Material moving device

Abstract

The utility model relates to the technical field of material transferring, in particular to a material transferring device. The material moving device comprises a driving mechanism and a clamping mechanism, the clamping mechanism is connected to the driving mechanism, the driving mechanism is used for driving the clamping mechanism to move, the clamping mechanism comprises a clamping driving part, a first clamping finger and a second clamping finger, the clamping driving part is connected to the driving mechanism, and the first clamping finger and the second clamping finger are both connected to the clamping driving part. The first clamping finger is arranged below the second clamping finger in the first direction, a bearing part is arranged at the end, away from the clamping driving piece, of the first clamping finger, the width of the bearing part in the second direction perpendicular to the first direction is larger than that of the second clamping finger in the second direction, and the bearing part is used for bearing a workpiece. The clamping driving piece is used for driving the first clamping finger and the second clamping finger to get close to each other or get away from each other so that the first clamping finger and the second clamping finger can clamp or loosen a workpiece. According to the material moving device, small workpieces can be grabbed and transferred, material taking is stable, material moving is accurate, and materials can be conveniently supplied to an external device.

Description

Technical Field

[0001] This application relates to the field of material transfer technology, specifically to a material transfer device. Background Technology

[0002] Currently, the assembly of electronic products requires the assembly of multiple parts. To ensure the consistency of incoming parts, structures such as cartridges are typically used to hold multiple identical parts. The cartridge sequentially removes multiple parts from its outlet, allowing external picking devices, such as robotic arms, to grasp them from the outlet. However, as electronic products become increasingly sophisticated, assembly often involves multiple small components. When using cartridge feeding, the small size of these components contrasts with the relatively large size of traditional robotic arms. Traditional robotic arms struggle to directly retrieve these small components from the cartridge, or their placement may become unstable, affecting subsequent assembly processes. Utility Model Content

[0003] In view of the above, it is necessary to propose a material transfer device that can grab and transfer small workpieces, with stable material picking, accurate material transfer, and convenient material supply to external devices.

[0004] This application provides a material transfer device, including: a driving mechanism; and a clamping mechanism connected to the driving mechanism. The driving mechanism is used to drive the clamping mechanism to move. The clamping mechanism includes a clamping driving member, a first clamping finger, and a second clamping finger. The clamping driving member is connected to the driving mechanism. The first clamping finger and the second clamping finger are both connected to the clamping driving member. The first clamping finger is disposed below the second clamping finger along a first direction. A bearing portion is provided at the end of the first clamping finger away from the clamping driving member. The width of the bearing portion along a second direction perpendicular to the first direction is greater than the width of the second clamping finger along the second direction. The bearing portion is used to bear a workpiece. The clamping driving member is used to drive the first clamping finger and the second clamping finger to move closer or further away from each other, so that the first clamping finger and the second clamping finger clamp or release the workpiece.

[0005] The aforementioned material transfer device, through a drive mechanism, can move the clamping mechanism in different directions, thereby accurately moving the clamping mechanism to the location of the workpiece to be transported. Then, the clamping drive component drives the first and second clamping fingers to move closer or further apart, achieving reliable clamping or releasing of the workpiece. This allows the material transfer device to flexibly grasp the workpiece and transport it to a designated location. A support portion is provided at the end of the first clamping finger furthest from the clamping drive component, and the width of the support portion is greater than the width of the second clamping finger. This ensures that the first clamping finger can stably support the workpiece, improving its stability during clamping and transport, reducing the probability of the workpiece falling or shifting due to unstable support, and ensuring a smooth and reliable material transfer process. Furthermore, the width of the second clamping finger is smaller than the width of the support portion, facilitating the removal of material from the clamping mechanism by external devices.

[0006] In some embodiments, a slot is provided on the side of the second gripper facing the support portion, the slot being used to engage the workpiece when the first gripper and the second gripper grip the workpiece.

[0007] In some embodiments, the support portion is provided with a first anti-slip surface on the side facing the second gripper finger, and the second gripper finger is provided with a second anti-slip surface on the side facing the support portion. The first anti-slip surface and the second anti-slip surface are used to abut against the workpiece when the first gripper finger and the second gripper finger clamp the workpiece.

[0008] In some embodiments, the clamping mechanism further includes a first anti-slip sleeve and a second anti-slip sleeve, wherein the first anti-slip sleeve is disposed on the surface of the bearing portion, and the second anti-slip sleeve is disposed on the surface of the end of the second clamping finger corresponding to the bearing portion.

