Transfer device

Abstract

The application provides a transfer device, which comprises a receiving and sending module, a transfer module and a mechanical arm. The receiving and sending module comprises a green material positioning station and a receiving station arranged side by side. The transfer module comprises a first conveying device, a second conveying device and a transfer device. The first conveying device and the second conveying device are arranged side by side. The transfer device is arranged above the first conveying device and the second conveying device. The transfer device is used for placing finished material of the second conveying device on the first conveying device. The mechanical arm is arranged between the receiving and sending module and the transfer module. The mechanical arm is used for placing finished material of the first conveying device on the receiving station and placing material to be processed of the green material positioning station on the first conveying device. The application can make the transfer device complete material transfer in a small space, improve the layout density of a production line and reduce production cost.

Description

Technical Field

[0001] This application relates to the field of automated production technology, and more particularly to a transfer device. Background Technology

[0002] In automated production processes, materials typically need to pass through multiple devices or workstations before being formed into the final finished product. The transfer of materials between different devices or workstations is generally achieved through transfer equipment. However, in related technologies, transfer equipment requires a significant amount of space during operation, resulting in low production line density and high production costs. Utility Model Content

[0003] This application provides a transfer device that enables material transfer within a small space, thereby increasing the layout density of the production line and reducing production costs.

[0004] The transfer device provided in this application includes: The material receiving and dispatching module includes a raw material positioning station and a receiving station arranged side by side. The raw material positioning station is equipped with at least one support platform on which the material to be processed is placed. The support platform is surrounded by coarse adjustment components and fine adjustment components, which together form a positioning space to position the material to be processed. The receiving station is equipped with a receiving fixture on which the finished material is placed. A transfer module includes a first conveying device, a second conveying device, and a transfer device. The first conveying device and the second conveying device are arranged side by side. The transfer device is disposed above the first conveying device and the second conveying device and moves between the first conveying device and the second conveying device. The first conveying device is used to convey materials to be processed, the second conveying device is used to convey finished materials, and the transfer device is used to place the finished materials from the second conveying device onto the first conveying device. The first conveying device is also used to convey the finished materials transferred by the transfer device. A robotic arm is positioned between the receiving and dispatching module and the transfer module. The robotic arm is used to place the finished material from the first conveying device at the receiving station and to place the material to be processed from the raw material positioning station at the first conveying device.

[0005] Optionally, the transfer device includes: A parallelogram mechanism includes a fixed frame, a first connecting rod, a movable frame, and a second connecting rod that are hinged together at their ends. The fixed frame and the movable frame extend in a vertical direction, and the fixed frame is disposed between the second conveying device and the first conveying device. A first drive mechanism, connected to the first link or the second link, is used to drive the first link and the second link to rotate, so as to drive the movable frame to reciprocate between the second conveying device and the first conveying device; A clamping mechanism is connected to the movable frame, and the clamping mechanism reciprocates between the second conveying device and the first conveying device along with the movable frame.

[0006] Optionally, the clamping mechanism includes: The clamping body is connected to the movable frame; At least one clamping assembly, the clamping assembly including two clamping arms and a tension spring, the clamping arms being slidably connected to the movable frame, the two clamping arms being arranged opposite to each other, the ends of the clamping arms that are far apart from each other being connected to grippers, and the tension spring connecting the two clamping arms to force the two grippers to come closer to each other to achieve clamping; An active member is disposed in the center of the clamping assembly and slides along a direction perpendicular to the clamping arm. Wedge-shaped surfaces are provided on both sides of the active member, and the wedge-shaped surfaces abut against the clamping arm to force the two jaws to move away from each other and open.

[0007] Optionally, the transfer module further includes a material tray, which holds the finished material. The material tray has connection holes on opposite sides, and the gripper surface has protruding connection posts. When the gripper performs clamping, the connecting post is inserted into the connecting hole; When the gripper opens, the connecting post disengages from the connecting hole.

[0008] Optionally, the clamping mechanism further includes a toggle member, which is connected to the driving member in a driving manner; The material tray is provided with a positioning slider, which is slidably connected to the material tray. One side of the positioning slider is provided with an elastic positioning element, and the material tray is provided with a first positioning groove and a second positioning groove. When the clamping mechanism clamps the material tray, the actuating element is connected to the positioning slider, and the actuating element drives the positioning slider to slide along the material tray; When the elastic positioning element is engaged in the first positioning groove, the gripper is in position. When the elastic positioning element is engaged in the second positioning groove, the gripper opens into position.

[0009] Optionally, the second conveying device is provided with a clamping position, the clamping position is provided with a positioning mechanism, and the transfer device picks up the finished material at the clamping position and places it on the first conveying device.

