Automatic workpiece transfer system

Abstract

The utility model belongs to the technical field of workpiece pickling, and discloses an automatic workpiece transfer system. The automatic workpiece transfer system comprises a mounting frame, a translation cross beam and a transfer unit, wherein the mounting frame is arranged above a workpiece conveying line in a crossing manner; the translation cross beam is movably arranged on the mounting frame along the X axis, the transfer unit comprises a moving seat, a bearing frame and a plurality of paws, the moving seat is movably arranged on the translation cross beam along the Y axis, and the bearing frame is arranged on the moving seat and can move on the moving seat along the Z axis; the multiple paws are arranged on the bearing frame in a position-adjustable mode, and the multiple paws are used for being far away from one another so as to abut against the inner wall of the workpiece. According to the automatic workpiece transfer system, the workpieces can be automatically transferred without manually driving a forklift or using other hoisting equipment, the workpiece transfer efficiency and the automation degree of workpiece treatment are greatly improved, and meanwhile the labor cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece pickling, in particular to an automatic workpiece transfer system. Background Art

[0002] Pickling is a process of using an acid solution to remove the oxide scale and rust on the metal surface or using an acid solution to test the surface tempering after steel grinding. It is a method for cleaning the surface of metal parts or inspecting surface defects. In a traditional large workpiece pickling line, it is usually necessary for workers to drive a forklift to transfer the workpiece to the area to be pickled for manual feeding operation. This manual operation method has certain safety hazards, and at the same time, it is time-consuming and laborious, and the transfer efficiency of the workpiece is low. Summary of the Utility Model

[0003] The purpose of the utility model is to provide an automatic workpiece transfer system, which can automatically transfer workpieces to improve the transfer efficiency of workpieces and reduce labor costs.

[0004] To achieve this purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides an automatic workpiece transfer system, including:

[0006] A mounting frame, which is straddled above the workpiece transportation line;

[0007] A translation cross beam, which is movably arranged on the mounting frame along the X-axis,

[0008] A transfer unit, which includes a moving seat, a carrier frame and a plurality of grippers. The moving seat is movably arranged on the translation cross beam along the Y-axis, the carrier frame is arranged on the moving seat, and the carrier frame can move along the Z-axis on the moving seat;

[0009] The plurality of grippers are arranged on the carrier frame with adjustable positions, and the plurality of grippers are used to move away from each other to respectively abut against the inner wall of the workpiece.

[0010] Preferably, a first rack is arranged on the mounting frame along the X-axis, a first driving motor is arranged on the translation cross beam, a first gear is arranged on the output shaft of the first driving motor, and the first gear meshes with the first rack.

[0011] Preferably, an X-axis guide rail parallel to the first rack is arranged on the mounting frame, and the translation cross beam is in sliding fit with the X-axis guide rail.

[0012] Preferably, a second rack is provided on the translation cross beam along the Y-axis, a second driving motor is provided on the moving seat, a second gear is provided on the output shaft of the second driving motor, and the second gear meshes with the second rack.

[0013] Preferably, the transfer unit further includes a first lead screw device, which includes a third driving motor, a first lead screw, a fixed block, a first guide rail and a moving frame. The first guide rail is arranged on the moving frame along the Z-axis, the fixed block is fixedly arranged on the moving seat, the moving seat is slidably matched with the first guide rail, and the carrier is connected with the moving frame;

[0014] The third driving motor is arranged on the moving frame. The first lead screw is arranged through the fixed block along the Z-axis and is in threaded cooperation with the fixed block. The third driving motor is used to drive the first lead screw to rotate. The first lead screw is rotationally matched with the moving frame, and the first lead screw can drive the moving frame to move along the Z-axis.

[0015] Preferably, three grippers are provided, and the three grippers are evenly arranged on the carrier around the vertical center line of the workpiece.

[0016] Preferably, the transfer unit further includes a second lead screw device, which includes a second lead screw, a slider and a second guide rail. The second lead screw is rotatably arranged on the carrier, the second lead screw extends along the radial direction of the workpiece, and the second guide rail is arranged on the carrier parallel to the second lead screw;

[0017] The slider is arranged through the second lead screw and is in threaded cooperation with the second lead screw. The gripper is connected with the slider, and the gripper is slidably matched with the second guide rail.