[0009] In some embodiments, the driving mechanism includes: a lateral driving component; a longitudinal driving component connected to the lateral driving component, the lateral driving component being used to drive the longitudinal driving component to move along the second direction; and a vertical driving component connected to the longitudinal driving component, the longitudinal driving component being used to drive the vertical driving component to move along a third direction, the clamping driving member being connected to the vertical driving component, the vertical driving component being used to drive the clamping driving member to move along the first direction; wherein the third direction is perpendicular to both the first direction and the second direction.

[0010] In some embodiments, the lateral drive assembly includes: a lateral drive member; a first connector connected to one side of the lateral drive member; a first sensor connected to the side of the lateral drive member adjacent to the first connector, and the first sensor being disposed near one end of the lateral drive member along the second direction; a second sensor connected to the lateral drive member and disposed on the same side of the lateral drive member as the first sensor, and the second sensor being disposed near the other end of the lateral drive member along the second direction; and a first stop member connected to the first connector, and the first stop member being disposed corresponding to the first sensor and the second sensor; wherein the lateral drive member is used to drive the first connector member to move along the second direction, the first connector member drives the first stop member to move between the first sensor and the second sensor, and the first sensor and the second sensor are used to sense the first stop member.

[0011] In some embodiments, the longitudinal drive assembly includes: a longitudinal drive member connected to the first connector; a second connector connected to one side of the longitudinal drive member; a third sensor connected to the side of the longitudinal drive member adjacent to the second connector, and the third sensor being disposed near one end of the longitudinal drive member along the third direction; a fourth sensor connected to the longitudinal drive member and disposed on the same side of the longitudinal drive member as the third sensor, and the fourth sensor being disposed near the other end of the longitudinal drive member along the third direction; and a second stop member connected to the second connector, and the second stop member being disposed corresponding to the third sensor and the fourth sensor; wherein the longitudinal drive member is used to drive the second connector member to move along the third direction, the second connector member drives the second stop member to move between the third sensor and the fourth sensor, and the third sensor and the fourth sensor are used to sense the second stop member.

[0012] In some embodiments, the vertical drive assembly includes: a vertical drive member connected to the second connector; and a third connector connected to one side of the vertical drive member along the third direction, the third connector having a limiting portion disposed at one end of the third connector along the first direction and extending along the third direction, the limiting portion being disposed opposite to one end of the vertical drive member along the first direction; wherein, the vertical drive member is used to drive the third connector to move along the first direction, and the limiting portion is used to abut against the vertical drive member to limit the third connector.

[0013] In some embodiments, the vertical drive assembly further includes: a limiting plate connected to the side of the limiting portion away from the vertical drive member; a limiting post connected to the side of the vertical drive member opposite to the limiting plate, the limiting post extending along the first direction and slidably inserted into the limiting plate; and two limiting blocks, both connected to the limiting post and respectively disposed opposite to both sides of the limiting plate along the first direction, the two limiting blocks being used to abut against the limiting plate when the limiting plate moves along the first direction, so as to limit the limiting plate.

[0014] In some embodiments, the vertical drive assembly further includes a buffer disposed at one end of the vertical drive member away from the limiting portion and opposite to the third connector. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the material transfer device provided in the embodiments of this application.

[0016] Figure 2 for Figure 1 Side view of the vertical drive assembly and clamping mechanism of the material transfer device shown.

[0017] Figure 3 for Figure 1 A schematic diagram of another embodiment of the clamping mechanism of the material transfer device shown.

[0018] Figure 4 for Figure 1 A schematic diagram of another embodiment of the clamping mechanism of the material transfer device shown.

[0019] Explanation of main component symbols: Material transfer device 100, drive mechanism 10, transverse drive assembly 11, transverse drive component 111, first connector 112, first sensor 113, second sensor 114, first stop 115, longitudinal drive assembly 12, longitudinal drive component 121, second connector 122, third sensor 123, fourth sensor 124, second stop 125, vertical drive assembly 13, vertical drive component 131, third connector 132, limiting part 1321, limiting plate 133, limiting post 134, limiting block 135, buffer 136, clamping mechanism 20, clamping drive component 21, first clamping finger 22, bearing part 221, first anti-slip surface 222, second clamping finger 23, slot 231, second anti-slip surface 232, first anti-slip sleeve 24, second anti-slip sleeve 25, workpiece 200. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein 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 accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] In the description of this application, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the two components; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] The embodiments of this application will be further described below with reference to the accompanying drawings. To facilitate understanding and explanation of the embodiments of this application, a three-dimensional coordinate system is established in some of the drawings, with the Z-axis direction as the first direction, the X-axis direction as the second direction, and the Y-axis direction as the third direction. The X-axis direction, Y-axis direction, and Z-axis direction are perpendicular to each other.