[0010] Optionally, the positioning mechanism includes: Two guide sections are disposed opposite to each other on both sides of the second conveying device. The guide sections extend along the conveying direction of the second conveying device, and a flared section is provided at one end of the guide section near the inlet of the second conveying device. A positioning part is disposed between the two guide parts, and the positioning part is disposed at one end of the guide part near the outlet of the second conveying device.

[0011] Optionally, the receiving and dispatching module further includes: A sliding table is provided on which the raw material positioning station and the receiving station are disposed, and the sliding table is capable of sliding along the arrangement direction of the raw material positioning station and the receiving station; A sliding drive mechanism is connected to the slide table and is used to drive the slide table to slide, so as to move the raw material positioning station or the receiving station to the loading and unloading position. The robotic arm picks up the material to be processed or places the finished material at the loading / unloading position.

[0012] Optionally, the raw material positioning station is further provided with: The first sliding plate is slidably connected to the support platform along a first direction; The second slide plate is slidably connected to the support platform along the second direction, and the first slide plate and the second slide plate are connected in a transmission manner. The coarse adjustment component is installed on one side of the support platform along the first direction and on one side along the second direction, and the fine adjustment component is installed on the first slide plate and the second slide plate, respectively.

[0013] Optionally, the coarse adjustment component includes a first mounting block and a limiting pin. The top surface of the first mounting block is provided with a plurality of mounting holes, and each mounting hole is arranged along a direction that is close to or far from the positioning space. The limiting pin is inserted into the mounting holes and is used to enclose the positioning space. The fine-tuning component includes a second mounting block and a resilient pin. The resilient pin protrudes from the second mounting block on the side facing the positioning space. The resilient pin extends and retracts in a direction toward or away from the positioning space, and the resilient pin is used to enclose the positioning space.

[0014] Optionally, one of the first and second skateboards is provided with a guide pin, and the other is provided with a guide groove. The extension direction of the guide groove is inclined relative to the first direction and the extension direction of the guide groove is inclined relative to the second direction. The guide pin slides relative to the guide groove so that the first and second skateboards are linked.

[0015] The technical solution provided in this application can achieve the following beneficial effects: The transfer equipment provided in this application includes a material receiving and dispatching module, a transfer module, and a robotic arm. The material receiving and dispatching module includes a raw material positioning station and a material receiving station arranged in parallel. The raw material positioning station is equipped with at least one support platform for placing the material to be processed. Coarse adjustment components and fine adjustment components are arranged around the support platform, forming a positioning space to position the material to be processed. The material receiving station is equipped with a material receiving fixture for placing finished materials. The transfer module includes a first conveying device, a second conveying device, and a transfer device. The first conveying device and the second conveying device are arranged in parallel for transfer. The device is positioned above the first conveying device and the second conveying device, and can move between the first conveying device and the second conveying device. The first conveying device is used to convey the material to be processed, the second conveying device is used to convey the finished material, and the transfer device is used to place the finished material from the second conveying device onto the first conveying device. The first conveying device is also used to convey the finished material transferred by the transfer device. The robot is positioned between the receiving and dispatching module and the transfer module. The robot is used to place the finished material from the first conveying device onto the receiving station and to place the material to be processed from the raw material positioning station onto the first conveying device. Therefore, this application adopts a modular design, decomposing the transfer equipment into a cooperating receiving and dispatching module, a transfer module, and a robot. The transfer module is further decomposed into a cooperating first conveying device, a second conveying device, and a transfer device, and the motion trajectory of each module is optimized. Coarse adjustment components and fine adjustment components are set in the receiving and dispatching module to achieve accurate and reliable positioning of the material to be processed, enabling the robot to accurately pick up the material to be processed from the raw material positioning station. The robot only moves between the receiving and dispatching module and the first conveying device, and the transfer device only moves between the first conveying device and the second conveying device, reducing interference between modules and enabling each module to operate efficiently in a limited space. This allows the transfer equipment to complete material transfer in a small space, increasing the layout density of the production line and reducing production costs.

[0016] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0017] Figure 1 This is a partial structural schematic diagram of the transfer device provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the receiving and dispatching module provided in the embodiments of this application; Figure 3 for Figure 2 Schematic diagram of the raw material positioning station; Figure 4 for Figure 3 A diagram showing the first and second skateboards in the middle; Figure 5 This is a schematic diagram of the transfer module provided in the embodiments of this application; Figure 6 for Figure 5 A partial structural schematic diagram of the transfer device; Figure 7 This is a schematic diagram of the internal structure of the clamping mechanism and the material tray working together. Figure 8 for Figure 7 A magnified view of a portion of the image.

