Transfer device

Abstract

The utility model relates to the technical field of carrying equipment, and particularly discloses a transfer device which comprises a mechanical arm and a variable-pitch mechanism, the variable-pitch mechanism is arranged at the working end of the mechanical arm, in the variable-pitch mechanism, the number of picking fixing pieces is two, the two picking fixing pieces both extend in the first direction, and the two picking fixing pieces are arranged in the second direction. The sliding blocks are arranged on the base at intervals in the second direction in a sliding mode and can be close to or away from each other; the number of the picking assemblies is at least two, one picking fixing piece at least corresponds to one picking assembly, each picking assembly comprises a picking base and two picking pieces used for picking workpieces, the picking bases are arranged on the picking fixing pieces in the first direction in a position adjustable mode, and the picking pieces are arranged on the picking bases in the second direction in a position adjustable mode at intervals. By means of the arrangement, the two inner picking pieces and the two outer picking pieces can pick up workpieces of different sizes respectively, in other words, in the assembling process, the positions of the two picking fixing pieces do not need to be repeatedly adjusted, the assembling technology is simple, efficiency is high, and damage is not prone to occurring.

Description

Technical Field

[0001] The utility model relates to the technical field of handling equipment, in particular to a transfer device. Background Art

[0002] During the assembly process of products, a picking mechanism is often used to pick up two workpieces with different sizes and transfer them to the same position for assembly. To pick up workpieces with different sizes, generally, a scissor structure is used to adjust the distance between the picking ends of the picking mechanism, so that the working range of the picking ends of the picking mechanism changes, and thus workpieces with different sizes can be picked up in different deformation states. However, since the distance between the picking ends is adjusted each time a product is assembled, the assembly process is complicated, the work efficiency is reduced, and the picking mechanism changes frequently, which easily accelerates wear and causes damage.

[0003] Therefore, it is urgent to study a transfer device to solve the above-mentioned problems. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a transfer device to solve the problems of low work efficiency caused by complicated assembly process and easy damage in the prior art.

[0005] To achieve the above object, the utility model adopts the following technical solutions:

[0006] The transfer device includes:

[0007] A robotic arm;

[0008] A variable distance mechanism, which is arranged at the working end of the robotic arm, and the variable distance mechanism includes:

[0009] A base;

[0010] Two picking fixing parts, both of the two picking fixing parts extend along a first direction, and are arranged at intervals along a second direction and slidably arranged on the base, and can approach or move away from each other;

[0011] At least two picking components, at least one picking fixing part corresponds to at least one picking component, the picking component includes a picking seat and two picking parts for picking up workpieces, the picking seat is arranged on the picking fixing part with adjustable position along the first direction, and the picking parts are arranged at intervals with adjustable position along the second direction on the picking seat.

[0012] As an optional technical solution of the transfer device, the picking seat includes two mounting holes arranged at intervals along the second direction and both extending along the second direction, both picking parts are arranged in the mounting holes and can be fixed to the picking seat.

[0013] As an alternative technical solution of the transfer device, the picking member includes a picking rod portion and a picking head. The picking head is used for picking up a workpiece. The outer periphery of the picking rod portion is provided with threads. Both of the first fixing nuts are in threaded cooperation with the picking rod portion and are clamped on both sides of the picking seat.

[0014] As an alternative technical solution of the transfer device, along the second direction, among the four picking members in two opposite picking assemblies, the picking ends of the two inner picking members are higher than the picking ends of the two outer picking members.

[0015] As an alternative technical solution of the transfer device, a plurality of the picking assemblies are provided and evenly divided into two groups. A plurality of the picking assemblies in one group are spaced along the first direction on one picking fixing member, and a plurality of the picking assemblies in the other group are spaced along the first direction on the other picking fixing member.

[0016] As an alternative technical solution of the transfer device, the picking fixing member includes a sliding groove extending along the first direction. The opening of the sliding groove faces downward, and two opposite side walls at the opening respectively protrude relatively along the second direction to form two strip-shaped sliding protrusions. A second fixing nut is provided in the sliding groove. The picking seat is provided with a picking fixing hole. A picking fixing screw passes through the picking fixing hole and the opening of the sliding groove and can be screwed with the second fixing nut.