[0024] Please see Figure 1 , Figure 2 and Figure 3This application provides a material transfer device 100 for transferring workpieces 200. Workpieces 200 can be small parts required for assembling electronic products, such as mobile phones, tablets, and smartwatches. In this embodiment, multiple workpieces 200 are stored in a magazine (not shown). The magazine provides workpieces 200 sequentially. The material transfer device 100 is positioned close to the magazine to grip the workpieces 200 provided by the magazine and transfer them to an external device (not shown). The external device removes the workpieces 200 from the material transfer device 100 for assembly processing. The external device can be a robotic arm, etc. It is understood that the material transfer device 100 can also be positioned close to other feeding devices (not shown) to transfer workpieces 200 provided by those feeding devices. The material transfer device 100 includes a drive mechanism 10 and a clamping mechanism 20.

[0025] Specifically, the clamping mechanism 20 is connected to the driving mechanism 10. The driving mechanism 10 is used to drive the clamping mechanism 20 to move. The clamping mechanism 20 includes a clamping drive member 21, a first clamping finger 22, and a second clamping finger 23. The clamping drive member 21 is connected to the driving mechanism 10. The first clamping finger 22 and the second clamping finger 23 are both connected to the clamping drive member 21. The first clamping finger 22 is located below the second clamping finger 23 along the Z-axis direction. A bearing portion 221 is provided at the end of the first clamping finger 22 away from the clamping drive member 21. The width of the bearing portion 221 along the X-axis direction is greater than the width of the second clamping finger 23 along the X-axis direction. The bearing portion 221 is used to bear the workpiece 200. The clamping drive member 21 is used to drive the first clamping finger 22 and the second clamping finger 23 to move closer or further away from each other, so that the first clamping finger 22 and the second clamping finger 23 clamp or release the workpiece 200.

[0026] The drive mechanism 10 can drive the clamping mechanism 20 to move in different directions, thereby accurately moving the clamping mechanism 20 to the position of the workpiece 200 to be transported. The clamping drive member 21 can be a double-headed cylinder to drive the first clamping finger 22 and the second clamping finger 23 to move closer or further apart, thereby clamping or releasing the workpiece 200. The body of the first clamping finger 22 can extend along the Y-axis direction, and the support part 221 can extend along the X-axis direction, that is, the end of the first clamping finger 22 away from the clamping drive member 21 is approximately T-shaped. In this way, the support part 221 can provide stable support for the workpiece 200, which helps to improve the stability of the workpiece 200 during the clamping and transport process. The second clamping finger 23 can extend along the Y-axis direction. The second clamping finger 23 is approximately rod-shaped. The width of the second clamping finger opposite to the support part 221 is smaller than that of the support part 221, so that after the first clamping finger 22 and the second clamping finger 23 clamp the workpiece 200, both ends of the workpiece 200 can be exposed, making it convenient for external devices to remove the material from the clamping mechanism 20. It is understandable that when the external device takes material from the clamping mechanism 20, it can first clamp both ends of the workpiece 200, and then the clamping drive 21 drives the first clamping finger 22 and the second clamping finger to release the workpiece 200, so as to improve the stability of the material taking process.

[0027] The material transfer device 100 provided in this application embodiment can drive the clamping mechanism 20 to move in different directions through the driving mechanism 10, thereby accurately moving the clamping mechanism 20 to the position of the workpiece 200 to be transported. Then, the clamping drive member 21 drives the first clamping finger 22 and the second clamping finger 23 to move closer or further apart, realizing a reliable clamping or releasing operation on the workpiece 200, so that the material transfer device 100 can flexibly grasp the workpiece 200 and transport the workpiece 200 to a designated position. The end of the first clamping finger 22 away from the clamping drive member 21 is provided with a bearing part 221, and the width of the bearing part 221 is greater than the width of the second clamping finger 23, so that the first clamping finger 22 can stably support the workpiece 200, which helps to improve the stability of the workpiece 200 during the clamping and transporting process, reduces the probability of the workpiece 200 falling or shifting due to unstable support, and ensures the smooth and reliable transfer process of the workpiece 200. Moreover, the width of the second clamping finger 23 is smaller than the width of the bearing part 221, which facilitates the external device to remove the material from the clamping mechanism 20.