[0018] Figure label: 1- Receiving and dispatching module; 10 - Raw material positioning station; 100 - Support platform; 102 - First Skateboard; 1020 - Guide pin; 104 - Second skateboard; 1040 - Guide groove; 106 - Coarse Adjustment Component; 1060 - First mounting block; 1060a - Mounting hole; 1062 - Limit pin; 108-Fine-tuning component; 1080 - Second mounting block; 1082 - Flexible pin; 109 - Positioning Space; 12 - Receiving station; 120-receiving fixture; 14-Slide; 16-Sliding drive mechanism; 2-Transfer Module; 20 - First conveying device; 22-Second conveying device; 220 - Positioning mechanism; 2200 - Guide section; 2200a - Flared section; 2202 - Positioning Unit; 222 - Clamping position; 24-Transfer device; 240-Parallelogram Mechanism; 2400 - Mounting bracket; 2402 - First Link; 2404 - Movable rack; 2406 - Second Link; 242-Clamping mechanism; 2420 - Clamping body; 2422 - Clamping assembly; 2422a - Clamping arm; 2422b - Gripper; 2422c - Connecting post; 2422d - Tension Spring; 2424 - Active component; 2424a - Wedge-shaped surface; 2424b - Inclined groove; 2426 - Toggle element; 2426a - Pin; 2428 - Second drive mechanism; 244 - First drive mechanism; 246 - Supporting Frame; 26 - Material pallet; 260-Connection hole; 262 - Positioning slider; 2620-slot; 264 - First positioning slot; 266 - Second positioning slot; 3-Materials to be processed; 4-Finished materials; 5-Robotic arm. The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] In the description of this application, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; unless otherwise specified or explained, the term "multiple" refers to two or more; the terms "connected," "fixed," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0021] In the description of this specification, it should be understood that the directional terms such as "upper" and "lower" used in the embodiments of this application are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should also be understood that when it is mentioned that an element is connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected to the other element "upper" or "lower" through an intermediate element.

[0022] like Figures 1-8 As shown in the figure, this application embodiment provides a transfer device, which includes a receiving and dispatching module 1, a transfer module 2, and a robotic arm 5. The receiving and dispatching module 1 includes a raw material positioning station 10 and a receiving station 12 arranged side by side. The raw material positioning station 10 is used to position the material to be processed 3, and the receiving station 12 is used to receive the finished material 4. The transfer module 2 includes a first conveying device 20, a second conveying device 22, and a transfer device 24. The first conveying device 20 and the second conveying device 22 are arranged side by side and their conveying directions are opposite. The transfer device 24 is disposed above the first conveying device 20 and the second conveying device 22 and can move between the first conveying device 20 and the second conveying device 22. The first conveying device 20 is used to convey the material to be processed 3, the second conveying device 22 is used to convey the finished material 4, and the transfer device 24 is used to place the finished material 4 conveyed by the second conveying device 22 onto the first conveying device 20. The first conveying device 20 is also used to convey the finished material 4 transferred by the transfer device 24. The robotic arm 5 is positioned between the receiving and dispatching module 1 and the transfer module 2. The robotic arm 5 is used to place the finished material 4 conveyed by the first conveying device 20 at the receiving station 12 and to place the raw material 3 to be processed at the raw material positioning station 10 at the first conveying device 20.

[0023] Therefore, this application adopts a modular design, decomposing the transfer equipment into a cooperating receiving and dispatching module 1, a transfer module 2, and a robot arm 5. The transfer module 2 is further decomposed into a cooperating first conveying device 20, a second conveying device 22, and a transfer device 24. The motion trajectory of each module is optimized so that the robot arm 5 moves only between the receiving and dispatching module 1 and the first conveying device 20, and the transfer device 24 moves only between the first conveying device 20 and the second conveying device 22. This reduces interference between modules and allows each module to operate efficiently in a limited space. As a result, the transfer equipment can complete material transfer in a small space, improve the layout density of the production line, and reduce production costs.

[0024] Specifically, the material transfer process of the transfer equipment provided in this application embodiment is as follows: the raw material positioning station 10 of the receiving and dispatching module 1 positions the material to be processed 3; the robot arm 5 picks up the material to be processed 3 from the raw material positioning station 10 and places it on the first conveying device 20; the first conveying device 20 sends the material to be processed 3 into the subsequent production process, and the finished material 4 after production and processing returns to the second conveying device 22; the transfer device 24 picks up the finished material 4 conveyed by the second conveying device 22 and places it on the first conveying device 20; the robot arm 5 picks up the finished material 4 conveyed by the first conveying device 20 and places it on the receiving station 12.

