

[0014] In some embodiments of the present invention, the rotating output component is connected to a connecting plate, and multiple clamping assemblies are provided, all of which are connected to the connecting plate.

[0015] In some embodiments of the present invention, the clamping assembly includes a cylinder and a gripper, the gripper being connected to the cylinder, the cylinder being used to drive the gripper to close or open.

[0016] In some embodiments of the present invention, a barcode reader is provided on the rack, and the barcode reader reads the information code on the tray carrying the item to be transferred to obtain the location information, posture information and model information of the item to be transferred.

[0017] In some embodiments of the present invention, the transfer equipment further includes a material cart for transporting the unloaded items to be transferred. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic diagram of the structure of a transfer device according to an embodiment of the present invention is shown. Figure 2 A partial structural diagram of a transfer device according to an embodiment of the present invention is shown schematically. Figure 1 ; Figure 3 A partial structural diagram of a transfer device according to an embodiment of the present invention is shown schematically. Figure 2 ; Figure 4 A partial structural diagram of a transfer device according to an embodiment of the present invention is shown schematically. Figure 3 ; Figure 5 A partial structural diagram of a transfer device according to an embodiment of the present invention is shown schematically. Figure 4 ; Figure 6 A partial structural diagram of a transfer device according to an embodiment of the present invention is shown schematically. Figure 5 .

[0019] The labels in the attached diagram are as follows: 100. Frame; 110. Transverse rail; 200. Lateral movement component; 210. Lateral drive component; 220. Lateral output component; 230. Lateral slider; 300. Vertical moving component; 310. Vertical driving component; 320. Vertical output component; 330. Guide shaft; 340. Longitudinal track; 400. Longitudinal movement component; 410. Longitudinal drive component; 420. Longitudinal output component; 430. Connecting seat; 440. Longitudinal slider; 500. Rotating component; 510. Rotating drive component; 520. Rotating output component; 530. Connecting plate; 600. Clamping assembly; 610. Cylinder; 620. Gripper; 700, Material cart; 800, roller conveyor. Detailed Implementation

[0020] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0021] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0022] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0023] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations.

[0024] Figure 1 A schematic diagram of the structure of a transfer device according to an embodiment of the present invention is shown. Figure 2 A partial structural diagram of a transfer device according to an embodiment of the present invention is shown schematically. Figure 1 .like Figure 1 and Figure 2As shown, this invention proposes a transfer device, including a frame 100, a lateral movement assembly 200, a vertical movement assembly 300, a longitudinal movement assembly 400, a rotation assembly 500, and a clamping assembly 600. The lateral movement assembly 200 includes a lateral drive member 210 and a lateral output member 220. The lateral drive member 210 is fixedly connected to the frame 100 and connected to the lateral output member 220. The lateral drive member 210 is used to drive the lateral output member 220 to reciprocate along the length direction of the frame 100. The vertical movement assembly 300 includes a vertical drive member 310 and a vertical output member 320. The vertical drive member 310 is fixedly connected to the lateral output member 220 and connected to the vertical drive member 310. The vertical drive member 310 is used to drive... The vertical output component 320 reciprocates along the height direction of the frame 100; the longitudinal movement assembly 400 includes a longitudinal drive component 410 and a longitudinal output component 420, the longitudinal drive component 410 is fixedly connected to the vertical output component 320, the longitudinal output component 420 is connected to the longitudinal drive component 410, and the longitudinal drive component 410 is used to drive the longitudinal output component 420 to reciprocate along the width direction of the frame 100; the rotation assembly 500 includes a rotation drive component 510 and a rotation output component 520, the rotation drive component 510 is fixedly connected to the longitudinal output component 420, the rotation output component 520 is connected to the rotation drive component 510, and the rotation drive component 510 is used to drive the rotation output component 520 to rotate; the clamping assembly 600 is connected to the rotation output component 520, and the clamping assembly 600 is used to clamp the item to be transferred.

[0025] By utilizing the transfer component in this technical solution, through the multi-degree-of-freedom coordinated operation of the lateral movement component 200, vertical movement component 300, longitudinal movement component 400, rotation component 500, and clamping component 600, fully automatic, multi-dimensional, and high-precision gripping and transfer of the workpiece to be transferred (in this embodiment, the workpiece to be transferred is the support leg) is achieved. Specifically, the lateral drive component 210 drives the lateral output component 220 to move along the length direction of the frame 100, enabling the clamping component 600 to reach different longitudinal positions of the workpiece storage point or pallet mounting point; the vertical drive component 310 drives the clamping component 600 to rise and fall along the height direction of the frame 100 through the vertical output component 320, which can adapt to the different installation height differences of different models of workpieces to be transferred; the longitudinal drive component 410 drives the longitudinal output component 420 to move along the width direction of the frame 100, allowing the clamping component 600 to flexibly switch between different workpiece positions in the width direction of the pallet.