[0028] In some embodiments, see Figure 1 and Figure 2 The second gripper 23 has a slot 231 on the side facing the support portion 221. The slot 231 is used to engage the workpiece 200 when the first gripper 22 and the second gripper 23 are gripping it. When the first gripper 22 and the second gripper 23 are gripping the workpiece 200, the slot 231 can engage with a specific part of the workpiece 200, so that the workpiece 200 can be accurately positioned in the slot 231 during the gripping process, preventing the workpiece 200 from shaking or shifting during the gripping process, thereby improving the accuracy and stability of the gripping. For example, when gripping a workpiece 200 with a protrusion or a specific shape, the protrusion can be engaged in the slot 231 to achieve precise positioning. The engagement between the slot 231 and the workpiece 200 increases the contact area and friction during clamping, making the workpiece 200 less likely to fall off during handling. Especially for some workpieces 200 with smooth surfaces or irregular shapes, the slot 231 can better adapt to the shape of the workpiece 200, firmly clamping the workpiece 200 and preventing it from slipping out of the first clamping finger 22 and the second clamping finger 23, thus ensuring the reliability of the material transfer process.

[0029] In some embodiments, see Figure 1 and Figure 3The bearing portion 221 has a first anti-slip surface 222 on the side facing the second gripper finger 23, and the second gripper finger 23 has a second anti-slip surface 232 on the side facing the bearing portion 221. The first anti-slip surface 222 and the second anti-slip surface 232 are used to abut against the workpiece 200 when the first gripper finger 22 and the second gripper finger 23 are gripping the workpiece 200. When the first gripper finger 22 and the second gripper finger 23 are gripping the workpiece 200, the first anti-slip surface 222 and the second anti-slip surface 232 are in close contact with the surface of the workpiece 200, which can effectively increase the friction between the first gripper finger 22, the second gripper finger 23 and the workpiece 200, improve the clamping stability, and reduce the risk of the workpiece 200 falling off.

[0030] In some embodiments, see Figure 1 , Figure 2 and Figure 4 The clamping mechanism 20 also includes a first anti-slip sleeve 24 and a second anti-slip sleeve 25. The first anti-slip sleeve 24 is disposed on the surface of the bearing portion 221, and the second anti-slip sleeve 25 is disposed on the surface of the end of the second gripper 23 corresponding to the bearing portion 221. Both the first anti-slip sleeve 24 and the second anti-slip sleeve 25 are made of materials with a high coefficient of friction, such as rubber. By providing the first anti-slip sleeve 24 and the second anti-slip sleeve 25, the contact surfaces between the bearing portion 221 and the second gripper 23 and the workpiece 200 are made rougher, increasing the friction between them and the workpiece 200. This more effectively prevents the workpiece 200 from slipping during clamping and transfer, ensuring stable clamping even for workpieces 200 with smooth surfaces or large weight. The first anti-slip sleeve 24 and the second anti-slip sleeve 25 have a certain degree of elasticity and softness. On the one hand, they can buffer the pressure generated by the first gripper finger 22 and the second gripper finger 23 when clamping the workpiece 200, reducing wear and damage caused by long-term use and frequent force, and extending the service life of the first gripper finger 22 and the second gripper finger 23. On the other hand, they can also prevent the first gripper finger 22 and the second gripper finger 23 from causing hard scratches or indentations on the surface of the workpiece 200, protecting the surface quality of the workpiece 200. Different workpieces 200 may require different anti-slip requirements. By replacing the first anti-slip sleeve 24 and the second anti-slip sleeve 25 with different materials, thicknesses, or surface textures, adjustments can be made according to the characteristics and needs of the actual workpiece 200, enabling the transfer device 100 to adapt to more types of workpieces 200, thus enhancing the versatility and flexibility of the transfer device 100.

[0031] In some embodiments, see Figure 1The drive mechanism 10 includes a transverse drive assembly 11, a longitudinal drive assembly 12, and a vertical drive assembly 13. The longitudinal drive assembly 12 is connected to the transverse drive assembly 11, and the transverse drive assembly 11 drives the longitudinal drive assembly 12 to move along the X-axis. The vertical drive assembly 13 is connected to the longitudinal drive assembly 12, and the longitudinal drive assembly 12 drives the vertical drive assembly 13 to move along the Y-axis. The clamping drive member 21 is connected to the vertical drive assembly 13, and the vertical drive assembly 13 drives the clamping drive member 21 to move along the Z-axis. Through the coordinated work of the transverse drive assembly 11, the longitudinal drive assembly 12, and the vertical drive assembly 13, the material transfer device 100 can accurately move the clamping mechanism 20 in three-dimensional space, thereby accurately reaching any position in the workspace, realizing precise gripping and placement of the workpiece 200, and meeting the requirements for material position accuracy in different production processes.