[0017] As an alternative technical solution of the transfer device, the transfer device further includes:

[0018] A transmission assembly, at least two output ends of the transmission assembly are respectively connected to corresponding two picking fixing members;

[0019] A driving assembly, the driving assembly is connected to the input end of the transmission assembly and can drive at least two output ends of the transmission assembly to approach or separate from each other along the second direction to drive the two picking fixing members to approach or separate from each other along the second direction.

[0020] As an alternative technical solution of the transfer device, the transmission assembly includes:

[0021] A first transmission member, extending along the first direction and movably constrained to the base along its own axis direction;

[0022] At least two driving members, at least two driving members are spaced along the first direction. The driving members are fixedly connected to the first transmission member and move synchronously with the first transmission member;

[0023] At least four driven members, each of the driving members corresponding to two of the driven members being hinged. Wherein, each end of the driving member is provided with a hinge portion, one ends of two of the driven members are respectively hinged to the corresponding hinge portions, and the other ends of the two driven members are respectively hinged to the corresponding picking and fixing members. The driven members are strip-shaped, and the included angle between the extending direction thereof and the first direction is α, and 0° < α ≤ 90°.

[0024] As an alternative technical solution of a transfer device, the driving assembly includes a driving member and a transfer member. The driving member is disposed on the base, the output shaft of the driving member can reciprocate along the first direction, and the axis of the output shaft and the axis of the first transmission member are parallel and spaced apart. The end of the output shaft and one of the driving members are connected through the transfer member.

[0025] As an alternative technical solution of a transfer device, the transfer device further includes a camera. The camera is disposed on the base and is used for photographing workpieces.

[0026] The beneficial effects of the present utility model are as follows:

[0027] The present utility model provides a transfer device. By providing two picking and fixing members on the base in the transfer device, wherein at least two picking seats in the picking assembly are adjustable in position along the first direction, and at least four picking members in the picking assembly are adjustable in position along the second direction, so that the two inner picking members and the two outer picking members can respectively pick workpieces of different sizes. That is, during the assembly process, when facing two workpieces of different sizes of the same product, there is no need to repeatedly adjust the positions of the two picking and fixing members. Only the positions of the picking members in the second direction need to be adjusted before assembly. The assembly process is simple, with high efficiency, and is not prone to damage.

[0028] When the assembled product is changed, the positions of the picking and fixing members and the picking members can be adjusted so that in the second direction, the two inner picking members and the two outer picking members can respectively meet the two corresponding workpieces. Description of the Drawings

[0029] Figure 1 is a schematic structural diagram of the transfer device in an embodiment of the present utility model;

[0030] Figure 2 is a schematic structural diagram of the variable pitch mechanism from the first perspective in an embodiment of the present utility model;

[0031] Figure 3 is a schematic structural diagram of the variable pitch mechanism from the second perspective in an embodiment of the present utility model;

[0032] Figure 4 is Figure 3 the sectional structural diagram along the A-A direction in

[0033] Figure 5 is Figure 4 an enlarged view of part B in

[0034] Figure 6 a schematic structural diagram of the third perspective of the transfer device in the embodiment of the present utility model.

[0035] In the figure:

[0036] X, the first direction; Y, the second direction; Z, the third direction;

[0037] 1000, robotic arm;

[0038] 2000, variable pitch mechanism;

[0039] 100, base; 110, second transmission member;

[0040] 200, picking and fixing member; 210, connecting rod member;

[0041] 300, picking assembly; 310, picking seat; 320, picking member; 321, picking rod portion; 322, picking head; 330, first fixing nut;

[0042] 400, transmission assembly; 410, first transmission member; 420, driving member; 4211, large hole; 4212, small hole; 4213, stepped surface; 430, driven member; 440, first pin joint member; 450, rotating bearing; 460, gasket; 470, snap ring; 480, second pin joint member;

[0043] 500, driving assembly; 510, driving member; 520, intermediate member;

[0044] 600, camera. Specific embodiments

[0045] Next, the technical solutions of the present utility model will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0046] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, 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. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0047] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; 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. 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 circumstances.

[0048] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation to the present utility model.