[0026] The aforementioned three-axis linear motions are independent and can be performed synchronously. In conjunction with the rotary drive component 510, which drives the rotary output component 520, the clamping assembly 600 is adjusted in angle, allowing the clamping assembly 600 to approach and grasp the part to be transferred in any posture within space. Compared to the cumbersome actions of bending, turning, and carrying required by workers in the prior art, this embodiment completely replaces manual assembly and disassembly, fundamentally eliminating the risk of musculoskeletal injury caused by repeatedly carrying a single 7.5kg object, significantly reducing labor intensity and improving ergonomics. Furthermore, this embodiment effectively avoids the problems of incorrect assembly, omissions, and material mixing that easily occur with manual operation in the prior art. Because this embodiment uses a clamping component 600 to precisely grasp the specified model of the part to be transferred, and under programmed control in four motion dimensions (longitudinal, vertical, lateral, and rotational), the part to be transferred is removed from the pallet and stored in a preset position. The entire process eliminates the need for manual identification of models, manual sorting and stacking, and manual matching. Therefore, it completely eliminates quality risks such as model mismatch, incorrect installation position, or omissions caused by human fatigue, distraction, or experience differences. This significantly improves the consistency and reliability of the assembly of the parts to be transferred, ensures the accuracy of the engine transfer posture, and avoids production line stoppages or product damage accidents caused by mismatch between the pallet and the engine. Furthermore, this embodiment significantly improves the efficiency of disassembly, assembly, and transfer of the parts to be transferred. Since the various moving components can operate in parallel or continuously, the disassembly and assembly cycle time for a single part to be transferred is much shorter than the manual operation time, effectively breaking through the efficiency bottleneck of manual disassembly and assembly described in the background art, and helping to improve the cycle time and capacity of the entire diesel engine production line. In summary, the transfer equipment of this embodiment, through the organic combination of longitudinal, vertical, and longitudinal moving components 400 with rotating components 500 and clamping components 600, has achieved outstanding beneficial effects in reducing labor intensity, preventing assembly errors, improving work efficiency, and optimizing on-site management, effectively solving the technical problems that have long existed in the manual operation mode in the background art.

[0027] For example, the frame 100 is a gantry truss. Because the truss robot has a large base, Q235 (150×150mm cross-section) rectangular steel is used for welding. To improve the installation stability of the columns, 20mm thick connecting steel plates are welded at the bottom and top of the columns, and reinforced with reinforcing ribs. The advantage of welding the frame 100 is its simpler structural requirements and shorter production cycle. It is suitable for single-piece, small-batch production, which can significantly reduce costs. Because torsional deformation needs to be prevented, the longitudinal movement component 400 requires rigidity and uses a dual-drive ball screw with precision slider guide rails. The stroke is 790mm×2, and the repeatability is ±0.05mm. The transverse movement component 200 has a long stroke (2500mm) and short-distance high acceleration requirements, so a linear motor is used for transmission. The stroke is 2500mm, and the speed is 1.5m / s. The vertical movement component 300 is driven by an electric cylinder, with a stroke of 450mm and a load of 20kg. The rotary output component 520 can rotate ±90°.

[0028] Furthermore, the transfer equipment also includes a material cart 700, which is used to transport unloaded items to be transferred.