[0032] In some embodiments, see Figure 1 The lateral drive assembly 11 includes a lateral drive member 111, a first connector 112, a first sensor 113, a second sensor 114, and a first stop member 115.

[0033] A first connector 112 is connected to one side of a transverse drive 111. A first sensor 113 is connected to the side of the transverse drive 111 adjacent to the first connector 112, and is positioned near one end of the transverse drive 111 along the X-axis. A second sensor 114 is connected to the transverse drive 111 and is positioned on the same side as the first sensor 113, and is positioned near the other end of the transverse drive 111 along the X-axis. A first stop 115 is connected to the first connector 112, and is correspondingly positioned to the first sensor 113 and the second sensor 114. The transverse drive 111 drives the first connector 112 to move along the X-axis, and the first connector 112 drives the first stop 115 to move between the first sensor 113 and the second sensor 114. The first sensor 113 and the second sensor 114 sense the first stop 115.

[0034] The lateral drive component 111 can be a linear module or other driving device. The first connecting component 112 can be a plate-like structure. It is understood that the first connecting component 112 is connected to the output end of the lateral drive component 111, and the lateral drive component 111 can drive the first connecting component 112 to reciprocate along the X-axis. Both the first sensor 113 and the second sensor 114 can be through-beam sensors, such as infrared through-beam sensors. The first stop component 115 can be a sheet-like structure, and it can block the signal from either the first sensor 113 or the second sensor 114.

[0035] In this embodiment, the first connector 112 is disposed on the upper side of the transverse drive 111, the first sensor 113 and the second sensor 114 are both disposed on the front side of the transverse drive 111, and the first sensor 113 and the second sensor 114 are spaced apart, and the first stop 115 is mounted on the front side of the transverse drive 111 and can move between the first sensor 113 and the second sensor 114. During operation, the transverse drive 111 drives the first connector 112 to move toward the first sensor 113, and the first stop 115 moves toward the first sensor 113 along with the first connector 112. When the first stop 115 moves to the position of the first sensor 113, the first sensor 113 senses the first stop 115, the transverse drive 111 stops moving the first connector 112, and at this time the first sensor 113 obtains the position information of the first stop 115 and the first connector 112. The lateral drive member 111 drives the first connecting member 112 to move toward the second sensor 114. When the first stop member 115 moves to the position of the second sensor 114, the lateral drive member 111 stops moving the first connecting member 112. At this time, the second sensor 114 obtains the position information of the first stop member 115 and the first connecting member 112. This allows the transfer device 100 to accurately control the movement range of the first connecting member 112 in the X-axis direction, preventing the first connecting member 112 from exceeding the preset range. This achieves precise control of the movement in the X-axis direction, ensuring the accuracy and stability of the transfer device 100's movement operation in the X-axis direction, and preventing damage to the transfer device 100 itself and the workpiece 200 being transported due to excessive movement.

[0036] In some embodiments, see Figure 1 The longitudinal drive assembly 12 includes a longitudinal drive member 121, a second connector 122, a third sensor 123, a fourth sensor 124, and a second stop member 125.

[0037] A longitudinal drive member 121 is connected to a first connector 112, a second connector 122 is connected to one side of the longitudinal drive member 121, a third sensor 123 is connected to the side of the longitudinal drive member 121 adjacent to the second connector 122, and the third sensor 123 is disposed near one end of the longitudinal drive member 121 along the Y-axis direction, a fourth sensor 124 is connected to the longitudinal drive member 121 and disposed on the same side of the longitudinal drive member 121 as the third sensor 123, and the fourth sensor 124 is disposed near the other end of the longitudinal drive member 121 along the Y-axis direction, a second stop member 125 is connected to the second connector 122, and the second stop member 125 is disposed corresponding to the third sensor 123 and the fourth sensor 124. The longitudinal drive member 121 is used to drive the second connecting member 122 to move along the Y-axis direction. The second connecting member 122 drives the second stop member 125 to move between the third sensor 123 and the fourth sensor 124. The third sensor 123 and the fourth sensor 124 are used to sense the second stop member 125.