[0049] As Figures 1 to 6As shown in the figure, this embodiment provides a transfer device to simplify the assembly process and improve the assembly efficiency. The transfer device includes a robotic arm 1000 and a pitch-changing mechanism 2000. Among them, the pitch-changing mechanism 2000 is arranged at the working end of the robotic arm 1000. The pitch-changing mechanism 2000 includes a base 100, a pick-up fixing member 200, and a pick-up assembly 300. Among them, there are two pick-up fixing members 200. Both of the two pick-up fixing members 200 extend along the first direction X, and are arranged at intervals along the second direction Y and slidably arranged on the base 100, and can approach or move away from each other; there are at least two pick-up assemblies 300. One pick-up fixing member 200 corresponds to at least one pick-up assembly 300. The pick-up assembly 300 includes a pick-up seat 310 and two pick-up members 320 for picking up workpieces. The pick-up seat 310 is arranged on the pick-up fixing member 200 with adjustable position along the first direction X. The two pick-up members 320 in the same pick-up assembly 300 are arranged at intervals along the second direction Y on the pick-up seat 310, and are both adjustable in position along the second direction Y.

[0050] The above settings enable four pick-up members 320 to be arranged in the second direction Y. The two pick-up members 320 inside and the two pick-up members 320 outside can pick up workpieces of different sizes respectively. It is only necessary to adjust the positions of the pick-up members 320 in the second direction Y before assembly. That is, during the assembly process, when facing two workpieces of different sizes of the same product, there is no need to repeatedly adjust the positions of the two pick-up fixing members 200. The assembly process is simple, efficient, and not prone to damage.

[0051] When the assembled product is changed, the positions of the pick-up fixing member 200 and the pick-up member 320 can be adjusted so that the two pick-up members 320 inside and the two pick-up members 320 outside can respectively meet the two corresponding workpieces in the second direction Y.

[0052] For the convenience of connection and to improve the production efficiency of the transfer device, the pick-up seat 310 includes two mounting holes arranged at intervals along the second direction Y and both extending along the second direction Y. The two pick-up members 320 are both arranged in the mounting holes and can be fixed to the pick-up seat 310.

[0053] Specifically, the pick-up member 320 includes a pick-up rod portion 321 and a pick-up head portion 322. The pick-up head portion 322 is used to pick up the workpiece. The outer periphery of the pick-up rod portion 321 is provided with threads. Both of the two first fixing nuts 330 are in threaded cooperation with the pick-up rod portion 321 and are clamped on both sides of the pick-up seat 310. During use, first loosen one of the first fixing nuts 330, then move the pick-up rod portion 321 to a suitable position, and then tighten the first fixing nut 330 so that the two pick-up seats 310 are clamped between the two fixing nuts.

[0054] To avoid interference of the internal pick-up members 320 when picking up large-sized workpieces, in some embodiments, along the second direction Y, among the four pick-up members 320 in two opposite pick-up assemblies 300, the pick-up ends of the two inner pick-up members 320 are higher than those of the two outer pick-up members 320. Preferably, the height difference between the pick-up ends of the two inner pick-up members 320 and those of the two outer pick-up members 320 is 5 mm - 100 mm. The specific height difference can also be reasonably set according to the actual situation. Among them, the pick-up end is the pick-up head 322.

[0055] To pick up multiple workpieces at one time, in some embodiments, there are several pick-up assemblies 300 and they are evenly divided into two groups. Among them, several pick-up assemblies 300 in one group are arranged at intervals along the first direction X on one pick-up fixing member 200, and several pick-up assemblies 300 in the other group are arranged at intervals along the first direction X on another pick-up fixing member 200. Exemplarily, there are 12 pick-up assemblies 300 in total, with every four as a group. Among the four pick-up assemblies 300, there are four inner pick-up members 320 for picking up the four corners of small-sized workpieces and four outer pick-up members 320 for picking up the four corners of large-sized workpieces. The pick-up member 320 is a suction nozzle.