[0018] Preferably, the transfer unit further includes a fourth driving motor, a first bevel gear and three second bevel gears;

[0019] The fourth driving motor is arranged on the carrier, the first bevel gear is arranged on the output shaft of the fourth driving motor, the three second bevel gears are respectively arranged on the three second lead screws, and the three second bevel gears are all meshed with the first bevel gear.

[0020] Preferably, a bottom support is arranged at the end of the gripper along the radial direction of the workpiece, and the bottom support is used to support the workpiece vertically.

[0021] Preferably, a proximity switch is arranged on the bottom support, and the proximity switch is used to detect the workpiece.

[0022] The beneficial effects of the present utility model are as follows:

[0023] For the automatic workpiece transfer system provided by the present utility model, the mounting frame is spanned above the workpiece transportation line. Since the translation crossbeam is movably arranged on the mounting frame along the X-axis, the moving seat is movably arranged on the translation crossbeam along the Y-axis, and the carrying frame is movably arranged on the moving seat along the Z-axis, the carrying frame can displace along the X-axis, Y-axis, and Z-axis directions on the mounting frame, that is, it can move between any two positions in space. Since a plurality of grippers are arranged on the carrying frame and the plurality of grippers can move away from each other to respectively abut against the inner wall of the workpiece, the grippers can grip the workpiece in the way of internal support and fixation. At the same time, since the plurality of grippers are all arranged on the carrying frame, the carrying frame can drive the workpiece to move through the grippers, so as to transfer the workpiece at any position to the workpiece transportation line, without manually driving a forklift or using other lifting equipment for transfer, greatly improving the workpiece transfer efficiency and the automation degree of workpiece processing, and at the same time reducing the labor cost. Description of the Drawings

[0024] Figure 1 is the first perspective structural schematic diagram of the automatic workpiece transfer system provided by the specific embodiment of the present utility model;

[0025] Figure 2 is the second perspective structural schematic diagram of the automatic workpiece transfer system provided by the specific embodiment of the present utility model;

[0026] Figure 3 is the structural schematic diagram of the transfer unit provided by the specific embodiment of the present utility model;

[0027] Figure 4 is the structural schematic diagram of the gripper provided by the specific embodiment of the present utility model;

[0028] Figure 5 is the structural schematic diagram of the second lead screw device provided by the specific embodiment of the present utility model.

[0029] In the figure:

[0030] 100 - workpiece;

[0031] 1 - mounting frame;

[0032] 2 - translation crossbeam; 22 - first driving motor;

[0033] 3 - Transfer unit; 31 - Moving seat; 311 - Second driving motor; 32 - Carrying frame; 33 - Gripper; 331 - Bottom support; 332 - Fixed slide plate; 35 - First lead screw device; 351 - Third driving motor; 352 - First lead screw; 353 - Fixed block; 354 - First guide rail; 355 - Moving frame; 36 - Second lead screw device; 361 - Second lead screw; 362 - Slide block; 363 - Second guide rail; 37 - Fourth driving motor; 38 - First bevel gear; 39 - Second bevel gear. Detailed implementation mode

[0034] The following further describes the present utility model in detail with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present utility model, rather than limiting the present utility model. Additionally, it should be noted that for the convenience of description, only the parts related to the present utility model rather than all the structures are shown in the drawings.

[0035] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0036] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above the", and "on the" second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below the", and "under the" second feature includes the first feature being directly below and obliquely below the second feature, or simply indicating that the horizontal height of the first feature is lower than that of the second feature.

[0037] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", and "left" are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and do not have special meanings.