[0029] Optionally, before or during the operation of the transfer equipment, a pallet carrying the parts to be transferred is automatically conveyed along the production line roller conveyor 800. When the pallet reaches the preset station corresponding to the transfer equipment, the roller conveyor 800 stops operating. Subsequently, the transverse moving component 200, longitudinal moving component 400, and vertical moving component 300 of the transfer equipment work together to move the clamping component 600 to the corresponding operating point above the pallet. The clamping posture is adjusted by the rotating component 500 to complete the removal of the parts to be transferred from the pallet. After the parts to be transferred are unloaded from the pallet, the clamping component 600 maintains the gripping state of the parts to be transferred. At this time, the material cart 700 is pre-scheduled to the designated receiving position below the frame 100. Subsequently, the transverse moving component 200, longitudinal moving component 400, and vertical moving component 300 of the transfer equipment work together according to a preset program to precisely move the rotating component 500 and the clamping component 600 holding the parts to be transferred above the material cart 700. Depending on the structure of the material cart 700 (e.g., with dividers, frames, or positioning pins), the rotating assembly 500 can adjust the angle of the clamping assembly 600 as needed to match the orientation of the part to be transferred with the placement position on the material cart 700. Finally, the clamping assembly 600 releases the part to be transferred, placing it smoothly and orderly into the material cart 700. After placement, the material cart 700 can automatically or manually adjust its position to receive the next part to be transferred, thus achieving the classified collection and centralized transportation of disassembled parts to be transferred. After the operation is completed, the roller conveyor 800 restarts, transporting the processed pallet to the next production station, while subsequent pallets continue to enter this station, thereby achieving continuous and automated pallet conveying and part transfer operations. Throughout the process, the roller conveyor 800 and the transfer equipment can be linked through the control system to ensure accurate pallet positioning and smooth operation.

[0030] Optionally, an Automated Guided Vehicle (AGV) can be used as the material cart 700. Using an AGV offers several advantages over traditional manual material handling. First, the AGV can be integrated with the transfer equipment and production line control system. After the clamping component 600 places the part to be transferred onto the AGV, the AGV can automatically navigate to the next installation station without manual pushing, thus completely replacing the "logistics personnel pushing material boxes" step in the background technology and achieving full automation of the entire process from disassembly and collection to transportation and installation of the parts to be transferred. Second, each part to be transferred weighs approximately 7.5 kg, and the material boxes require frequent manual pushing, resulting in high labor intensity. With the use of AGVs, the heavy material handling work is replaced by machines, not only freeing up physical labor but also reducing the need for dedicated logistics personnel and lowering enterprise labor costs.

[0031] Furthermore, a barcode reader is installed on the rack 100. The barcode reader reads the information code on the pallet carrying the item to be transferred to obtain the location information, posture information and model information of the item to be transferred.

[0032] The location and orientation information stored in the information code informs the transfer equipment of the specific installation point (e.g., longitudinal and transverse coordinates) of the item to be transferred on the current pallet, as well as the orientation angle of the item itself. Based on this, the control system automatically plans the travel distances of the transverse moving component 200, the longitudinal moving component 400, and the vertical moving component 300, as well as the rotation angle of the rotating component 500, enabling the clamping component 600 to accurately reach the gripping point and grip the item to be transferred in the correct posture. This eliminates the tedious process of manual intervention and significantly shortens the cycle time for a single operation. Optionally, the code reader can be a smart camera or sensor, etc. The information code can be a QR code, an RFID (Radio Frequency Identification) electronic tag, or a barcode, etc.

[0033] Further, see also Figure 2 A horizontal rail 110 is provided on the frame 100, and a horizontal slider 230 is provided at the bottom of the horizontal output component 220. The horizontal slider 230 is slidably connected to the horizontal rail 110.

[0034] In this embodiment, "lateral" refers to the length direction of the frame 100. The roller conveyor 800 and the material cart 700 are placed at intervals along the length direction of the frame 100, that is, along the extension direction of the lateral track 110. Thus, during operation, the lateral output component 220 moves along the lateral track 110 to move the workpiece from above the roller conveyor 800 onto the material cart 700. Understandably, the lateral track 110 and the lateral slider 230 constitute a precise linear guide system. When the lateral drive component 210 pushes the lateral output component 220 to move along the length direction of the frame 100, the cooperation of the lateral track 110 and the lateral slider 230 effectively constrains the direction of movement, preventing the lateral output component 220 from deviating, swaying, or twisting during movement. Compared to a structure that relies solely on the drive component for guidance, this design ensures that the clamping assembly 600 remains on a precise straight line during longitudinal movement, thereby improving the positional accuracy of gripping and placing the workpiece.

[0035] Figure 3 A partial structural diagram of a transfer device according to an embodiment of the present invention is shown schematically. Figure 2 . Figure 4 A partial structural diagram of a transfer device according to an embodiment of the present invention is shown schematically. Figure 3 See also Figures 2 to 4Both the horizontal output component 220 and the vertical output component 320 are plate-shaped structures arranged along the width direction of the frame 100. The output shaft of the vertical drive component 310 passes through the horizontal output component 220 and is connected to the vertical output component 320.