[0025] Therefore, between the receiving / discharging module 1 and the transfer module 2, the robotic arm 5 performs material exchange between the raw material positioning station 10 and the first conveying device 20, and between the first conveying device 20 and the receiving station 12, realizing the loading of the material to be processed 3 and the unloading of the finished material 4, reducing the space occupied by material loading and unloading. Inside the transfer module 2, the transfer device 24 transfers the finished material 4 between the second conveying device 22 and the first conveying device 20, reducing the space occupied by the transfer of the finished material 4.

[0026] like Figures 2-4 As shown, the raw material positioning station 10 is provided with at least one (e.g., one, two, or more) support platform 100, which is used to place the materials to be processed 3. That is, the materials to be processed 3 are placed one-to-one on the support platform 100. In various embodiments of this application, the number of support platforms 100 is two, that is, the raw material positioning station 10 can place and position two materials to be processed 3 at the same time. The robot arm 5 can pick up the two materials to be processed 3 at the raw material positioning station 10 at the same time to improve production efficiency.

[0027] Furthermore, the receiving station 12 is equipped with a receiving fixture 120, which is used to place the finished product material 4. That is, the finished product material 4 is placed one-to-one in the receiving fixture 120, and the number of receiving fixtures 120 is the same as the number of carrying platforms 100. In various embodiments of this application, there are two receiving fixtures 120, that is, the robot arm 5 can place two finished products 4 in the receiving station 12 at the same time to improve production efficiency.

[0028] Furthermore, a coarse adjustment component 106 and a fine adjustment component 108 are arranged around the support platform 100. The coarse adjustment component 106 and the fine adjustment component 108 together form a positioning space 109 for positioning the material to be processed 3. The coarse adjustment component 106 can adjust the spacing along the first direction X and the second direction Y to allow the positioning space 109 to quickly adapt to materials 3 of different sizes and specifications. The fine adjustment component 108 can adjust the spacing along the first direction X and the second direction Y to achieve precise and reliable positioning of the material to be processed 3, enabling the robot arm 5 to accurately pick up the material to be processed 3 from the raw material positioning station 10.

[0029] Furthermore, the raw material positioning station 10 is also equipped with a first sliding plate 102 and a second sliding plate 104. The first sliding plate 102 is slidably connected to the support platform 100 along the first direction X, and the second sliding plate 104 is slidably connected to the support platform 100 along the second direction Y. Coarse adjustment components 106 are respectively installed on one side of the support platform 100 along the first direction X and the other side along the second direction Y. Fine adjustment components 108 are respectively installed on the first sliding plate 102 and the second sliding plate 104. The coarse adjustment components 106 and the fine adjustment components 108 together form a positioning space 109. Thus, the coarse adjustment components 106 can be adjusted directly on the support platform 100, which can quickly achieve large-distance adjustments; the fine adjustment components 108 can achieve continuous and stable adjustments as the sliding plates slide on the support platform 100, ensuring adjustment accuracy.

[0030] Furthermore, the first slide plate 102 or the second slide plate 104 is connected to a drive mechanism such as a cylinder, and the first slide plate 102 and the second slide plate 104 are connected in a transmission manner. That is to say, the first slide plate 102 and the second slide plate 104 can be linked together. When either the first slide plate 102 or the second slide plate 104 slides actively, the other slides passively. This enables multi-directional movement of a single power source within a small space, solving the problem of high-density mechanical structure design with limited space.

[0031] Specifically, of the first sliding plate 102 and the second sliding plate 104, one is provided with a guide pin 1020, and the other is provided with an inclined guide groove 1040. That is, the extension direction of the guide groove 1040 is inclined relative to the first direction X and relative to the second direction Y. The guide pin 1020 slides relative to the guide groove 1040, thereby enabling the movement in the first direction X and the movement in the second direction Y to be converted into each other, realizing the linkage between the first sliding plate 102 and the second sliding plate 104.

[0032] Furthermore, the coarse adjustment component 106 includes a first mounting block 1060 and a limiting pin 1062. The first mounting block 1060 is connected to the support platform 100 and is used to install and fix the coarse adjustment component 106 on the support platform 100. The top surface of the first mounting block 1060 is provided with a plurality of mounting holes 1060a, which are arranged along the direction of approaching or moving away from the positioning space 109. The limiting pin 1062 is inserted into the mounting hole 1060a and is used to form the positioning space 109. That is, the edge of the material to be processed 3 abuts against the limiting pin 1062. By inserting the limiting pin 1062 into different mounting holes 1060a, discrete adjustments can be made to large spacing, making large spacing adjustments simpler and more efficient.