[0038] Such as Figures 1 to 3As shown in the figure, the present utility model provides an automatic workpiece transfer system, which includes a mounting frame 1, a translation cross beam 2 and a transfer unit 3. The mounting frame 1 is spanned above the workpiece transportation line; the translation cross beam 2 is movably arranged on the mounting frame 1 along the X-axis, and the transfer unit 3 includes a moving seat 31, a bearing frame 32 and a plurality of grippers 33. The moving seat 31 is movably arranged on the translation cross beam 2 along the Y-axis, the bearing frame 32 is arranged on the moving seat 31 and the bearing frame 32 can move along the Z-axis on the moving seat 31; the plurality of grippers 33 are arranged on the bearing frame 32 with adjustable positions, and the plurality of grippers 33 are used to move away from each other to respectively abut against the inner wall of the workpiece 100. In this embodiment, the X-axis, Y-axis and Z-axis are perpendicular to each other in pairs, forming a spatial rectangular coordinate system; the mounting frame 1 is spanned above the workpiece transportation line. Since the translation cross beam 2 is movably arranged on the mounting frame 1 along the X-axis, the moving seat 31 is movably arranged on the translation cross beam 2 along the Y-axis, and the bearing frame 32 is movably arranged on the moving seat 31 along the Z-axis, the bearing frame 32 can displace along the X-axis, Y-axis and Z-axis directions on the mounting frame 1, that is, it can move between any two positions in space; since a plurality of grippers 33 are arranged on the bearing frame 32 and the plurality of grippers 33 can move away from each other to respectively abut against the inner wall of the workpiece 100, the grippers 33 can clamp the workpiece 100 in the way of internal support and fixation. At the same time, since the plurality of grippers 33 are all arranged on the bearing frame 32, the bearing frame 32 can drive the workpiece to move through the grippers 33, so as to transfer the workpiece 100 at any position to the workpiece transportation line, without manually driving a forklift or using other lifting equipment for transfer, greatly improving the transfer efficiency of the workpiece 100 and the automation degree of workpiece 100 processing, and at the same time reducing the labor cost. Specifically, the mounting frame 1 is a cuboid frame structure, which is welded by support vertical beams and top horizontal beams; the mounting frame 1 is spanned above the workpiece transportation line, and the workpiece transportation line is responsible for transporting the workpiece 100 to be processed and the processed workpiece 100; before the workpiece 100 is processed, the staff places the workpiece 100 to be processed in the stacking area below the mounting frame 1, and then the automatic workpiece transfer system transfers the workpiece 100 to be processed to the workpiece transportation line for subsequent processing of the workpiece 100; when the workpiece 100 is processed, the workpiece transportation line transports the processed workpiece 100 to below the mounting frame 1, and then the automatic workpiece transfer system removes the processed workpiece 100 on the workpiece transportation line and transfers it to the blanking area for subsequent processing. In this embodiment, the workpiece 100 can be a gear or other wheel-shaped parts with vertical through holes.

[0039] Furthermore, as Figure 1 and Figure 2As shown in the figure, a first rack is arranged on the mounting frame 1 along the X-axis. A first driving motor 22 is arranged on the translation cross beam 2. A first gear is arranged on the output shaft of the first driving motor 22, and the first gear meshes with the first rack. In this embodiment, the first rack is installed on the top horizontal beam of the mounting frame 1 along the X-axis. The first driving motor 22 is arranged on the translation cross beam 2. When the first driving motor 22 drives the first gear to rotate, the translation cross beam 2 can move along the X-axis on the mounting frame 1.

[0040] Specifically, an X-axis guide rail is arranged on the mounting frame 1 parallel to the first rack. The translation cross beam 2 is slidably matched with the X-axis guide rail. In this embodiment, an X-axis guide rail is also arranged on the mounting frame 1. A first chute matched with the X-axis guide rail is opened on the translation cross beam 2. The X-axis guide rail is clamped in the first chute, so as to limit the moving direction of the translation cross beam 2, so that the translation cross beam 2 can and can only move along the X-axis on the mounting frame 1, avoiding deviation in other directions, and further ensuring the stability and accuracy of the movement of the translation cross beam 2.

[0041] Furthermore, as Figure 2 shown, a second rack is arranged on the translation cross beam 2 along the Y-axis. A second driving motor 311 is arranged on the moving seat 31. A second gear is arranged on the output shaft of the second driving motor 311, and the second gear meshes with the second rack. In this embodiment, the moving seat 31 is of a plate-like structure. The second driving motor 311 is installed on the moving seat 31. When the second driving motor 311 drives the second gear to rotate, the second gear meshes with the second rack, so that the moving seat 31 can move along the Y-axis on the translation cross beam 2. Specifically, a Y-axis guide rail is also arranged on the translation cross beam 2. A second chute matched with the Y-axis guide rail is opened on the moving seat 31. The Y-axis guide rail is clamped in the second chute, so as to limit the moving direction of the moving seat 31, so that the moving seat 31 can and can only move along the Y-axis on the translation cross beam 2, avoiding the moving seat 31 from disengaging from the translation cross beam 2 or generating deviation in other directions.