[0056] The pick-up fixing member 200 includes a sliding groove extending along the first direction X. The opening of the sliding groove faces downward, and two opposite side walls at the opening protrude relatively along the second direction Y to form two strip-shaped sliding protrusions. A second fixing nut is provided in the sliding groove. The pick-up seat 310 is provided with a pick-up fixing hole. The pick-up fixing screw passes through the pick-up fixing hole and the opening of the sliding groove and can be screwed with the second fixing nut. Among them, the sliding groove is a T-shaped groove.

[0057] The transfer device further includes a transmission assembly 400 and a driving assembly 500. At least two output ends of the transmission assembly 400 are respectively connected to the corresponding two pick-up fixing members 200; the driving assembly 500 is connected to the input end of the transmission assembly 400 and can drive at least two output ends of the transmission assembly 400 to approach or move away from each other along the second direction Y so as to drive the two pick-up fixing members 200 to approach or move away along the second direction Y. This setting realizes the automatic adjustment of the pick-up fixing member 200, thereby improving the degree of automation.

[0058] The transmission assembly 400 includes a first transmission member 410, at least two driving members 420, and at least four driven members 430. Among them, the first transmission member 410 extends along the first direction X and is movably constrained to the base 100 along its own axis direction; at least two driving members 420 are arranged at intervals along the first direction X. The driving members 420 are fixedly connected to the first transmission member 410 and move synchronously with the first transmission member 410; each driving member 420 is hinged to two corresponding driven members 430. Among them, each end of the driving member 420 is provided with a hinge portion. One end of the two driven members 430 is respectively hinged to the corresponding hinge portion, and the other end of the two driven members 430 is respectively hinged to the corresponding picking and fixing member 200. The driven members 430 are strip-shaped, and the included angle between its extending direction and the first direction X is α, and 0° < α ≤ 90°. The two driven members 430 are in a flared structure, and the distance between the two driven members 430 gradually increases or decreases along the first direction X. Among them, the smaller the angle of α, the smaller the distance between the two picking and fixing members 200, and the larger the angle of α, the larger the distance between the two picking and fixing members 200.

[0059] In this embodiment, a rod-shaped second transmission member 110 extending along the second direction Y is fixed to the base 100, and a connecting rod member 210 is fixed to the picking and fixing member 200. The connecting rod member 210 is slidably matched with the second transmission member 110 through a linear bearing.

[0060] The output end and the input end of the transmission assembly 400 can bear the force in the third direction Z. At least two driving members 420 are arranged at intervals along the first direction X, so that the picking and fixing member 200 is pulled at at least two positions in the first direction X, so that the picking and fixing member 200 cannot deflect around the second transmission member 110, that is, the extending directions of the two picking and fixing members 200 can both be parallel to the first direction X; at the same time, since the second transmission member 110 extends along the second direction Y, and the picking and fixing member 200 is slidably arranged on the second transmission member 110, the two picking and fixing members 200 cannot deflect around the first transmission member 410, that is, the two picking and fixing members 200 can only approach or move away from each other along the second direction Y, so as to realize the approach or separation of the picking parts on the two picking and fixing members 200 to adapt to workpieces of different sizes. Finally, all components in the transmission assembly 400 are connected by fixed connection or hinge connection, and the connection method is simple and the transmission accuracy is high.

[0061] The driving assembly 500 includes a driving member 510 and an intermediate member 520. The driving member 510 is disposed on the base 100. The output shaft of the driving member 510 can reciprocate along the first direction X, and the axis of the output shaft is parallel and spaced from the axis of the first transmission member 410. The end of the output shaft is connected to one of the driving members 420 through the intermediate member 520. The setting position of the driving member 510 helps to reduce the size of the base 100 in the first direction X, reduce the weight of the entire mechanism, and reduce the size of the entire pitch-changing mechanism 2000 in the first direction X, facilitating flexible operation in a narrow space.