[0038] The longitudinal drive component 121 can be a linear module or other driving device. The second connector 122 can be a support frame structure. It is understood that the second connector 122 is connected to the output end of the longitudinal drive component 121, and the longitudinal drive component 121 can drive the second connector 122 to reciprocate along the Y-axis. The third sensor 123 and the fourth sensor 124 can both be through-beam sensors, such as infrared through-beam sensors. The second stop 125 can be a sheet structure, and the second stop 125 can block the signal from the third sensor 123 or the fourth sensor 124.

[0039] In this embodiment, the second connecting member 122 is disposed on the upper side of the longitudinal driving member 121. The third sensor 123 and the fourth sensor 124 are both disposed on the left side of the longitudinal driving member 121, and the third sensor 123 and the fourth sensor 124 are spaced apart. The second stop 125 is mounted on the left side of the longitudinal driving member 121 and can move between the third sensor 123 and the fourth sensor 124. During operation, the longitudinal driving member 121 drives the second connecting member 122 to move toward the third sensor 123. The second stop 125 moves toward the third sensor 123 along with the second connecting member 122. When the second stop 125 moves to the position of the third sensor 123, the third sensor 123 senses the second stop 125, and the longitudinal driving member 121 stops moving the second connecting member 122. At this time, the third sensor 123 obtains the position information of the second stop 125 and the second connecting member 122. The longitudinal drive member 121 drives the second connecting member 122 to move toward the fourth sensor 124. When the second stop member 125 moves to the position of the fourth sensor 124, the longitudinal drive member 121 stops moving the second connecting member 122. At this time, the fourth sensor 124 obtains the position information of the second stop member 125 and the second connecting member 122. This allows the transfer device 100 to accurately control the movement range of the second connecting member 122 in the Y-axis direction, preventing the second connecting member 122 from exceeding the preset range. This achieves precise control of the movement in the Y-axis direction, ensuring the accuracy and stability of the transfer device 100's movement operation in the Y-axis direction, and preventing damage to the transfer device 100 itself and the workpiece 200 being transported due to excessive movement.

[0040] In some embodiments, see Figure 1 and Figure 2 The vertical drive assembly 13 includes a vertical drive member 131 and a third connector 132. The vertical drive member 131 is connected to the second connector 122, and the third connector 132 is connected to one side of the vertical drive member 131 along the Y-axis. The third connector 132 is provided with a limiting portion 1321, which is located at one end of the third connector 132 along the Z-axis and extends along the Y-axis. The limiting portion 1321 is disposed opposite to the end of the vertical drive member 131 along the Z-axis. The vertical drive member 131 drives the third connector 132 to move along the Z-axis, and the limiting portion 1321 abuts against the vertical drive member 131 to limit the movement of the third connector 132.

[0041] The vertical drive component 131 can be a cylinder or other drive mechanism, and the third connecting component 132 can be a plate-like structure with an approximately L-shaped cross-section in the YZ plane. The vertical drive component 131 can drive the third connecting component 132 to move along the Z-axis, making the position adjustment of the clamping mechanism 20 in the Z-axis direction more precise. This allows it to accurately reach the position of the workpiece 200 for gripping or placing operations, improving the accuracy and reliability of material transfer. When the third connecting component 132 moves downward to a certain position under the drive of the vertical drive component 131, the limiting part 1321 will abut against the vertical drive component 131, thereby limiting the continued movement of the third connecting component 132. This prevents damage to components or deviation of the workpiece 200 position that may be caused by excessive movement, thus protecting the vertical drive assembly 13 and ensuring the accuracy of material transfer.

[0042] In some embodiments, see Figure 1 and Figure 2 The vertical drive assembly 13 also includes a limiting plate 133, a limiting post 134, and two limiting blocks 135. The limiting plate 133 is connected to the side of the limiting part 1321 opposite to the vertical drive member 131. The limiting post 134 is connected to the side of the vertical drive member 131 opposite to the limiting plate 133. The limiting post 134 extends along the Z-axis and is slidably inserted into the limiting plate 133. The two limiting blocks 135 are both connected to the limiting post 134 and are respectively arranged opposite to the two sides of the limiting plate 133 along the Z-axis. The two limiting blocks 135 are used to abut against the limiting plate 133 when the limiting plate 133 moves along the Z-axis to limit the limiting plate 133.