[0042] Furthermore, as Figures 1 to 3As shown, the transfer unit 3 further includes a first lead screw device 35. The first lead screw device 35 includes a third drive motor 351, a first lead screw 352, a fixed block 353, a first guide rail 354, and a moving frame 355. The first guide rail 354 is arranged on the moving frame 355 along the Z-axis. The fixed block 353 is fixedly arranged on the moving seat 31. The moving seat 31 is slidably matched with the first guide rail 354. The carrier 32 is connected to the moving frame 355. The third drive motor 351 is arranged on the moving frame 355. The first lead screw 352 is arranged through the fixed block 353 along the Z-axis and is threadedly matched with the fixed block 353. The third drive motor 351 is used to drive the first lead screw 352 to rotate. The first lead screw 352 is rotationally matched with the moving frame 355. The first lead screw 352 can drive the moving frame 355 to move along the Z-axis. In this embodiment, the fixed block 353 is provided with a threaded through hole. The first lead screw 352 passes through the threaded through hole and is threadedly matched with the fixed block 353. Both ends of the first lead screw 352 are rotationally matched with the moving frame 355 through bearings. The moving seat 31 is provided with a vertical chute matched with the first guide rail 354. The first guide rail 354 is clamped in the vertical chute. When the third drive motor 351 drives the first lead screw 352 to rotate, the first lead screw 352 can drive the moving frame 355 to move along the Z-axis relative to the fixed block 353, and then drive the bottom carrier 32 and the gripper 33 to move up and down along the Z-axis.

[0043] Further, as Figure 4 and Figure 5 shown, there are three grippers 33. The three grippers 33 are arranged on the carrier 32 at equal intervals around the vertical center line of the workpiece 100. In this embodiment, three grippers 33 are arranged on the carrier 32 at equal intervals. Each gripper 33 can move on the carrier 32 along the radial direction of the carrier 32. The carrier 32 and the three grippers 33 are correspondingly configured as a three-piece structure. Before clamping the workpiece 100, the three grippers 33 are close to the center position of the carrier 32. Then, the three grippers 33 move along the Z-axis to the vertical through hole of the workpiece 100 under the drive of the carrier 32. After that, the three grippers 33 move away from each other synchronously along the radial direction of the carrier 32, so as to respectively abut against the inner wall of the workpiece 100, thereby realizing the clamping of the workpiece 100 in an inner support and fixing manner. The three grippers 33 can stably and evenly fix the workpiece 100, thereby ensuring the reliability of the transfer of the workpiece 100.

[0044] Specifically, as Figure 4 and Figure 5As shown, the transfer unit 3 further includes a second lead screw device 36. The second lead screw device 36 includes a second lead screw 361, a slider 362, and a second guide rail 363. The second lead screw 361 is rotatably arranged on the carrier 32. The second lead screw 361 extends along the radial direction of the workpiece 100. The second guide rail 363 is arranged on the carrier 32 in parallel with the second lead screw 361. The slider 362 is sleeved on the second lead screw 361 and the slider 362 is in threaded cooperation with the second lead screw 361. The gripper 33 is connected to the slider 362, and the gripper 33 is in sliding cooperation with the second guide rail 363. In this embodiment, Figure 5 one of the grippers 33 is hidden to facilitate clearly viewing the specific structure of the second lead screw device 36. There are three second lead screw devices 36 corresponding to the grippers 33. Each second lead screw 361 is rotatably arranged on the carrier 32 along the radial direction of the carrier 32. Each second guide rail 363 is arranged on the carrier 32 along the radial direction of the carrier 32. The slider 362 is sleeved on the second lead screw 361 and is in threaded cooperation with the second lead screw 361. A fixed slide plate 332 matching the second guide rail 363 is arranged on each gripper 33. The fixed slide plate 332 is opened on the second guide rail 363 and is in sliding cooperation with the second guide rail 363. The gripper 33 is fixedly connected to the slider 362. When the second lead screw 361 rotates, the slider 362 can drive the gripper 33 to move along the radial direction of the carrier 32. The cooperation between the fixed slide plate 332 on the gripper 33 and the second guide rail 363 ensures the stability and accuracy of the movement of the gripper 33.