[0062] To simplify the structure and facilitate assembly to improve the assembly efficiency, a first hinge hole is provided at each of the two ends of the driving member 420 along the second direction Y. The first hinge hole forms a hinge portion. A driven hole is provided at one end of the driven member 430. The transmission assembly 400 further includes a first pin-connected member 440 whose axis extends along the third direction Z. The two ends of the first pin-connected member 440 are respectively inserted into the first hinge hole and the driven hole, and the first pin-connected member 440 is at least movably connected to one of the first hinge hole and the driven hole. Among them, the first pin-connected member 440 is an equal-height screw. The equal-height screw is screwed into the driven hole with internal threads. The transmission assembly 400 further includes a rotating bearing 450. The rotating bearing 450 is located in the first hinge hole, and the outer ring of the rotating bearing 450 is in interference fit with the first hinge hole. The equal-height screw is in interference fit with the inner ring of the rotating bearing 450, and the nut of the equal-height screw presses against the upper end surface of the inner ring of the rotating bearing 450. A gasket 460 is sleeved on the outer periphery of the equal-height screw, and the gasket 460 is located between the inner ring of the rotating bearing 450 and the driven member 430. Among them, the setting of the equal-height screw enables the height of the two driven members 430 in the third direction Z to be adjusted and kept flush while realizing the hinge between the driving member 420 and the driven member 430, thus facilitating assembly and debugging and reducing the requirements for precision and processing costs; at the same time, the setting of the rotating bearing 450 makes the rotation between the equal-height screw and the driving member 420 smoother; finally, the equal-height screw is screwed into the driven member 430, enabling the driving member 420 to lift the driven member 430 through the cooperation of the rotating bearing 450 and the equal-height screw, so that the first transmission member 410 lifts the picking and fixing member 200 in the third direction Z.

[0063] Under the action of gravity, in order to prevent the rotating bearing 450 and the driving member 420 from disengaging, in some embodiments, the first hinge hole is stepped and includes a large hole 4211 and a small hole 4212 that are connected and communicated from top to bottom. The outer ring of the rotating bearing 450 is press-fitted into the large hole 4211, and the lower end surface of the outer ring of the rotating bearing 450 abuts against the step surface 4213 between the large hole 4211 and the small hole 4212; an annular groove is provided on the outer periphery of the large hole 4211, and a snap ring 470 is clamped in the annular groove to abut against the upper end surface of the outer ring of the rotating bearing 450. The above-mentioned step surface 4213 can bear the lower end surface of the outer ring of the rotating bearing 450, preventing the rotating bearing 450 from moving downward and separating from the driving member 420. The setting of the snap ring 470 can prevent the rotating bearing 450 from moving upward and separating from the driving member 420. That is, the snap ring 470 and the step surface 4213 realize the limit of the rotating bearing 450 in the third direction Z. Optionally, the rotating bearing 450 can be a tapered roller bearing to better bear the gravity of the two driven members 430 and the two picking and fixing members 200.

[0064] The other end of the driven member 430 is provided with a second hinge hole. The driven member 430 and the picking and fixing member 200 are hinged by a second pin joint 480, and the connection method refers to the hinging method of the driving member 420 and the driven member 430.

[0065] The base 100 is provided with two first limiting protrusions spaced along the first direction X, and the first transmission member 410 is slidably arranged on the two first limiting protrusions; the base 100 is provided with two second limiting protrusions spaced along the second direction Y, and the second transmission member 110 is fixed to the two second limiting protrusions; the first transmission member 410 and the second transmission member 110 are spaced in the third direction Z. Along the second direction Y, the two picking and fixing members 200 are located on both sides of the two second limiting protrusions, and the length of the second transmission member 110 is greater than the length of the base 100. The above setting is beneficial to reducing the distance between the two second limiting protrusions, thereby reducing the width requirement of the base 100 in the second direction Y, and thus reducing the weight of the entire mechanism.

[0066] To improve the grasping accuracy during transfer, the transfer device further includes a camera 600. The camera 600 is arranged on the base 100 and is used to photograph the workpiece. Take a photo first and then grasp to improve the grasping accuracy.

[0067] The first direction X, the second direction Y, and the third direction Z are perpendicular to each other in pairs.

[0068] Obviously, the above embodiments of the present utility model are merely examples for clearly illustrating the present utility model, rather than limitations on the implementation manners of the present utility model. For those of ordinary skill in the art, other different forms of changes or alterations can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the claims of the present utility model.