[0043] A through hole can be provided on the limiting plate 133 opposite to the limiting post 134, through which the limiting post 134 passes, allowing the limiting plate 133 to slide along the limiting post 134. The cooperation between the limiting plate 133 and the limiting post 134 improves the positional accuracy of the third connecting member 132 when moving along the Z-axis. The limiting block 135 can be a bolt or similar structure, and is adjustablely connected to the limiting post 134. It can be understood that the distance between the two limiting blocks 135 is the distance the limiting plate 133 can move along the Z-axis, and also the distance the third connecting member 132 and the clamping mechanism 20 can move along the Z-axis. By setting two limiting blocks 135, the upper and lower limits of the movement of the limiting plate 133 in the Z-axis direction can be limited, improving the positional accuracy of the vertical drive assembly 13 driving the clamping mechanism 20 in the Z-axis direction.

[0044] In some embodiments, see Figure 1 and Figure 2The vertical drive assembly 13 also includes a buffer 136, which is located at the end of the vertical drive member 131 away from the limiting part 1321 and is positioned opposite to the third connecting member 132. When the vertical drive assembly 13 drives the clamping mechanism 20 to perform rapid upward or downward movements, the third connecting member 132 may collide with the vertical drive member 131 due to speed changes, inertia, and other factors. By providing the buffer 136, the impact force generated by these collisions can be effectively absorbed, preventing damage to structural components such as the third connecting member 132 and the vertical drive member 131 due to rigid collisions. At the same time, the buffer 136 can also reduce the vibration transmitted to the clamping mechanism 20, making the clamping mechanism 20 more stable when gripping or placing the workpiece 200, reducing the risk of the workpiece 200 slipping or shifting due to vibration, and ensuring the accuracy and reliability of the material transfer operation.

[0045] The working process of the material transfer device 100 provided in this embodiment is roughly as follows:

[0046] Before material handling, the clamping drive 21 drives the first clamping finger 22 and the second clamping finger 23 to move away from each other, reserving space for the workpiece 200. Then, the drive mechanism 10 operates, with the lateral drive 111 driving the first connecting member 112 to move along the X-axis, the longitudinal drive 121 driving the second connecting member 122 to move along the Y-axis, and the vertical drive 131 driving the third connecting member 132 to move along the Z-axis, thereby moving the clamping mechanism 20 to the first position, which is the material handling position. At this time, the first stop 115 can correspond to the position of the first sensor 113, the second stop 125 can correspond to the position of the third sensor 123, and the vertical drive 131 can drive the limiting part 1321 of the third connecting member 132 away from the vertical drive 131. The operating sequence can be that the horizontal drive component 111 and the vertical drive component 131 move synchronously. After the horizontal drive component 111 and the vertical drive component 131 have completed their movements, the vertical drive component 121 drives the vertical drive component 13 and the clamping mechanism 20 to move toward the workpiece 200.

[0047] During material handling, the clamping drive 21 drives the first clamping finger 22 and the second clamping finger 23 to move closer to each other in order to clamp the workpiece 200.

[0048] During material transfer, the drive mechanism 10 moves in the opposite direction, and the transverse drive member 111, the longitudinal drive member 121, and the vertical drive member 131 move the clamping mechanism 20 to the second position, which is the feeding position. At this time, the first stop member 115 can correspond to the position of the second sensor 114, the second stop member 125 can correspond to the position of the fourth sensor 124, and the vertical drive member 131 can drive the limiting part 1321 of the third connecting member 132 to abut against the vertical drive member 131. The operating sequence can be that the longitudinal drive member 121 drives the vertical drive assembly 13 and the clamping mechanism 20 to move away from the workpiece 200, and then the transverse drive member 111 and the vertical drive member 131 move.

[0049] After the clamping mechanism 20 moves to the second position, the external device moves toward the clamping mechanism 20 and clamps both ends of the workpiece 200. The clamping drive 21 drives the first clamping finger 22 and the second clamping finger 23 to move away from each other and release the workpiece 200. The external device can then remove the workpiece 200.

[0050] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A material transfer device, characterized in that, include: Drive mechanism; and A clamping mechanism is connected to the driving mechanism. The driving mechanism is used to drive the clamping mechanism to move. The clamping mechanism includes a clamping drive member, a first clamping finger, and a second clamping finger. The clamping drive member is connected to the driving mechanism. The first clamping finger and the second clamping finger are both connected to the clamping drive member. The first clamping finger is located below the second clamping finger along a first direction. A bearing portion is provided at the end of the first clamping finger away from the clamping drive member. The width of the bearing portion along a second direction perpendicular to the first direction is greater than the width of the second clamping finger along the second direction. The bearing portion is used to bear a workpiece. The clamping drive member is used to drive the first clamping finger and the second clamping finger to move closer or further apart from each other, so that the first clamping finger and the second clamping finger clamp or release the workpiece.