[0036] Understandably, plate-like structures have high bending stiffness. When the clamping assembly 600 grips a cast iron component weighing approximately 7.5 kg to be transferred, the vertical output component 320 will be subjected to a large overturning moment. Due to its large moment of inertia (especially its large height dimension along the direction of force), the plate-like structure can effectively resist bending deformation, ensuring the straightness of vertical movement and avoiding positional deviation of the clamping assembly 600 due to deformation. Secondly, the plate-like structure has a flat surface and a large area, which facilitates the installation of the longitudinal movement assembly 400, the rotation assembly 500, and the clamping assembly 600. For example, sliders, guide rails, or linear bearings can be easily installed on the edges or sides of the plate-like structure to cooperate with the guide rails on the frame 100 to achieve precise linear motion. In this embodiment, two vertical drive components 310 are provided, and the fixed ends of the two vertical drive components 310 are spaced apart along the length direction of the horizontal output component 220, thereby ensuring the stability and balance of the horizontal output component 220 and the vertical output component 320. In other embodiments, the number of horizontal output components 220 may also be three or four, and their distribution must still ensure that the horizontal output components 220 and the vertical output components 320 can move in a balanced and stable manner.

[0037] Furthermore, the vertical moving component 300 also includes a guide shaft 330, which is arranged along the height direction of the frame 100. The guide shaft 330 passes through the horizontal output component 220 and the vertical output component 320, and the vertical output component 320 can reciprocate along the axial direction of the guide shaft 330.

[0038] The purpose of the guide shaft 330 is to ensure the straightness and torsional stiffness of the vertical output component 320 during lifting and lowering, thereby ensuring the positioning accuracy of the clamping assembly 600. Although the output shaft of the vertical drive component 310 can provide push and pull force, its internal guiding capacity is limited and it is difficult to withstand the off-center load torque generated when the clamping assembly 600 grips the part to be transferred. The guide shaft 330 passes through the horizontal output component 220 and the vertical output component 320, and cooperates with the linear bearing to form a high-rigidity, low-friction auxiliary guiding system. On the one hand, it can absorb lateral forces and overturning moments, preventing the vertical output component 320 from tilting or swaying during lifting and lowering, and avoiding damage to the drive component due to additional bending moments; on the other hand, the parallel arrangement of two or more guide shafts 330 can force the vertical output component 320 to translate only along the axial direction, preventing it from rotating around the output shaft of the drive component, thereby ensuring that the clamping assembly 600 arrives at the gripping or placement position with a precise posture, improving the stability and repeatability of the equipment operation. Optionally, in this embodiment, there are two guide shafts 330, which are arranged along the length of the longitudinal output member 420 and located between the two vertical drive members 310. In other embodiments, the number of guide shafts 330 can be set according to the usage requirements.

[0039] Figure 5 A partial structural diagram of a transfer device according to an embodiment of the present invention is shown schematically. Figure 4 See also Figure 4 and Figure 5 The longitudinal output component 420 includes a lead screw disposed at the bottom of the vertical drive component 310, and the lead screw is fitted with a connecting seat 430. The rotary drive component 510 is connected to the connecting seat 430.

[0040] The lead screw drive boasts extremely high positioning accuracy and repeatability, ensuring that the clamping assembly 600 moves precisely to the gripping point of different items to be transferred on the pallet or the placement point of the material cart 700, preventing gripping failure or items falling due to positional deviation. Secondly, the lead screw possesses a self-locking characteristic, maintaining its current position when the longitudinal output component 420 is de-energized, preventing lateral movement of the clamping assembly 600 due to inertia or external forces during vertical or longitudinal movement, thus improving operational safety. Optionally, the longitudinal output component 420 can be a servo motor.

[0041] Furthermore, the bottom of the vertical output component 320 is provided with a longitudinal rail 340, and the top of the connecting seat 430 is provided with a longitudinal slider 440, which is slidably connected to the transverse rail 110.