[0033] Furthermore, the fine-tuning component 108 includes a second mounting block 1080 and a resilient pin 1082. The second mounting block 1080 is connected to the first sliding plate 102 or the second sliding plate 104 to achieve the installation and fixation of the fine-tuning component 108 on the first sliding plate 102 or the second sliding plate 104. The resilient pin 1082 may include a cooperating spring and a pin body. The resilient pin 1082 protrudes from the side of the second mounting block 1080 facing the positioning space 109. The resilient pin 1082 extends and retracts along the direction of approaching or moving away from the positioning space 109. The resilient pin 1082 is used to form the positioning space 109, that is, the edge of the material to be processed 3 abuts against the resilient pin 1082. By linking the first slide plate 102 and the second slide plate 104, the positions of the fine adjustment component 108 in the first direction X and the fine adjustment component 108 in the second direction Y are adjusted simultaneously; by the extension and contraction of the elastic pin 1082, the elastic pin 1082 in the first direction X and the elastic pin 1082 in the second direction Y can both abut against the edge of the material to be processed 3, thereby achieving accurate and reliable positioning of the material to be processed 3.

[0034] Furthermore, the receiving and dispatching module 1 also includes a slide table 14 and a sliding drive mechanism 16. The raw material positioning station 10 and the receiving station 12 are disposed on the slide table 14, which can slide along the arrangement direction of the raw material positioning station 10 and the receiving station 12. The sliding drive mechanism 16 (e.g., a cylinder) is connected to the slide table 14 and is used to drive the slide table 14 to slide, thereby moving the raw material positioning station 10 or the receiving station 14 to the loading / unloading position. The robot arm 5 picks up the material to be processed 3 or places the finished material 4 at the loading / unloading position. That is, the robot arm 5 only reciprocates between the loading / unloading position and the first conveying device 20, which further simplifies the movement trajectory of the robot arm 5 and thus better ensures the movement accuracy of the robot arm 5.

[0035] Specifically, the raw material positioning station 10 and the receiving station 12 can alternately move to the loading and unloading positions. When the raw material positioning station 10 moves to the loading and unloading position with the slide table 14, the robot arm 5 picks up the material 3 to be processed from the raw material positioning station 10; when the receiving station 12 moves to the loading and unloading position with the slide table 14, the robot arm 5 places the finished material 4 in the receiving station 12.

[0036] like Figures 5-8 As shown, the second conveying device 22 is provided with a clamping position 222. The transfer device 24 picks up the finished material 4 conveyed by the second conveying device 22 at the clamping position 222 and places it on the first conveying device 20. That is, when the finished material 4 is conveyed to the clamping position 222 by the second conveying device 22, the transfer device 24 moves to the clamping position 222 to pick up the finished material 4. This allows the transfer device 24 to achieve precise docking with the second conveying device 22, ensuring that the transfer device 24 can accurately pick up the finished material 4 and then accurately place it at the target position of the first conveying device 20, facilitating accurate gripping by the robotic arm 5.

[0037] Furthermore, the clamping position 222 is provided with a positioning mechanism 220, which includes two guide portions 2200 and a positioning portion 2202. The two guide portions 2200 are arranged opposite to each other on both sides of the second conveying device 22, and the guide portions 2200 extend along the conveying direction of the second conveying device 22. The end of the guide portion 2200 near the inlet of the second conveying device 22 is provided with a flared section 2200a. The positioning portion 2202 is disposed between the two guide portions 2200, and is located at the end of the guide portion 2200 near the outlet of the second conveying device 22. When the finished material 4 is conveyed on the second conveying device 22, the finished material 4 enters between the two guide portions 2200 through the flared section 2200a, and automatically adjusts its position under the alignment action of the flared section 2200a; until the finished material 4 abuts against the positioning portion 2202, the finished material 4 is exactly located in the clamping position 222.

[0038] The positioning unit 2202 can employ a floating buffer positioning structure to buffer and dampen the finished product 4, allowing it to stop smoothly at the clamping position 222. The positioning unit 2202 can be equipped with a photoelectric sensor, which is connected to the transfer device 24. When the photoelectric sensor detects that the finished product 4 is located at the clamping position 222, it triggers the transfer device 24 to perform a transfer operation.

[0039] Further, the transfer device 24 includes a parallelogram mechanism 240, a clamping mechanism 242, and a first drive mechanism 244. The parallelogram mechanism 240 includes a fixed frame 2400, a first connecting rod 2402, a movable frame 2404, and a second connecting rod 2406, which are hinged end-to-end. The fixed frame 2400 and the movable frame 2404 extend vertically and are positioned between the second conveying device 22 and the first conveying device 20. The clamping mechanism 242 is connected to the movable frame 2404 and reciprocates between the second conveying device 22 and the first conveying device 20 along with the movable frame 2404, thereby transferring the finished material 4 conveyed by the second conveying device 22 to the first conveying device 20. The first drive mechanism 244 is connected to either the first connecting rod 2402 or the second connecting rod 2406, thereby driving the parallelogram mechanism 240 to move. For example, the first drive mechanism 244 can be a rotary motor.