[0045] Specifically, as Figure 4 and Figure 5 shown, the transfer unit 3 further includes a fourth driving motor 37, a first bevel gear 38, and three second bevel gears 39. The fourth driving motor 37 is arranged on the carrier 32. The first bevel gear 38 is arranged on the output shaft of the fourth driving motor 37. The three second bevel gears 39 are respectively arranged on the three second lead screws 361, and the three second bevel gears 39 are all meshed with the first bevel gear 38. In this embodiment, the fourth driving motor 37 is arranged at the central position of the carrier 32. The first bevel gear 38 is arranged on the output shaft of the fourth driving motor 37. A second bevel gear 39 is fixedly arranged on each second lead screw 361. The three second bevel gears 39 are respectively meshed with the first bevel gear 38, and the axes of the three second bevel gears 39 are all perpendicular to the first bevel gear 38. Therefore, when the fourth driving motor 37 operates, the first bevel gear 38 can drive the three second bevel gears 39 to rotate simultaneously, and then synchronously drive the three grippers 33 to move through the three second lead screws 361. By arranging the first bevel gear 38 meshed with the three second bevel gears 39 respectively, the structure is simplified. It is not necessary to set three fourth driving motors 37 and three first bevel gears 38 to realize the synchronous driving of the three grippers 33. The structure is simple and the manufacturing cost is reduced.

[0046] Further, as shown in Figure 3 and Figure 4 , a bottom support 331 is arranged along the radial direction of the workpiece 100 at the end of the gripper 33. The bottom support 331 is used to vertically support the workpiece 100. In this embodiment, the bottom support 331 is arranged along the radial direction of the workpiece 100 at the bottom of the gripper 33. When the workpiece 100 is clamped, the gripper 33 extends into the vertical through hole of the workpiece 100 along the Z-axis and the bottom support 331 is located at the bottom of the workpiece 100. Then, the gripper 33 moves along the radial direction of the bearing frame 32 driven by the second lead screw device 36 and abuts against the inner wall of the workpiece 100. At this time, the bottom support 331 abuts against the bottom end surface of the workpiece 100 along the Z-axis, so as to realize the vertical support of the workpiece 100, further improving the clamping stability of the gripper 33 on the workpiece 100 and preventing the workpiece 100 from falling off the gripper 33 accidentally during the transportation process.

[0047] Specifically, a proximity switch is arranged on the bottom support 331, and the proximity switch is used to detect the workpiece 100. In this embodiment, a first proximity switch is arranged on the side surface of the bottom support 331, and a second proximity switch is arranged on the upper surface of the bottom support 331. Both the first proximity switch and the second proximity switch are used to detect the workpiece 100. The specific working process is as follows: The gripper 33 extends into the vertical through hole of the workpiece 100 along the Z-axis driven by the bearing frame 32. When the first proximity switch detects the workpiece 100, it means that the bottom support 331 is still located in the vertical through hole of the workpiece 100 at this time, so the bearing frame 32 needs to continue to descend until the first proximity switch can no longer detect the workpiece 100. Then, the gripper 33 moves along the radial direction driven by the second lead screw device 36. When the second proximity switch detects the bottom end surface of the workpiece 100, it means that the bottom support 331 is located below the workpiece 100 at this time, so the gripper 33 stops moving. After that, the gripper 33 is lifted upward along the Z-axis driven by the bearing frame 32, and the bottom support 331 abuts against the bottom end surface of the workpiece 100, so as to support the workpiece 100. Then, the gripper 33 continues to move along the radial direction of the bearing frame 32 and finally abuts against the inner wall of the workpiece 100, and finally completes the clamping of the workpiece 100.

[0048] Further, the automatic workpiece transfer system further includes an image acquisition device and an external control unit. The image acquisition device is disposed on the moving base 31. The external control unit is electrically connected to the image acquisition device, the first driving motor 22, the second driving motor 311, the third driving motor 351, the fourth driving motor 37, the first proximity switch, and the second proximity switch respectively. The image acquisition device is used to photograph the workpiece 100 and transmit the picture to the external control unit. The external control unit obtains the position of the workpiece 100 according to the picture and uses machine vision technology to control the first driving motor 22, the second driving motor 311, the third driving motor 351, and the fourth driving motor 37, so as to control the movement of the gripper 33 and clamp the workpiece. In this embodiment, the image acquisition device may be a commonly used CCD camera or a CMOS camera in the art, which is not limited herein. The external control unit is a computer with a built-in image processing system. It can convert the information such as pixel distribution, brightness, and color in the picture into digital signals. The image processing system performs operations on these signals to extract the features of the calibration points and calculates the position coordinates of the calibration points according to the pre-input coordinate origin, and then controls the gripper 33 by controlling the first driving motor 22, the second driving motor 311, the third driving motor 351, and the fourth driving motor 37. At the same time, since the external control unit is also electrically connected to the first proximity switch and the second proximity switch, the first proximity switch and the second proximity switch can feedback the detected signals to the external control unit, and finally realize the clamping of the workpiece 100.

