CN220744222U - Blank transfer device and flexible unit manufacturing equipment - Google Patents

Abstract

The utility model relates to the technical field of machining, and particularly discloses a blank transfer device and flexible unit manufacturing equipment, wherein the blank transfer device comprises a box body, two groups of storage position components symmetrically arranged in the box body and used for clamping blanks, and a grabbing robot arranged in the box body and positioned between the two groups of quick-change components; the grabbing robot comprises a rotating shaft arranged at the bottom of the box body and an end picking assembly which is arranged on the rotating shaft and moves along the horizontal direction and the Z-axis direction; a grabbing cavity is formed between the two groups of quick-change assemblies, and the grabbing robot is positioned in the grabbing cavity; the warehouse location component comprises a plurality of groups of laminates which are arranged in parallel along the Z-axis direction and a plurality of groups of warehouse location seats which are detachably arranged on the laminates. The utility model can effectively adjust the position of the blank, so that the grabbing robot can effectively grab the blank, the grabbing precision is high, and the processing period is greatly reduced; compact structure and small occupied area.

Description

Blank transfer device and flexible unit manufacturing equipment

Technical Field

The utility model relates to the technical field of machining, in particular to a blank transferring device and flexible unit manufacturing equipment.

Background

The following problems exist in the prior art when the grabbing device is used:

1. the electrical control system and the main equipment are separated in structural layout, so that the equipment is low in compactness, low in integration level and large in occupied area.

2. The blank fixing base and the laminate are fixed, and a triaxial/tetraxial robot with low freedom degree is used for carrying materials. The method has high requirements on the accuracy of the space position of the material stock, so that the processing precision of the structural member is high, the assembly requirement is high, the quality control and management requirements are high, and the cost is high; the blank fixing base and the laminate are fixed, and the alignment adjustment of the pick-up points of each material position can be completed only by controlling the robot, and the blank processing period is long due to the fact that the degree of freedom of the three-axis/four-axis robot is low, and the fact that part of material position sight is blocked and the like is long in time spent on the adjustment of the pick-up points of each material, so that the field implementation period is long.

Disclosure of Invention

The utility model aims to solve the technical problem of providing a blank transferring device and flexible unit manufacturing equipment, which can enable a grabbing robot to effectively grab a blank by effectively adjusting the position of the blank, and has high grabbing precision and greatly reduces the processing period; compact structure and small occupied area.

The utility model solves the technical problems by adopting the following solution:

on the one hand:

the utility model discloses a blank transferring device which comprises a box body, two groups of storage position assemblies symmetrically arranged in the box body and used for clamping blanks, and a grabbing robot arranged in the box body and positioned between the two groups of quick-change assemblies; the grabbing robot comprises a rotating shaft arranged at the bottom of the box body and an end picking assembly which is arranged on the rotating shaft and moves along the horizontal direction and the Z-axis direction; a grabbing cavity is formed between the two groups of quick-change assemblies, and the grabbing robot is positioned in the grabbing cavity;

the warehouse location component comprises a plurality of groups of laminates which are arranged in parallel along the Z-axis direction and a plurality of groups of warehouse location seats which are detachably arranged on the laminates.

In some of the possible embodiments of the present utility model,

the warehouse seat comprises a warehouse seat base arranged on the laminate and a tray detachably arranged on the warehouse seat base;

the base comprises a seat plate arranged on the laminate and a limiting plate arranged on the seat plate and forming an installation cavity; the two groups of limiting plates are symmetrically arranged, and clamping grooves communicated with the mounting cavity are formed between the two limiting plates; the laminate is provided with a first through hole, and the seat board is provided with a second through hole matched with the first through hole.

In some of the possible embodiments of the present utility model,

the seat board is provided with a waist-shaped hole, and the laminate is provided with a threaded hole matched with the waist-shaped hole; the long axis of the waist-shaped hole is an arc section, and the center of the arc section is positioned on the axis of the first through hole.

In some of the possible embodiments of the present utility model,

the bottom of the tray is provided with an installation piece matched with the installation cavity for use and a clamping block matched with the clamping groove for installation and connected with the installation piece; the tray is provided with positioning holes matched with the end picking assembly.