[0042] A longitudinal track 340 is provided at the bottom of the vertical output component 320, and a longitudinal slider 440 slidably connected to it is provided at the top of the connecting seat 430. This design significantly improves the rigidity and guiding accuracy of longitudinal movement, while reducing the load on the lead screw drive system. Specifically, the longitudinal track 340 and the longitudinal slider 440 constitute an independent linear guide system, bearing the entire weight of the connecting seat 430 and the clamping assembly 600, as well as the overturning moment generated when gripping the part to be transferred. This allows the lead screw to focus only on transmitting the torque of the rotary drive component 510 to move the connecting seat 430, without having to bear radial loads or bending moments, thereby avoiding bending deformation or premature wear of the lead screw due to uneven force and extending its service life. At the same time, the rolling friction cooperation between the track and the slider ensures smooth longitudinal movement and low resistance, enabling the connecting seat 430 to start and stop quickly and be accurately positioned, avoiding gripping deviations caused by gaps or wobbling. In addition, this guide structure is easy to install, adjust and replace. When the rail or slider wears out, it only needs to be replaced individually, which reduces maintenance costs and ensures the stability and reliability of the equipment in long-term operation.

[0043] Figure 6 A partial structural diagram of a transfer device according to an embodiment of the present invention is shown schematically. Figure 5 See also Figure 6 The rotating output component 520 is connected to the connecting plate 530, and multiple clamping components 600 are provided, all of which are connected to the connecting plate 530.

[0044] By providing the connecting plate 530, sufficient area can be provided for the arrangement of multiple clamping assemblies 600. Optionally, the rotary output member 520 is cylindrical, and the connecting plate 530 is connected to the rotary output member 520 via a semi-annular structure. Specifically, the semi-annular structure and the connecting plate 530 are connected to form an insertion hole, through which the rotary output member 520 passes. In this embodiment, to meet the need to grip multiple items to be transferred at once, two clamping assemblies 600 are provided on each connecting plate 530.

[0045] Furthermore, the clamping assembly 600 includes a cylinder 610 and a gripper 620, the gripper 620 being connected to the cylinder 610, the cylinder 610 being used to drive the gripper 620 to close or open.

[0046] The clamping assembly 600 uses a cylinder 610 to drive the gripper 620 to close or open, offering significant advantages such as compact structure, rapid response, stable clamping force, and low cost. The cylinder 610, as a standard actuator, is a mature application in industrial automation. Its piston movement speed is fast (typically completing the opening and closing action within 0.1~0.5 seconds), meeting the cycle time requirements of high-frequency disassembly and assembly of parts to be transferred on the production line. Simultaneously, the clamping force output by the cylinder 610 is only affected by the air source pressure, providing a continuous and constant clamping force under stable air supply conditions, ensuring that the approximately 7.5kg cast iron part to be transferred will not slip during handling. Furthermore, the pneumatic system has inherent overload protection characteristics compared to electric servo solutions—when the gripper 620 encounters abnormal resistance, the gas inside the cylinder 610 can be compressed to form a buffer, preventing damage to the part to be transferred or the mechanism. Optionally, a magnetic switch or proximity sensor can be installed on the cylinder 610 or the gripper 620 to detect the closed position of the gripper 620 in real time, preventing "false clamping" caused by insufficient air pressure or incorrect positioning of the workpiece to be transferred, and feeding the clamping signal back to the control system to form a closed-loop control. Optionally, serrations, textures, or polyurethane friction pads can be applied to the surface of the gripper 620 that contacts the workpiece to be transferred to increase friction. Simultaneously, V-shaped blocks or arc-shaped grippers 620 can be designed for quick replacement according to the different shapes of the workpiece to be transferred (such as cylindrical, square, or irregular castings), enabling the same equipment to adapt to the postures of multiple workpieces to be transferred corresponding to various diesel engine models, improving flexible production capabilities. For example, one end of the gripper 620 is fixed to the gripper 620 connecting block by a pin, and the other end is connected to the connecting block by a pin. The connecting block is connected to the cylinder 610 via a connecting shaft. The movement of cylinder 610 drives the connecting shaft and connecting block to move, while one end of gripper 620 is fixed and the pin at the other end moves in the groove of the connecting block, thereby opening and closing gripper 620.

