CN218024147U - Material transfer device - Google Patents

Abstract

The application relates to the field of feeding and discharging of polishing CNC (computer numerical control), in particular to a material transfer device, which comprises a machine table and a plastic-absorbing box, wherein the machine table is provided with a feeding port and a discharging port, elevators are arranged below the feeding port and the discharging port, one end of the feeding port, which is far away from the elevators, is provided with a positioning mechanism, one side of the feeding port is provided with a positioning module, and the positioning module is fixedly connected with the machine table; one side that the material loading mouth deviates from orientation module is equipped with the triaxial manipulator, the triaxial manipulator includes X axis nature module, Y axis nature module and Z axis nature module, the stiff end and the board of X axis nature module are connected, the stiff end and the X axis nature module output of Y axis nature module are connected, the stiff end and the Y axis nature module output of Z axis nature module are connected, Z axis nature module output is equipped with and is used for getting from the plastic uptake box and puts the module of getting of putting the product, it is connected with the output of Z axis nature module to get the module stiff end of putting, Y axis nature module stiff end is equipped with the transfer module that is used for shifting the plastic uptake box, the transfer module stiff end is connected with the stiff end of Y axis nature module. The method and the device have the effect of improving the efficiency of transferring the products to be processed and the processed products.

Description

Material transfer device

Technical Field

The application relates to the field of last unloading of CNC of polishing, especially relate to a material transfer device.

Background

In the production process of the product, the product generates burrs due to the problems of incorrect precision of the die, incorrect installation of the die, inaccurate assembly of guide parts such as guide columns, guide sleeves and the like, and the burrs of the product are required to be polished subsequently. At present, the existing grinding and deburring of the CNC grinding machine is generally realized by conveying products to be processed and products which are processed through feeding and discharging equipment, so that the CNC grinding machine can operate efficiently, the products to be processed and the products which are processed are transferred on the feeding and discharging equipment manually, and the manual transferring efficiency is gradually reduced along with the increase of the working strength, so that the CNC grinding machine is to be improved.

Disclosure of Invention

In order to improve the problem that the efficiency of the products to be processed and the products which are processed are lower on the manual transfer loading and unloading equipment, the application provides a material transfer device, which has the effect of improving the efficiency of transferring the products to be processed and the products which are processed.

The application provides a material transfer device adopts following technical scheme:

a material transfer device comprises a machine table and a plastic uptake box for placing a product, wherein a feeding port and a discharging port are arranged on the machine table, a lifter for conveying the plastic uptake box is arranged below the feeding port and the discharging port, a positioning mechanism for fixing the plastic uptake box on the feeding port is arranged at one end of the feeding port, which is far away from the lifter, a positioning module for fixing the product is arranged at one side of the feeding port, and the positioning module is fixedly connected with the machine table; the material loading mouth deviates from one side of orientation module is provided with three-axis manipulator, three-axis manipulator includes the edge X axis nature module that board length direction set up, follows Y axis nature module that board width direction set up and edge the Z axis nature module that board direction of height set up, the stiff end of X axis nature module with board fixed connection, the stiff end of Y axis nature module with X axis nature module output is connected, the stiff end of Z axis nature module with Y axis nature module output is connected, Z axis nature module output is provided with and is used for getting the module of getting of putting the product from the plastic uptake box, get the stiff end of putting the module with the output of Z axis nature module is connected, the stiff end of Y axis nature module is provided with the transfer module that is used for shifting the plastic uptake box, the stiff end of transfer module with the stiff end of Y axis nature module is connected.

Preferably, the positioning mechanism includes a first sliding plate, a second sliding plate, a first driver and a second driver, the first sliding plate and the second sliding plate are disposed on two sides of the feeding port away from one end of the elevator, a fixed end of the first driver is fixedly connected with the machine table, an output end of the first driver is connected with the first sliding plate, and one end of the first sliding plate facing the machine table is slidably connected with the machine table;

the fixed end of the second driver is fixedly connected with the machine table, the output end of the second driver is connected with the second sliding plate, and one end, facing the machine table, of the second sliding plate is connected with the machine table in a sliding mode.