[0040] Furthermore, the parallelogram mechanism 240 includes a first state and a second state. In the first state, the first link 2402 and the second link 2406 are at a 0° position, and the clamping mechanism 242 is located above the first conveying device 20; in the second state, the first link 2402 and the second link 2406 are at a 180° position (e.g., ...). Figure 5 As shown, the clamping mechanism 242 is located above the second conveying device 22. The first drive mechanism 244 rotates 180°, thereby rotating the first connecting rod 2402 and the second connecting rod 2406 by 180°. This causes the clamping mechanism 242 to move from above the first conveying device 20 to above the second conveying device 22, completing the switch from the first state to the second state of the parallelogram mechanism 240. In other words, the first connecting rod 2402 and the second connecting rod 2406 reciprocate within a 180° range. The first drive mechanism 244 can achieve precise ±180° rotation. Furthermore, when the clamping mechanism 242 reaches its position, both the first connecting rod 2402 and the second connecting rod 2406 are in a horizontal position. This fully utilizes the limited space while ensuring symmetrical movement of the clamping mechanism 242, thus enabling precise and efficient transfer operations.

[0041] On the one hand, by reasonably controlling the lengths of the first link 2402 and the second link 2406, the movable frame 2404 can complete the transfer within a small space; on the other hand, the parallelogram mechanism 240 has simple motion characteristics. Through a rotational motion of one degree of freedom, the coordinate position transformation of the clamping mechanism 242 is realized. The motion characteristics are simple, the repeatability is high, and the response speed is fast, thus enabling high-speed and quick transfer.

[0042] The transfer device 24 may also include a support frame 246. The support frame 246 spans above the first conveying device 20 and the second conveying device 22. The fixing frame 2400 of the parallelogram mechanism 240 is connected to the support frame 246, thereby suspending the clamping mechanism 242 above the first conveying device 20 and the second conveying device 22, making the overall layout more compact.

[0043] Furthermore, the clamping mechanism 242 includes a clamping body 2420, at least one clamping assembly 2422, and an active member 2424. The clamping body 2420 is connected to the movable frame 2404 and is used to install and fix the clamping mechanism 242 on the movable frame 2404. The clamping assembly 2422 includes two clamping arms 2422a and a tension spring 2422d. The clamping arms 2422a are slidably connected to the movable frame 2404. The two clamping arms 2422a are arranged opposite to each other. The ends of the clamping arms 2422a that are far apart from each other are connected to grippers 2422b. The tension spring 2422d connects the two clamping arms 2422a to force the two grippers 2422b to move closer together to achieve clamping. That is, in a natural state, under the action of the tension spring 2422d, the two clamping arms 2422a automatically move closer together, so that the grippers 2422b achieve clamping and are stably maintained in the clamped state. The active member 2424 is located in the center of the clamping assembly 2422 and slides along a direction perpendicular to the clamping arm 2422a. The active member 2424 has wedge-shaped surfaces 2424a on both sides, which abut against the clamping arm 2422a to force the two grippers 2422b to move away from each other and open. That is, when the active member 2424 is driven to slide, the active member 2424 pushes the two clamping arms 2422a outward, causing the grippers 2422b to open and release the material; or the active member 2424 moves inward to cancel the push against the two clamping arms 2422a, and the two clamping arms 2422a automatically move closer under the action of the tension spring 2422d, causing the grippers 2422b to clamp and pick up the material.

[0044] The clamping mechanism 242 may further include a second drive mechanism 2428 (e.g., a cylinder), which is mounted and fixed to the clamping body 2420. The second drive mechanism 2428 is connected to the active member 2424 to drive the active member 2424 to slide along the clamping body 2420.

[0045] Furthermore, the transfer module 2 also includes a material tray 26, which is used to hold two finished materials 4. The gripper 2422b is connected to the material tray 26 to achieve clamping, which can improve the versatility of the transfer module 2 and enable the clamping component 2422 to clamp materials of various sizes and specifications.

[0046] Furthermore, the material tray 26 has connecting holes 260 on opposite sides, and connecting posts 2422c protrude from the surface of the gripper 2422b. When the gripper 2422b clamps, the connecting posts 2422c insert into the connecting holes 260; when the gripper 2422b opens, the connecting posts 2422c disengage from the connecting holes 260. Through the insertion and engagement of the connecting posts 2422c with the connecting holes 260, high-precision alignment can be achieved, reducing errors during the transfer process. Furthermore, a rigid connection can be formed during clamping, preventing loosening or falling due to vibration or other abnormalities.