In some of the possible embodiments of the present utility model,

the end picking assembly comprises a lifting shaft arranged along the Z-axis direction, a horizontal shaft which is in sliding fit with the lifting shaft and moves along the Z-axis direction, an end picking device which is arranged on the horizontal shaft in a sliding mode and moves along the length direction of the horizontal shaft, a vertical driving device for controlling one end of the horizontal shaft along the Z-axis direction, and a horizontal telescopic driving device for driving the end picking device to move along the length direction of the horizontal shaft; and the end pick-up is provided with a positioning pin matched with the positioning hole.

In some of the possible embodiments of the present utility model,

the vertical driving device comprises a screw rod arranged along the Z-axis direction and rotatably installed on the lifting shaft, a screw rod nut matched with the screw rod in a transmission manner and installed on the horizontal shaft, a vertical driving motor connected with the screw rod in a transmission manner, a guide rail arranged in parallel with the screw rod and installed on the lifting shaft, and a slide block installed on the horizontal shaft and in sliding fit with the guide rail.

In some of the possible embodiments of the present utility model,

the horizontal telescopic driving device comprises a rack arranged along the length direction of a horizontal shaft and mounted on the horizontal shaft, a gear meshed with the rack, a horizontal motor connected with the gear in a transmission manner, and a sliding table used for mounting the horizontal motor and the end effector and in sliding fit with the horizontal shaft.

In some of the possible embodiments of the present utility model,

the box comprises a chassis for installing a rotating shaft, a vertical beam arranged on the chassis and connected with the end part of the laminate, a material door connected with the vertical beam and positioned on the outer side of the laminate, a control cabinet arranged above the vertical beam, and a moving assembly and a leveling assembly arranged at the bottom of the chassis.

In some of the possible embodiments of the present utility model,

the axes of the plurality of library base seats in each group of laminate are projected on a circle which takes the axis of the rotating shaft as the center of a circle; the side of the warehouse component, which is close to each other, is arc-shaped.

On the other hand:

the utility model also discloses flexible unit manufacturing equipment which comprises the blank transferring device, two groups of machine tools and man-machine interaction equipment which is respectively connected with the blank transferring device and the machine tools in a signal manner; the blank transfer device is located between the two groups of machine tools and communicated with the grabbing cavity.

Compared with the prior art, the utility model has the beneficial effects that:

according to the utility model, two groups of library position assemblies are symmetrically arranged, and the grabbing robot is arranged between the two groups of library position assemblies; in the grabbing process, the blanks on the warehouse position components are grabbed through rotation of the end picking component around the Z axis direction, vertical movement along the Z axis direction and horizontal movement, and then the grabbed blanks are conveyed into other equipment for processing through gaps between the two groups of warehouse position components, so that the equipment has good beat and high working efficiency;

compared with the prior art, the utility model has high integration level, fully utilizes the gap between the two groups of warehouse bit components to install the grabbing robot, has short moving stroke when grabbing, greatly improves the working efficiency, has high compactness of the whole device, occupies small area and effectively saves space;

according to the utility model, the position of the blank can be adjusted by adjusting the relative position relation between the base and the laminate through the cooperation of the laminate of the base, and compared with the prior art, the utility model can only adjust the grabbing robot, thereby greatly improving the adjustment efficiency and effectively improving the whole working efficiency;

the utility model has simple structure and strong practicability.