Preferably, one end of the first sliding plate, which is away from the machine table, is provided with a sliding abutting block and a third driver for driving the sliding abutting block to slide, a fixed end of the third driver is fixedly connected with the first sliding plate, and an output end of the third driver is connected with the sliding abutting block;

and one end of the second sliding plate, which is far away from the machine table, is provided with a fixed abutting block, and the fixed abutting block is fixedly connected with the second sliding plate.

Preferably, the opposite sides of the first sliding plate and the second sliding plate are respectively provided with a notch, a separating module for separating the laminated blister box is arranged in the notch, the separating module comprises a separating sheet and a fourth driver for driving the separating sheet to vertically move downwards, the fixed end of the fourth driver is respectively fixedly connected with the first sliding plate and the second sliding plate, and the output end of the fourth driver is connected with the separating sheet.

Preferably, the positioning module includes the posting, supports tight right angle piece and drive support tight right angle piece and keep away from or be close to the fifth driver of posting, the posting with board fixed connection, it is provided with the right angle opening to support tight right angle piece, the right angle opening orientation the corner of the periphery of posting, the stiff end of fifth driver with board fixed connection, the output of fifth driver with support tight right angle piece and deviate from right angle open-ended one end is connected.

Preferably, the two sides of the positioning frame are provided with clamping openings which are convenient for the picking and placing module to pick and place products.

Preferably, get and put the module including getting to put and press from both sides and be used for the drive get and put the sixth driver that presss from both sides the opening and shutting, the stiff end of sixth driver with Z axis nature module output fixed connection, the output of sixth driver is connected with the stiff end of getting to put the clamp, the inboard of getting to put the clamp exposed core is provided with the centre gripping groove.

Preferably, the transfer module includes the sucking disc and is used for the drive the seventh driver of sucking disc vertical migration, the stiff end of seventh driver with the stiff end of Y axis nature module is connected, the sucking disc includes support and sucking disc body, the central point of support put with the output of seventh driver is connected, the stiff end of sucking disc body with the four ends that the central point was put are kept away from to the support are connected.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the three-shaft mechanical arm driving and taking module transfers the products to be processed and the processed products to the plastic suction box and the positioning mechanism, and the three-shaft mechanical arm driving and transferring module transfers the plastic suction box filled with the processed products from the lifter on one side of the feeding port to the lifter on one side of the lifter, so that the efficiency of transferring the products to be processed and the processed products on the feeding and discharging equipment is improved;

2. the first driver is arranged between the first sliding plate and the second sliding plate, the second driver is arranged on one side of the second sliding plate, which is far away from the first driver, and the first sliding plate and the second sliding plate are close to or far away from each other by controlling different states of output ends of the first driver and the second driver, so that the plastic suction box is clamped or separated.

Drawings

Fig. 1 is a schematic structural diagram of a material transfer device and a loading device according to an embodiment of the present application.

Fig. 2 is a schematic perspective structural view of a material transfer device according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a positioning mechanism, a positioning module and a separation module of a material transfer device according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a three-axis robot, a pick-and-place module, and a transfer module of the material transfer device according to the embodiment of the present application.

Description of the reference numerals: 1. a machine platform; 11. a feeding port; 12. a feeding port; 2. a plastic sucking box; 3. an elevator; 4. a positioning mechanism; 41. a first sliding plate; 42. a second sliding plate; 43. a first driver; 44. a second driver; 45. sliding the abutting block; 46. a third driver; 47. fixing the abutting block; 48. a notch; 5. a positioning module; 51. a positioning frame; 52. abutting against the right-angle block; 53. a fifth driver; 54. a right angle opening; 55. a clamping port; 6. a three-axis manipulator; 61. an X-axis linear module; 62. a Y-axis linear module; 63. a Z-axis linear module; 7. a picking and placing module; 71. taking and placing clamps; 72. a sixth driver; 73. a clamping groove; 8. a transfer module; 81. a suction cup; 82. a seventh driver; 83. a support; 84. a suction cup body; 9. a separation module; 91. separating the sheet; 92. and a fourth driver.