[0049] Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments, and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An automatic workpiece transfer system, characterized in that, Including: An installation frame (1), which is straddled above the workpiece transportation line; A translation cross beam (2), which is movably arranged on the installation frame (1) along the X-axis, A transfer unit (3), which includes a moving seat (31), a carrier frame (32) and a plurality of grippers (33). The moving seat (31) is movably arranged on the translation cross beam (2) along the Y-axis. The carrier frame (32) is arranged on the moving seat (31) and the carrier frame (32) can move along the Z-axis on the moving seat (31); A plurality of the grippers (33) are arranged on the carrier frame (32) with adjustable positions. The plurality of grippers (33) are used to move away from each other to respectively abut against the inner wall of the workpiece (100).

2. The automatic workpiece transfer system according to claim 1, wherein A first rack is arranged on the installation frame (1) along the X-axis. A first driving motor (22) is arranged on the translation cross beam (2). A first gear is arranged on the output shaft of the first driving motor (22), and the first gear meshes with the first rack.

3. The automatic workpiece transfer system according to claim 2, wherein An X-axis guide rail parallel to the first rack is arranged on the installation frame (1), and the translation cross beam (2) is slidably matched with the X-axis guide rail.

4. The automatic workpiece transfer system according to claim 1, wherein, A second rack is arranged on the translation cross beam (2) along the Y-axis. A second driving motor (311) is arranged on the moving seat (31). A second gear is arranged on the output shaft of the second driving motor (311), and the second gear meshes with the second rack.

5. The automatic workpiece transfer system according to claim 1, characterized in that The transfer unit (3) further includes a first lead screw device (35), which includes a third driving motor (351), a first lead screw (352), a fixed block (353), a first guide rail (354) and a moving frame (355). The first guide rail (354) is arranged on the moving frame (355) along the Z-axis. The fixed block (353) is fixedly arranged on the moving seat (31). The moving seat (31) is slidably matched with the first guide rail (354), and the carrier frame (32) is connected with the moving frame (355); The third driving motor (351) is arranged on the moving frame (355). The first lead screw (352) is arranged along the Z-axis and penetrates through the fixed block (353) and is in threaded cooperation with the fixed block (353). The third driving motor (351) is used to drive the first lead screw (352) to rotate. The first lead screw (352) is in rotational cooperation with the moving frame (355), and the first lead screw (352) can drive the moving frame (355) to move along the Z-axis.

6. The automatic workpiece transfer system according to claim 1, wherein There are three grippers (33), and the three grippers (33) are arranged on the carrier frame (32) at equal intervals around the vertical center line of the workpiece (100).

7. The automatic workpiece transfer system according to claim 6, wherein The transfer unit (3) further includes a second lead screw device (36). The second lead screw device (36) includes a second lead screw (361), a slider (362), and a second guide rail (363). The second lead screw (361) is rotatably arranged on the carrier (32). The second lead screw (361) extends along the radial direction of the workpiece (100). The second guide rail (363) is arranged on the carrier (32) in parallel with the second lead screw (361). The slider (362) is sleeved on the second lead screw (361) and the slider (362) is in threaded engagement with the second lead screw (361). The gripper (33) is connected to the slider (362), and the gripper (33) is in sliding engagement with the second guide rail (363).

8. The automatic workpiece transfer system according to claim 7, wherein, The transfer unit (3) further includes a fourth driving motor (37), a first bevel gear (38), and three second bevel gears (39). The fourth driving motor (37) is arranged on the carrier (32). The first bevel gear (38) is arranged on the output shaft of the fourth driving motor (37). The three second bevel gears (39) are respectively arranged on the three second lead screws (361), and the three second bevel gears (39) are all meshed with the first bevel gear (38).

9. The automatic workpiece transfer system according to claim 1, characterized in that A bottom support (331) is arranged at the end of the gripper (33) along the radial direction of the workpiece (100). The bottom support (331) is used for vertically supporting the workpiece (100).

10. The automatic workpiece transfer system according to claim 9, characterized in that, A proximity switch is arranged on the bottom support (331). The proximity switch is used for detecting the workpiece (100).

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