Drawings

FIG. 1 is a schematic view of a blank transfer device according to the present utility model;

FIG. 2 is a schematic diagram of a box and bin assembly according to the present utility model;

FIG. 3 is a schematic diagram of a seat structure according to the present utility model;

FIG. 4 is a schematic view of a tray according to the present utility model;

fig. 5 is a schematic structural view of the grasping robot according to the utility model;

FIG. 6 is a schematic diagram of a flexible unit manufacturing apparatus according to the present utility model;

wherein: 1-blank transfer device, 11-box, 111-material door, 12-bin assembly, 121-laminate, 122-bin base, 1221-seat board, 12211-waist-shaped hole, 1222-limiting plate, 1223-mounting cavity, 1224-clamping groove, 123-tray, 1231-mounting piece, 1232-clamping block, 1233-positioning hole, 13-grabbing robot, 131-rotating shaft, 132-lifting shaft, 133-horizontal shaft, 134-end effector, 135-vertical driving device, 1351-lead screw, 1352-guide rail, 136-horizontal telescopic driving device, 1361-rack, 1362-horizontal motor; 1363-slipway, 14-bottom plate, 15-vertical beam, 16-control cabinet, 2-man-machine interaction equipment and 3-machine tool.

Detailed Description

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. Reference to "first," "second," and similar terms in this application does not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. In the implementation of the present application, "and/or" describes an association relationship of an association object, which means that there may be three relationships, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In the description of the embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" means two or more. For example, a plurality of positioning posts refers to two or more positioning posts. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

The present utility model will be described in detail below.

As shown in fig. 1-5;

the utility model discloses a blank transferring device 1, which comprises a box body 11, two groups of storage position assemblies 12 symmetrically arranged in the box body 11 and used for clamping blanks, and a grabbing robot 13 arranged in the box body 11 and positioned between the two groups of quick-change assemblies; the grabbing robot 13 comprises a rotating shaft 131 arranged at the bottom of the box 11 and an end picking assembly which is arranged on the rotating shaft 131 and moves along the horizontal and Z-axis directions; a grabbing cavity is formed between the two groups of quick-change assemblies, and the grabbing robot 13 is positioned in the grabbing cavity;

the garage position assembly 12 comprises a plurality of groups of laminates 121 which are arranged in parallel along the Z-axis direction, and a plurality of groups of garage position seats which are detachably arranged on the laminates 121.

Before use, the blanks are respectively installed on the warehouse seat, and the relative positions of the blanks and the laminate 121 can be adjusted after the blanks are installed due to the detachable connection between the warehouse seat and the laminate 121; compared with the prior art, the alignment adjustment of the pick-up point positions of the blank positions can be completed only through the grabbing robot 13, so that the problems of long field implementation period and low working efficiency caused by the adjustment period process are avoided;

according to the utility model, two groups of library position assemblies 12 are arranged, the two groups of library position assemblies 12 are symmetrically arranged, and the grabbing robot 13 is arranged between the two groups of library position assemblies 12; gripping the blanks on the magazine assemblies 12 by rotation of the end effector assemblies about the Z-axis, vertical movement in the Z-axis and horizontal movement during gripping, and then transporting the gripped blanks to further equipment for processing through the gap between the two sets of magazine assemblies 12; compared with the prior art, the utility model has high integration level, fully utilizes the gap between the two groups of warehouse bit components 12 to install the grabbing robot 13, has short moving stroke of the grabbing robot 13 during grabbing, greatly improves the working efficiency, and simultaneously has high compactness of the whole device, small occupied area and effectively saves space.

In some possible embodiments, the blank mounted on the garage seat is positionally adjusted for efficient implementation;

the garage seat comprises a garage seat 122 mounted on the laminate 121, and a tray 123 detachably mounted on the garage seat 122 and used for placing blanks;

the base 122 includes a seat plate 1221 mounted on the deck 121, and a stopper plate 1222 mounted on the seat plate 1221 and forming a mounting cavity 1223; the two sets of limit plates 1222 are symmetrically arranged, and a clamping groove 1224 communicated with the mounting cavity 1223 is formed between the two sets of limit plates; the laminate 121 is provided with a first through hole, and the seat board 1221 is provided with a second through hole adapted to the first through hole.