Detailed Description

The present application is described in further detail below with reference to figures 1-4.

The embodiment of the application discloses a material transfer device.

Referring to fig. 1 and 2, the material transfer device comprises a machine table 1 and a plastic uptake box 2 for placing products, and the products are circulated through the plastic uptake box 2. The machine table 1 is provided with a feeding port 11 and a discharging port 12, the lifters 3 used for conveying the plastic uptake boxes 2 are arranged below the feeding port 11 and the discharging port 12, the lifter 3 corresponding to one side of the feeding port 11 is used for placing the plastic uptake box 2 filled with a product to be processed, the lifter 3 corresponding to one side of the discharging port 12 is used for placing the plastic uptake box 2 filled with the processed product, the upper diameter of the plastic uptake box 2 is smaller than the lower diameter of the plastic uptake box 2, and the plastic uptake boxes 2 can be laminated together.

One end of the feeding port 11 deviating from the elevator 3 is provided with a positioning mechanism 4 used for fixing the plastic uptake box 2 at the feeding port 11, and the plastic uptake box 2 on the elevator 3 on one side of the feeding port 11 is fixed at the feeding port 11 through the positioning mechanism 4, so that a product to be processed in the plastic uptake box 2 is conveniently transferred. One side of the feeding port 11 is provided with a positioning module 5 for fixing a product, so that the product to be processed on the plastic absorption box 2 in the feeding port 11 can be transferred to the positioning module 5, and the positioning module 5 is fixedly connected with the machine table 1, so that the positioning module 5 is fixed on the machine table 1.

One side of the feeding port 11 departing from the positioning module 5 is provided with a three-axis manipulator 6, the three-axis manipulator 6 comprises an X-axis linear module 61 arranged along the length direction of the machine table 1, a Y-axis linear module 62 arranged along the width direction of the machine table 1 and a Z-axis linear module 63 arranged along the height direction of the machine table 1, and the X-axis linear module 61, the Y-axis linear module 62 and the Z-axis linear module 63 are all screw rod linear sliding table modules.

The fixed end of the X-axis linear module 61 is fixedly connected to the machine 1, so that the three-axis manipulator 6 is fixed to the machine 1. The fixed end of the Y-axis linear module 62 is connected to the output end of the X-axis linear module 61, so that the Y-axis linear module 62 moves along the length direction of the machine 1 along with the output end of the X-axis linear module 61. The fixed end of the Z-axis linear module 63 is connected to the output end of the Y-axis linear module 62, so that the Z-axis linear module 63 follows the output end of the Y-axis linear module 62 along the width direction of the machine 1.

The output end of the Z-axis linear module 63 is provided with a taking and placing module 7 used for taking and placing products from the plastic uptake box 2, the fixed end of the taking and placing module 7 is connected with the output end of the Z-axis linear module 63, the taking and placing module 7 moves along the height direction of the machine table 1 along with the output end of the Z-axis linear module 63, the three-axis manipulator 6 can move along the width, the length and the height of the machine table 1, the plastic uptake box 2 on the lifter 3, close to one side of the feeding port 11, of the taking and placing module 7 is convenient, and the products in the plastic uptake box 2 are transferred to the positioning module 5.

The fixed end of the Y-axis linear module 62 is provided with a transfer module 8 for transferring the plastic uptake box 2, the fixed end of the transfer module 8 is connected with the fixed end of the Y-axis linear module 62, so that the transfer module 8 moves along the length direction of the machine table 1 along with the output end of the X-axis linear module 61, and the transfer module 8 is convenient for transferring the plastic uptake box 2 from the feeding port 11 to the lifter 3 at the side of the discharging port 12.