[0047] Furthermore, the clamping mechanism 242 also includes an actuating element 2426, which is connected to the driving element 2424 in a transmission manner. That is, the driving element 2424 can drive the actuating element 2426 to move. The material tray 26 is provided with a positioning slider 262, which is slidably connected to the material tray 26. One side of the positioning slider 262 is provided with an elastic positioning element (not shown in the figure, for example, composed of a spring and a ball). The material tray 26 is provided with a first positioning groove 264 and a second positioning groove 266, which are arranged along the movement direction of the positioning slider 262. When the clamping mechanism 242 clamps the material tray 26, the actuating element 2426 is connected to the positioning slider 262, and the actuating element 2426 drives the positioning slider 262 to slide along the material tray 26. When the elastic positioning element is engaged in the first positioning groove 264, the gripper 2422b is clamped in place; when the elastic positioning element is engaged in the second positioning groove 266, the gripper 2422b is opened in place. On the one hand, the elastic positioning element and the positioning groove work together to provide a positioning indication, thereby triggering the next process in a timely and efficient manner, shortening the interval time, and improving production efficiency. On the other hand, the elastic positioning element and the positioning groove are set on the material pallet 26 to ensure that a positioning indication occurs when the clamping mechanism 242 and the material pallet 26 work together, preventing the clamping mechanism 242 from operating under no-load conditions.

[0048] In one embodiment, the actuating member 2426 includes a pin 2426a. The driving member 2424 is provided with a groove 2424b, which is inclined relative to the movement direction of the driving member 2424 and the movement direction of the actuating member 2426. The pin 2426a is inserted into the groove 2424b and can slide along the groove 2424b, thereby causing the driving member 2424 to drive the actuating member 2426 to move, and causing the driving member 2424 and the actuating member 2426 to move in two different directions. The positioning slider 262 is provided with a slot 2620. The extension direction of the slot 2620 is consistent with the movement direction of the positioning slider 262. The pin 2426a is inserted into the slot 2620 and can slide along the slot 2620. When the pin 2426a is separated from the two ends of the slot 2620 (that is, when the driving member 2424 is away from the end of the movement stroke), the actuating member 2426 moves with the driving member 2424, and the positioning slider 262 remains stationary. When the pin 2426a abuts against the two ends of the slot 2620 (that is, when the driving member 2424 is close to the end of the movement stroke), the actuating member 2426 drives the positioning slider 262 to move, so that the elastic positioning member switches to the first positioning groove 264 or the second positioning groove 266.

[0049] Specifically, the workflow of the transfer device 24 can be referenced as follows: S1, in the initial standby stage, the clamping mechanism 242 is located above the first conveying device 20, the grippers 2422b are in the open state, and the first conveying device 20 and the second conveying device 22 run in opposite directions; S2, when the photoelectric sensor set in the positioning part 2202 detects that the finished material 4 is located in the clamping position 222, it triggers the first drive mechanism 244 to drive the parallelogram mechanism 240 to rotate 180°, so that the parallelogram mechanism 240 rotates from the first state to the second state, so that the clamping mechanism 242 is located above the second conveying device 22, and the grippers 2422b are in the open state; S3, after the parallelogram mechanism 240 moves into position, The second drive mechanism 2428 is triggered to activate the driving member 2424, the actuating member 2426, the clamping assembly 2422, and the positioning slider 262 to achieve clamping. S4. After clamping is in place, the elastic positioning member of the positioning slider 262 is engaged in the first positioning groove 264, triggering the first drive mechanism 244 to drive the parallelogram mechanism 240 to rotate 180° in the opposite direction, so that the parallelogram mechanism 240 rotates from the second state to the first state, so that the clamping mechanism 242 returns to the top of the first conveying device 20, and triggers the second drive mechanism 2428 to activate the driving member 2424, the actuating member 2426, the clamping assembly 2422, and the positioning slider 262 to operate, and the gripper 2422b opens, starting the initial standby stage.

[0050] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A transfer device, characterized in that, include: The material receiving and dispatching module includes a raw material positioning station and a receiving station arranged side by side. The raw material positioning station is equipped with at least one support platform on which the material to be processed is placed. The support platform is surrounded by coarse adjustment components and fine adjustment components, which together form a positioning space to position the material to be processed. The receiving station is equipped with a receiving fixture on which the finished material is placed. A transfer module includes a first conveying device, a second conveying device, and a transfer device. The first conveying device and the second conveying device are arranged side by side. The transfer device is disposed above the first conveying device and the second conveying device and moves between the first conveying device and the second conveying device. The first conveying device is used to convey the material to be processed, the second conveying device is used to convey the finished material, and the transfer device is used to place the finished material conveyed by the second conveying device onto the first conveying device. The first conveying device is also used to convey the finished material transferred by the transfer device. A robotic arm is positioned between the receiving and dispatching module and the transfer module. The robotic arm is used to place the finished material conveyed by the first conveying device at the receiving station and to place the material to be processed at the raw material positioning station at the first conveying device.