Preferably, the limiting plates 1222 are plates with circular arc-shaped cross sections, the centers of the plates are on the axis of the first through hole, the openings of the two groups of limiting plates 1222 are arranged on one side close to each other, a clamping groove 1224 is formed between the end surfaces of the two groups of limiting plates on one side close to each other, and the inner side surfaces of the two groups of limiting plates are matched with each other to form a cylindrical mounting cavity 1223;

preferably, the cross section of the slot 1224 is in a fan-shaped structure, and the small end of the slot is arranged at one side close to the installation cavity 1223, so that fool-proofing is effectively realized;

the two sets of stop blocks cooperate to form two sets of detents 1224, the detents 1224 being in communication with the mounting cavity 1223. The clamping groove 1224 and the clamping block 1232 realize the position fixation of the tray 123 on the base 122 of the warehouse, so that the manual feeding and discharging efficiency is improved, and the blind placement and foolproof are realized.

In some of the possible embodiments of the present utility model,

the seat board 1221 is provided with a waist-shaped hole 12211, and the laminate 121 is provided with a threaded hole matched with the waist-shaped hole 12211; the long axis of the waist-shaped hole 12211 is an arc section, and the center of the arc section is on the axis of the first through hole.

The waist-shaped holes 12211 are formed in the base plate 1221, threaded holes are formed in the laminate 121, and one end of the bolt penetrates through the waist-shaped holes 12211 to be connected with the threaded holes so as to fix the base plate 1221 and the laminate 121;

in the utility model, the long axis of the waist-shaped hole 12211 is set as an arc section, and the center of the arc section is on the axis of the first through hole; after the position relation among the base 122, the blank and the laminate 121 is determined, the waist-shaped hole 12211 with the long axis in the arc section can effectively ensure the coaxiality of the first through hole and the second through hole, so that the blank is positioned more accurately, and the precision of the blank during adjustment is ensured; when the position of the blank is adjusted, the long axis of the waist-shaped hole 12211 is set to be an arc section, and the adjustment is carried out along the long axis direction of the waist-shaped hole 12211 when the position of the blank is adjusted, so that the adjustment efficiency is greatly improved;

in some of the possible embodiments of the present utility model,

the bottom of the tray 123 is provided with a mounting member 1231 matched with the mounting cavity 1223, and a clamping block 1232 matched with the clamping groove 1224 and connected with the outer side of the mounting member 1231; a locating hole 1233 is provided in the tray 123 for use with an end effector assembly.

The cross-sectional structure of the clamping block 1232 is the same as the cross-sectional structure of the clamping groove 1224, when assembled, the clamping block 1232 is installed in the clamping groove 1224, and the installation piece 1231 is disc-shaped and is installed in the installation cavity 1223;

the bottom of the tray 123 is provided with the positioning holes 1233, preferably, at least two groups of positioning holes 1233 are arranged, when the end-picking assembly is grabbed, the end-picking assembly is inserted into the positioning holes 1233, and then the tray 123 and the blank are integrally transported, so that the relative positions of the tray 123, the blank and the end-picking assembly are not changed in the transportation process;

the blank is placed on a tray 123 before processing, and is transported to a processing station by a grabbing robot 13 during processing; the mounting piece 1231 and the mounting cavity 1223 are coaxially arranged to realize the clamping connection between the tray 123 and the base 122, and the base 122 is adjusted along the long axis direction of the waist-shaped hole 12211 through the base 122 to realize the rotation of the base 122 around the axis thereof, so that the adjustment of the blank position placed on the tray 123 is realized, and the adjustment efficiency is high.

In some of the possible embodiments of the present utility model,

the end picking assembly comprises a lifting shaft 132 arranged along the Z-axis direction, a horizontal shaft 133 which is in sliding fit with the lifting shaft 132 and moves along the Z-axis direction, an end picking device 134 which is slidably arranged on the horizontal shaft 133 and moves along the length direction of the horizontal shaft 133, a vertical driving device 135 for controlling one end of the horizontal shaft 133 along the Z-axis direction, and a horizontal telescopic driving device 136 for driving the end picking device 134 to move along the length direction of the horizontal shaft 133; the end effector 134 is provided with a positioning pin that cooperates with the positioning hole 1233.