During operation, the plastic uptake box 2 filled with the product to be processed is placed on the lifter 3 at the side of the feeding port 11, the plastic uptake box 2 filled with the product to be processed is lifted to the feeding port 11 by the output end of the lifter 3 and is aligned with the positioning mechanism 4, and the plastic uptake box 2 filled with the product to be processed is clamped and fixed by the positioning mechanism 4, so that the plastic uptake box 2 filled with the product to be processed is fixed at the feeding port 11. The X-axis linear module 61, the Y-axis linear module 62 and the Z-axis linear module 63 are linked to enable the pick-and-place module 7 to be close to the plastic uptake box 2 containing a product to be processed, the pick-and-place module 7 clamps the product to be processed in the plastic uptake box 2, the three-axis manipulator 6 drives the pick-and-place module 7 to convey the product to be processed to the positioning module 5, the feeding part is used for conveying the product to be processed for polishing CNC, after the product which is processed is placed back to the positioning module 5 by the feeding part, the three-axis manipulator 6 drives the pick-and-place module 7 to be back to the upper portion of the plastic uptake box 2 on the side of the feeding port 11 after the product which is processed is driven by the three-axis manipulator 6 to clamp the product which is processed from the positioning module 5, the three-axis manipulator 6 drives the transfer module 8 to transfer the plastic uptake box 2 to the plastic uptake box 2 from the feeding port 11 and place the product on the lifting machine 3 on the side of the discharging port 12, the product which is transferred is driven by the three-axis manipulator 6, and the high-efficiency of the product which is transferred can be processed and the product which is transferred can be continuously transferred, and the efficiency of the product which is improved.

Referring to fig. 3, the positioning mechanism 4 includes a first slide plate 41, a second slide plate 42, a first driver 43, and a second driver 44, and the first driver 43 and the second driver 44 are linear air cylinders. The first sliding plate 41 and the second sliding plate 42 are oppositely arranged on two sides of one end of the feeding port 11 away from the lifter 3, so that the first sliding plate 41 and the second sliding plate 42 are arranged on the feeding port 11, and the plastic suction box 2 is conveniently clamped. The fixed end of the first driver 43 is fixedly connected with the machine platform 1, the output end of the first driver 43 is connected with the first sliding plate 41, and one end of the first sliding plate 41 facing the machine platform 1 is slidably connected with the machine platform 1, so that the first driver 43 drives the first sliding plate 41 to slide on the machine platform 1.

The fixed end of the second driver 44 is fixedly connected to the machine 1, the output end of the second driver 44 is connected to the second sliding plate 42, and one end of the second sliding plate 42 facing the machine 1 is slidably connected to the machine 1, so that the second driver 44 drives the second sliding plate 42 to slide on the machine 1.

When the elevator 3 conveys the laminated blister packs 2 to the feed opening 11, the bottom horizontal surface of the uppermost blister pack 2 is aligned with the upper horizontal surfaces of the first and second slide plates 41 and 42, and the output end is retracted by operating the first driver 43, the second driver 44 extends out of the output end, so that the first and second slide plates 41 and 42 are close to each other, the first and second slide plates 41 and 42 are inserted between the uppermost blister pack 2 and the next blister pack 2, and when the upper surfaces of the first and second slide plates 41 and 42 abut against the bottom of the uppermost blister pack 2, the uppermost blister pack 2 is supported between the first and second slide plates 41 and 42. The first driver 43 is operated to extend the output end, and the second driver 44 retracts the output end, so that the first sliding plate 41 and the second sliding plate 42 are moved away from each other, and the first sliding plate 41 and the second sliding plate 42 are separated from the blister box 2.