2. The transfer device according to claim 1, characterized in that, The transfer device includes: A parallelogram mechanism includes a fixed frame, a first connecting rod, a movable frame, and a second connecting rod that are hinged together at their ends. The fixed frame and the movable frame extend in a vertical direction. The fixed frame is disposed between the second conveying device and the first conveying device. A first drive mechanism, connected to the first link or the second link, is used to drive the first link and the second link to rotate, so as to drive the movable frame to reciprocate between the second conveying device and the first conveying device; A clamping mechanism is connected to the movable frame, and the clamping mechanism reciprocates between the second conveying device and the first conveying device along with the movable frame.

3. The transfer device according to claim 2, characterized in that, The clamping mechanism includes: The clamping body is connected to the movable frame; At least one clamping assembly, the clamping assembly including two clamping arms and a tension spring, the clamping arms being slidably connected to the movable frame, the two clamping arms being arranged opposite to each other, the ends of the clamping arms that are far apart from each other being connected to grippers, and the tension spring connecting the two clamping arms to force the two grippers to come closer to each other to achieve clamping; An active member is disposed in the center of the clamping assembly and slides along a direction perpendicular to the clamping arm. Wedge-shaped surfaces are provided on both sides of the active member. The wedge-shaped surfaces abut against the clamping arm to force the two jaws to move away from each other and open.

4. The transfer device according to claim 3, characterized in that, The transfer module also includes a material tray, which holds the finished material. The material tray has connection holes on opposite sides, and the gripper surface has protruding connection posts. When the gripper performs clamping, the connecting post is inserted into the connecting hole; When the gripper opens, the connecting post disengages from the connecting hole.

5. The transfer device according to claim 4, characterized in that, The clamping mechanism further includes a toggle element, which is connected to the driving element in a driving manner; The material tray is provided with a positioning slider, which is slidably connected to the material tray. One side of the positioning slider is provided with an elastic positioning element, and the material tray is provided with a first positioning groove and a second positioning groove. When the clamping mechanism clamps the material tray, the actuating element is connected to the positioning slider, and the actuating element drives the positioning slider to slide along the material tray; When the elastic positioning element is engaged in the first positioning groove, the gripper is in position. When the elastic positioning element is engaged in the second positioning groove, the gripper opens into position.

6. The transfer device according to any one of claims 1-5, characterized in that, The second conveying device is provided with a clamping position, and the clamping position is provided with a positioning mechanism. The transfer device picks up the finished material at the clamping position and places it on the first conveying device.

7. The transfer device according to claim 6, characterized in that, The positioning mechanism includes: Two guide sections are disposed opposite to each other on both sides of the second conveying device. The guide sections extend along the conveying direction of the second conveying device, and a flared section is provided at one end of the guide section near the inlet of the second conveying device. A positioning part is disposed between the two guide parts, and the positioning part is disposed at one end of the guide part near the outlet of the second conveying device.

8. The transfer device according to any one of claims 1-5, characterized in that, The raw material positioning station is also equipped with: The first sliding plate is slidably connected to the support platform along a first direction; The second slide plate is slidably connected to the support platform along the second direction, and the first slide plate and the second slide plate are connected in a transmission manner. The coarse adjustment component is installed on one side of the support platform along the first direction and on one side along the second direction, and the fine adjustment component is installed on the first slide plate and the second slide plate, respectively.

9. The transfer device according to claim 8, characterized in that, The coarse adjustment component includes a first mounting block and a limiting pin. The top surface of the first mounting block is provided with a plurality of mounting holes, and each mounting hole is arranged along a direction that is close to or far from the positioning space. The limiting pin is inserted into the mounting holes and is used to enclose the positioning space. The fine-tuning component includes a second mounting block and a resilient pin. The resilient pin protrudes from the second mounting block on the side facing the positioning space. The resilient pin extends and retracts in a direction toward or away from the positioning space, and the resilient pin is used to enclose the positioning space.

10. The transfer device according to claim 8, characterized in that, Of the first and second skateboards, one is provided with a guide pin and the other is provided with a guide groove. The extension direction of the guide groove is inclined relative to the first direction and the extension direction of the guide groove is inclined relative to the second direction. The guide pin slides relative to the guide groove so that the first and second skateboards are linked together.

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