Claims

1. Transfer device, characterized in that, Comprising: A robotic arm (1000); A pitch-changing mechanism (2000), the pitch-changing mechanism (2000) is arranged at the working end of the robotic arm (1000), and the pitch-changing mechanism (2000) includes: A base (100); Two picking and fixing members (200), both of the two picking and fixing members (200) extend along the first direction (X), and are arranged at intervals along the second direction (Y) and slidably arranged on the base (100), and can approach or move away from each other; At least two picking assemblies (300), at least one picking assembly (300) corresponds to one picking and fixing member (200), the picking assembly (300) includes a picking seat (310) and two picking members (320) for picking workpieces, the picking seat (310) is arranged on the picking and fixing member (200) with its position adjustable along the first direction (X), and the picking members (320) are arranged at intervals with their positions adjustable along the second direction (Y) on the picking seat (310).

2. The transfer device according to claim 1, characterized in that, The picking seat (310) includes two mounting holes arranged at intervals along the second direction (Y) and both extending along the second direction (Y), both of the two picking members (320) are arranged in the mounting holes and can be fixed to the picking seat (310).

3. The transfer device according to claim 2, characterized in that, The picking member (320) includes a picking rod portion (321) and a picking head (322), the picking head (322) is used for picking workpieces, the outer periphery of the picking rod portion (321) is provided with threads, and two first fixing nuts (330) are both in threaded cooperation with the picking rod portion (321) and are clamped on both sides of the picking seat (310).

4. The transfer device according to claim 1, characterized in that, Along the second direction (Y), among the four picking members (320) of the two opposite picking assemblies (300), the picking ends of the two inner picking members (320) are higher than the picking ends of the two outer picking members (320).

5. The transfer device according to claim 1, wherein A number of the picking assemblies (300) are provided and are evenly divided into two groups, a number of the picking assemblies (300) in one group are arranged at intervals along the first direction (X) on one picking and fixing member (200), and a number of the picking assemblies (300) in the other group are arranged at intervals along the first direction (X) on the other picking and fixing member (200).

6. The transfer device according to claim 1, wherein The picking and fixing member (200) includes a sliding groove extending along the first direction (X), the opening of the sliding groove faces downward, and two opposite side walls at the opening along the second direction (Y) respectively protrude relatively to form two strip-shaped sliding protrusions, a second fixing nut is arranged in the sliding groove, the picking seat (310) is provided with a picking fixing hole, and a picking fixing screw passes through the picking fixing hole and the opening of the sliding groove and can be screwed with the second fixing nut.

7. The transfer device according to any one of claims 1 to 6, characterized in that The transfer device further includes: A transmission component (400), at least two output ends of the transmission component (400) are respectively connected to the corresponding two picking and fixing members (200); A driving assembly (500), the driving assembly (500) is connected to the input end of the transmission assembly (400), and can drive at least two output ends of the transmission assembly (400) to approach or move away from each other along the second direction (Y) to drive the two picking and fixing members (200) to approach or move away along the second direction (Y).

8. The transfer device according to claim 7, wherein The transmission assembly (400) includes: A first transmission member (410), extending along the first direction (X), and movably constrained to the base (100) along its own axis direction; At least two driving members (420), the at least two driving members (420) are arranged at intervals along the first direction (X), the driving member (420) is fixedly connected to the first transmission member (410), and moves synchronously with the first transmission member (410); At least four driven members (430), each driving member (420) is hinged to two of the driven members (430). Wherein, each end of the driving member (420) is provided with a hinge portion, one ends of the two driven members (430) are respectively hinged to the corresponding hinge portions, and the other ends of the two driven members (430) are respectively hinged to the corresponding picking and fixing members (200). The driven member (430) is strip-shaped and the included angle between its extending direction and the first direction (X) is α, and 0° < α ≤ 90°.

9. The transfer device according to claim 8, wherein The driving assembly (500) includes a driving member (510) and a transfer member (520). The driving member (510) is arranged on the base (100). The output shaft of the driving member (510) can reciprocate along the first direction (X), and the axis of the output shaft is parallel and spaced from the axis of the first transmission member (410). The end of the output shaft is connected to one of the driving members (420) through the transfer member (520).

10. The transfer device according to any one of claims 1-6, characterized in that, The transfer device further includes a camera (600), the camera (600) is arranged on the base (100) for photographing the workpiece.

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