Referring to fig. 3, one end of the first sliding plate 41 away from the machine platform 1 is provided with a sliding abutting block 45 and a third driver 46 for driving the sliding abutting block 45 to slide, and the third driver 46 is a linear cylinder. The fixed end of the third actuator 46 is fixedly connected to the first sliding plate 41, and the output end of the third actuator 46 is connected to the sliding abutting block 45, so that the third actuator 46 drives the sliding abutting block 45 to slide.

One end of the second sliding plate 42, which is away from the machine table 1, is provided with a fixed abutting block 47, the fixed abutting block 47 is fixedly connected with the second sliding plate 42, so that the fixed abutting block 47 is fixed on the second sliding plate 42, when the first sliding plate 41 and the second sliding plate 42 are close to each other, the third driver 46 drives the sliding abutting block 45 to slide towards the direction of the fixed abutting block 47, so that the outer side of the upper part of the plastic uptake box 2 at the uppermost layer abuts between the sliding abutting block 45 and the fixed abutting block 47, and the positioning mechanism 4 is enabled to clamp the plastic uptake box 2.

Referring to fig. 2 and 3, the opposite sides of the first sliding plate 41 and the second sliding plate 42 are respectively provided with a notch 48, a separating module 9 for separating the laminated blister box 2 is disposed in the notch 48, the separating module 9 includes a separating sheet 91 and a fourth driver 92 for driving the separating sheet 91 to vertically move downward, the separating sheet 91 is Z-shaped, and the fourth driver 92 is a linear air cylinder. The fixed end of the fourth driver 92 is fixedly connected to the first sliding plate 41 and the second sliding plate 42, respectively, and the output end of the fourth driver 92 is connected to the separating sheet 91, so that the fourth driver 92 drives the separating sheet 91 to move vertically.

When the first sliding plate 41 and the second sliding plate 42 support the plastic-absorbing box 2 at the uppermost layer of the laminated plastic-absorbing box 2, the separating plate 91 is inserted between the laminated plastic-absorbing box 2 at the uppermost layer and the next plastic-absorbing box 2 along with the first sliding plate 41 and the second sliding plate 42, the fourth driver 92 drives the separating plate 91 to vertically move downwards, so that the separating plate 91 is abutted against the lower part of the next plastic-absorbing box 2, the plastic-absorbing box 2 at the uppermost layer is initially separated from the plastic-absorbing box 2 at the next layer, and the elevator 3 drives the laminated plastic-absorbing box 2 to descend downwards, so that the plastic-absorbing box 2 at the uppermost layer is completely separated from the laminated plastic-absorbing box 2, and the transfer module 8 is convenient to transfer the plastic-absorbing box 2 at the uppermost layer from the feeding port 11 to the discharging port 12.

Preferably, the plurality of notches 48 are arranged between the first sliding plate 41 and the second sliding plate 42 in a staggered manner, so that the plurality of separation modules 9 are arranged between the first sliding plate 41 and the second sliding plate 42 in a staggered manner, and the separation of the plastic suction box 2 at the uppermost layer from the plastic suction box 2 at the next layer is more stable.

Referring to fig. 2, the positioning module 5 includes a positioning frame 51, a right-angle abutting block 52, and a fifth actuator 53 for driving the right-angle abutting block 52 to move away from or close to the positioning frame 51, wherein the fifth actuator 53 is a linear cylinder. The positioning frame 51 is fixedly connected to the machine 1, so that the positioning frame 51 is fixed to the machine 1.

Support tight right-angle block 52 and be provided with right angle opening 54, the corner of right angle opening 54 periphery towards locating frame 51, the stiff end and the board 1 fixed connection of fifth driver 53, it is fixed with board 1 to make fifth driver 53, the output of fifth driver 53 is connected with the one end that supports tight right-angle block 52 and deviates from right angle opening 54, it slides to make fifth driver 53 drive to support tight right-angle block 52, fifth driver 53 drive supports the corner that tight right-angle block 52 is close to the periphery of locating frame 51, the product is supported tightly between right angle opening 54 and locating frame 51, make the product be fixed in locating module 5. The fifth driver 53 drives the abutting right-angle block 52 to move away from the corner of the periphery of the positioning frame 51, so that the product is separated from the abutting right-angle opening 54 and the positioning frame 51, and the product is separated from the positioning module 5.