[0047] For example, taking the support leg as the component to be transferred, the workflow of the transfer equipment in this technical solution is explained: J1: Roller conveyor 800 places the pallet with support legs into position, and the barcode reader reads the pallet information code, as well as the position, posture, and model information of the support legs; J2: The control system acquires information and retrieves the corresponding program from the database to control the movement of each module; J3: The lateral moving component 200, the vertical moving component 300, and the longitudinal moving component 400 move to the predetermined safe position, and the rotating component 500 drives the gripper 620 into the predetermined safe position; J4: The lateral movement component 200 operates according to the program settings, driving the longitudinal movement component 400 and the vertical movement component 300 to the corresponding positions in the length direction of the frame 100; J5: The longitudinal moving component 400 operates according to the program settings, driving the vertical moving component 300 to the corresponding position in the width direction of the frame 100; J6: The vertical moving component 300 operates according to the program settings, driving the clamping component 600 to the corresponding position in the height direction of the frame 100; J7: The gripper 620 on the clamping assembly 600 operates to grasp the support leg; J8: The vertical moving component 300 operates according to the program settings, driving the clamping component 600 to the corresponding position in the height direction of the frame 100; J9: The longitudinal moving component 400 and the transverse moving component 200 move simultaneously to the corresponding position of the material cart 700; J10: The vertical moving component 300 operates according to the program settings, driving the gripper 620 to the corresponding position of the support leg; J11: Gripper 620 releases, support leg falls to the designated position of material cart 700; J12: The vertical moving component 300 moves to a safe position according to the program settings, and the vertical moving component 400 and the horizontal moving component 200 move back to the program origin at the same time, and the process ends.

[0048] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A transfer device, characterized in that, include: Rack (100); The lateral movement assembly (200) includes a lateral drive (210) and a lateral output (220). The lateral drive (210) is fixedly connected to the frame (100) and connected to the lateral output (220). The lateral drive (210) is used to drive the lateral output (220) to reciprocate along the length direction of the frame (100). The vertical moving assembly (300) includes a vertical drive (310) and a vertical output (320). The vertical drive (310) is fixedly connected to the horizontal output (220), and the vertical output (320) is connected to the vertical drive (310). The vertical drive (310) is used to drive the vertical output (320) to reciprocate along the height direction of the frame (100). The longitudinal movement assembly (400) includes a longitudinal drive (410) and a longitudinal output (420). The longitudinal drive (410) is fixedly connected to the vertical output (320), and the longitudinal output (420) is connected to the longitudinal drive (410). The longitudinal drive (410) is used to drive the longitudinal output (420) to reciprocate along the width direction of the frame (100). The rotating assembly (500) includes a rotating drive (510) and a rotating output (520). The rotating drive (510) is fixedly connected to the longitudinal output (420), and the rotating output (520) is connected to the rotating drive (510). The rotating drive (510) is used to drive the rotating output (520) to rotate. A clamping assembly (600) is connected to the rotary output member (520) and is used to clamp the item to be transferred.

2. The transfer device according to claim 1, characterized in that, A transverse track (110) is provided on the frame (100), and a transverse slider (230) is provided at the bottom of the transverse output component (220). The transverse slider (230) is slidably connected to the transverse track (110).

3. The transfer device according to claim 1, characterized in that, Both the horizontal output component (220) and the vertical output component (320) are plate-shaped structures arranged along the width direction of the frame (100). The output shaft of the vertical drive component (310) passes through the horizontal output component (220) and is connected to the vertical output component (320).

4. The transfer device according to claim 1, characterized in that, The vertical moving component (300) further includes a guide shaft (330) which is arranged along the height direction of the frame (100). The guide shaft (330) passes through the horizontal output component (220) and the vertical output component (320). The vertical output component (320) is capable of reciprocating along the axial direction of the guide shaft (330).

5. The transfer device according to claim 1, characterized in that, The longitudinal output component (420) includes a lead screw disposed at the bottom of the vertical drive component (310), the lead screw being fitted with a connecting seat (430), and the rotary drive component (510) being connected to the connecting seat (430).

6. The transfer device according to claim 5, characterized in that, The bottom of the vertical output component (320) is provided with a longitudinal rail (340), and the top of the connecting seat (430) is provided with a longitudinal slider (440), which is slidably connected to the longitudinal rail (340).

7. The transfer device according to claim 1, characterized in that, The rotating output component (520) is connected to a connecting plate (530), and multiple clamping assemblies (600) are provided, all of which are connected to the connecting plate (530).

8. The transfer device according to claim 1, characterized in that, The clamping assembly (600) includes a cylinder (610) and a gripper (620), the gripper (620) being connected to the cylinder (610), the cylinder (610) being used to drive the gripper (620) to close or open.

9. The transfer equipment according to any one of claims 1-8, characterized in that, A barcode reader is provided on the frame (100). The barcode reader reads the information code on the tray carrying the item to be transferred to obtain the location information, posture information and model information of the item to be transferred.

10. The transfer device according to any one of claims 1-8, characterized in that, The transfer equipment also includes a material cart (700), which is used to transport the unloaded items to be transferred.

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