2. The material transfer device as described in claim 1, characterized in that, The second gripper has a slot on the side facing the support portion, which is used to engage the workpiece when the first gripper and the second gripper grip the workpiece.

3. The material transfer device as described in claim 1, characterized in that, The bearing portion is provided with a first anti-slip surface on the side facing the second gripper finger, and the second gripper finger is provided with a second anti-slip surface on the side facing the bearing portion. The first anti-slip surface and the second anti-slip surface are used to abut against the workpiece when the first gripper finger and the second gripper finger clamp the workpiece.

4. The material transfer device as described in claim 1, characterized in that, The clamping mechanism further includes a first anti-slip sleeve and a second anti-slip sleeve. The first anti-slip sleeve is disposed on the surface of the bearing portion, and the second anti-slip sleeve is disposed on the surface of the end of the second clamping finger corresponding to the bearing portion.

5. The material transfer device as described in claim 1, characterized in that, The drive mechanism includes: Lateral drive components; A longitudinal drive assembly is connected to the transverse drive assembly, the transverse drive assembly being used to drive the longitudinal drive assembly to move along the second direction; and A vertical drive assembly is connected to the longitudinal drive assembly, which drives the vertical drive assembly to move along a third direction. A clamping drive member is connected to the vertical drive assembly, which drives the clamping drive member to move along the first direction. The third direction is perpendicular to both the first direction and the second direction.

6. The material transfer device as described in claim 5, characterized in that, The lateral drive component includes: Lateral drive components; The first connector is connected to one side of the lateral drive member; A first sensor is connected to the side of the lateral drive member adjacent to the first connector, and the first sensor is disposed near one end of the lateral drive member along the second direction. A second sensor is connected to the lateral drive member and disposed on the same side of the lateral drive member as the first sensor, and the second sensor is disposed near the other end of the lateral drive member along the second direction; and A first stop is connected to the first connector, and the first stop is correspondingly configured with respect to the first sensor and the second sensor; wherein... The lateral drive member is used to drive the first connecting member to move along the second direction. The first connecting member drives the first stop member to move between the first sensor and the second sensor. The first sensor and the second sensor are used to sense the first stop member.

7. The material transfer device as described in claim 6, characterized in that, The longitudinal drive component includes: A longitudinal drive component is connected to the first connecting component; The second connector is connected to one side of the longitudinal drive member; A third sensor is connected to the side of the longitudinal drive member adjacent to the second connector, and the third sensor is disposed near the end of the longitudinal drive member along the third direction. A fourth sensor is connected to the longitudinal drive member and disposed on the same side of the longitudinal drive member as the third sensor, and the fourth sensor is disposed near the other end of the longitudinal drive member along the third direction; and The second stop is connected to the second connector, and the second stop is correspondingly configured with respect to the third sensor and the fourth sensor; wherein, The longitudinal drive member is used to drive the second connector to move along the third direction, and the second connector drives the second stop to move between the third sensor and the fourth sensor. The third sensor and the fourth sensor are used to sense the second stop.

8. The material transfer device as described in claim 7, characterized in that, The vertical drive component includes: A vertical drive member is connected to the second connecting member; and A third connector is connected to one side of the vertical drive member along the third direction. The third connector has a limiting portion located at one end of the third connector along the first direction and extending along the third direction. The limiting portion is positioned opposite to one end of the vertical drive member along the first direction. The vertical drive member is used to drive the third connector to move along the first direction, and the limiting part is used to abut against the vertical drive member to limit the third connector.

9. The material transfer device as described in claim 8, characterized in that, The vertical drive component also includes: A limiting plate is connected to the side of the limiting part that is away from the vertical driving member; A limiting post is connected to the side of the vertical drive member opposite to the limiting plate; the limiting post extends along the first direction and is slidably inserted into the limiting plate; and Two limiting blocks are connected to the limiting post and are respectively disposed opposite to the two sides of the limiting plate along the first direction. The two limiting blocks are used to abut against the limiting plate when the limiting plate moves along the first direction, so as to limit the limiting plate.

10. The material transfer device as described in claim 8, characterized in that, The vertical drive component also includes: A buffer is disposed at the end of the vertical drive member away from the limiting part and opposite to the third connecting member.

Images