Referring to fig. 2, clamping openings 55 for facilitating the picking and placing module 7 to pick and place the product are disposed at two sides of the positioning frame 51, so that the picking and placing module 7 clamps the side of the product through the clamping openings 55.

Referring to fig. 4, the pick-and-place module 7 includes a pick-and-place clamp 71 and a sixth driver 72 for driving the pick-and-place clamp 71 to open and close, and the sixth driver 72 is a pneumatic finger. The fixed end of the sixth actuator 72 is fixedly connected to the output end of the Z-axis linear module 63, so that the sixth actuator 72 is fixed to the output end of the Z-axis linear module 63, and the sixth actuator 72 moves the output end of the Z-axis linear module 63. The output end of the sixth driver 72 is connected with the fixed end of the picking and placing clamp 71, so that the output end of the sixth driver 72 controls the picking and placing clamp 71 to open and close, a clamping groove 73 is formed in the inner side of the clamping end of the picking and placing clamp 71, a product is more attached to the picking and placing clamp 71 through the clamping groove 73, and the picking and placing clamp 71 clamps the product more firmly.

Referring to fig. 2 and 4, the transfer module 8 includes a suction cup 81 and a seventh driver 82 for driving the suction cup 81 to vertically move, and the seventh driver 82 is a linear cylinder. The fixed end of the seventh driver 82 is connected to the fixed end of the Y-axis linear module 62, so that the transfer module 8 is fixed to the fixed end of the Y-axis linear module 62, and the transfer module 8 moves along the length direction of the machine 1 along with the X-axis linear module 61.

The suction cup 81 includes a bracket 83 and a suction cup body 84, the bracket 83 is h-shaped, and a center of the bracket 83 is connected to an output end of the seventh driver 82, so that the bracket 83 vertically moves with the output end of the seventh driver 82. The fixed end of the suction cup body 84 is connected with the four ends of the support 83 far from the center position, so that the suction cup body 84 sucks the periphery of the plastic uptake box 2, the suction cup body 84 moves vertically along with the output end of the seventh driver 82 to be close to or far from the plastic uptake box 2, and the transfer module 8 is convenient to transfer the plastic uptake box 2 from the feeding port 11 to the discharging port 12.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (8)

1. The material transfer device comprises a machine table (1) and a plastic suction box (2) for placing a product, wherein a feeding port (11) and a discharging port (12) are arranged on the machine table (1), and a lifter (3) for conveying the plastic suction box (2) is arranged below the feeding port (11) and the discharging port (12),

one end of the feeding port (11) departing from the lifter (3) is provided with a positioning mechanism (4) for fixing the plastic uptake box (2) on the feeding port (11), one side of the feeding port (11) is provided with a positioning module (5) for fixing a product, and the positioning module (5) is fixedly connected with the machine table (1);

go up material mouth (11) and deviate from one side of orientation module (5) is provided with three-axis manipulator (6), three-axis manipulator (6) are including following X axis nature module (61) that board (1) length direction set up, edge Y axis nature module (62) that board (1) width direction set up and edge Z axis nature module (63) that board (1) direction of height set up, the stiff end of X axis nature module (61) with board (1) fixed connection, the stiff end of Y axis nature module (62) with X axis nature module (61) output is connected, the stiff end of Z axis nature module (63) with Y axis nature module (62) output is connected, Z axis nature module (63) output is provided with and is used for getting from plastic uptake box (2) and puts module (7) of product, get the stiff end of putting module (7) with the output of Z axis nature module (63) is connected, the stiff end of Y axis nature module (62) is provided with the transfer module (8) that is used for transferring plastic uptake box (2), transfer module (8) with the stiff end of Y axis nature module (62) is connected.

2. The material transfer device according to claim 1, wherein the positioning mechanism (4) comprises a first sliding plate (41), a second sliding plate (42), a first driver (43) and a second driver (44), the first sliding plate (41) and the second sliding plate (42) are arranged on two sides of one end of the feeding port (11) away from the elevator (3), a fixed end of the first driver (43) is fixedly connected with the machine platform (1), an output end of the first driver (43) is connected with the first sliding plate (41), and one end of the first sliding plate (41) facing the machine platform (1) is connected with the machine platform (1) in a sliding manner;

the fixed end of the second driver (44) is fixedly connected with the machine table (1), the output end of the second driver (44) is connected with the second sliding plate (42), and one end, facing the machine table (1), of the second sliding plate (42) is connected with the machine table (1) in a sliding mode.

3. The material transfer device according to claim 2, characterized in that one end of the first sliding plate (41) facing away from the machine table (1) is provided with a sliding abutting block (45) and a third driver (46) for driving the sliding abutting block (45) to slide, a fixed end of the third driver (46) is fixedly connected with the first sliding plate (41), and an output end of the third driver (46) is connected with the sliding abutting block (45);

one end, deviating from the machine table (1), of the second sliding plate (42) is provided with a fixed abutting block (47), and the fixed abutting block (47) is fixedly connected with the second sliding plate (42).

4. The material transfer device according to claim 3, wherein the first sliding plate (41) and the second sliding plate (42) are respectively provided with a notch (48) at opposite sides thereof, a separating module (9) for separating the laminated blister boxes (2) is arranged in the notch (48), the separating module (9) comprises a separating sheet (91) and a fourth driver (92) for driving the separating sheet (91) to vertically move downwards, fixed ends of the fourth driver (92) are respectively fixedly connected with the first sliding plate (41) and the second sliding plate (42), and an output end of the fourth driver (92) is connected with the separating sheet (91).

5. The material transfer device according to claim 1, wherein the positioning module (5) comprises a positioning frame (51), a abutting right-angle block (52) and a fifth driver (53) for driving the abutting right-angle block (52) to move away from or close to the positioning frame (51), the positioning frame (51) is fixedly connected with the machine table (1), the abutting right-angle block (52) is provided with a right-angle opening (54), the right-angle opening (54) faces a corner of the periphery of the positioning frame (51), a fixed end of the fifth driver (53) is fixedly connected with the machine table (1), and an output end of the fifth driver (53) is connected with one end of the abutting right-angle block (52) departing from the right-angle opening (54).

6. The material transfer device according to claim 5, characterized in that the positioning frame (51) is provided with clamping openings (55) at two sides thereof for facilitating the product picking and placing by the picking and placing module (7).

7. The material transfer device according to claim 1, wherein the pick-and-place module (7) comprises a pick-and-place clamp (71) and a sixth driver (72) for driving the pick-and-place clamp (71) to open and close, a fixed end of the sixth driver (72) is fixedly connected with an output end of the Z-axis linear module (63), an output end of the sixth driver (72) is connected with the fixed end of the pick-and-place clamp (71), and a clamping groove (73) is formed in the inner side of the clamping end of the pick-and-place clamp (71).

8. The material transfer device according to claim 1, wherein the transfer module (8) comprises a suction cup (81) and a seventh driver (82) for driving the suction cup (81) to move vertically, a fixed end of the seventh driver (82) is connected with a fixed end of the Y-axis linear module (62), the suction cup (81) comprises a bracket (83) and a suction cup body (84), a central position of the bracket (83) is connected with an output end of the seventh driver (82), and a fixed end of the suction cup body (84) is connected with four ends of the bracket (83) far from the central position.

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