The lifting shaft 132 is mounted on the rotating shaft 131, and the horizontal shaft 133 is slidably fitted with the lifting shaft 132 in the Z-axis direction; the rotation shaft 131 is rotated around the Z-axis direction by a motor, so that the end pick-up assembly slidably engaged with the horizontal shaft 133 in the horizontal direction can transfer all blanks on the magazine assembly 12;

in some possible embodiments, to effectively enable movement of the horizontal axis 133 and the end effector assembly in the Z-axis direction;

the vertical driving device 135 comprises a screw rod 1351 arranged along the Z-axis direction and rotatably installed on the lifting shaft 132, a screw rod nut in transmission fit with the screw rod 1351 and installed on the horizontal shaft 133, a vertical driving motor in transmission connection with the screw rod 1351, a guide rail 1352 arranged parallel to the screw rod 1351 and installed on the lifting shaft 132, and a slide block installed on the horizontal shaft 133 and in sliding fit with the guide rail 1352.

When the control end effector moves along the Z-axis direction, the vertical driving motor controls the screw rod 1351 to rotate, and the screw rod 1351 drives the screw rod nut sleeved on the outer side of the screw rod 1351 to rotate along the length direction of the screw rod 1351; in order to effectively limit the screw nut to rotate around the screw 1351, a guide rail 1352 parallel to the screw nut is arranged on the lifting shaft 132, and the guide rail 1352 is in sliding fit with a sliding block arranged on the horizontal shaft 133, so that the screw nut can only move in the long direction of the lifting shaft 132, and the movement of the end pickup assembly along the Z-axis direction is realized;

in some possible embodiments, to effectively achieve movement of the end effector assembly in a horizontal direction; can pick up the tray 123 effectively;

the horizontal telescopic driving device 136 comprises a rack 1361 arranged along the length direction of the horizontal shaft 133 and mounted on the horizontal shaft 133, a gear meshed with the rack 1361, a horizontal motor 1362 connected with the gear in a transmission manner, and a sliding table 1363 used for mounting the horizontal motor 1362 and the end effector 134 and in sliding fit with the horizontal shaft 133.

Preferably, a sliding rail is disposed on the horizontal shaft 133, and the sliding table 1363 is in sliding fit with the sliding rail.

In some possible embodiments, in order to effectively implement the mounting of the laminate 121, the rotation shaft 131, it is ensured that the integration level of the whole device is high;

the box 11 comprises a chassis 14 for mounting a rotary shaft 131, a vertical beam 15 mounted on the chassis 14 and connected with the end of the laminate 121, a material door 111 connected with the vertical beam 15 and positioned outside the laminate 121, a control cabinet 16 arranged above the vertical beam 15, and a moving assembly and a leveling assembly mounted at the bottom of the chassis 14.

As shown in fig. 1 and 2, the vertical beams 15 are four groups, which are sequentially connected to form a rectangular structure; the laminate 121 is detachably mounted on the sides of the rectangular structure on both sides, thereby accommodating the mounting of blanks of different sizes; the material door 111 is arranged corresponding to the laminate 121 and is arranged outside the laminate 121;

it should be noted that: when feeding and discharging, the material door 111 is opened, the material door 111 is closed after feeding and discharging is completed, and a magnetic switch and detection equipment are arranged on the material door 111 to ensure that the material door 111 is closed when the equipment is operated, and the personnel safety is protected when the material door 111 is opened; the leveling assembly is mainly used for leveling the whole box 11, so that the horizontal shaft 133 of the grabbing robot 13 is guaranteed to be horizontal, and the lifting shaft 132 is guaranteed to be arranged vertically.

In some possible embodiments, in order to further effectively improve the gripping efficiency, the stroke of the gripping robot 13 when gripping the tray 123 is reduced;

the axes of the plurality of library bases 122 in each group of laminates 121 are projected on a circle which takes the axis of the rotating shaft 131 as the center of a circle; the side of the storage component 12 close to each other is arc-shaped.

On the other hand:

as shown in figures 1-6 of the drawings,

the utility model also discloses a flexible unit manufacturing device which comprises the blank transferring device 1, two groups of machine tools 3 and a man-machine interaction device 2 which is respectively connected with the blank transferring device 1 and the machine tools 3 in a signal manner; the blank transferring device 1 is positioned between two groups of machine tools 3 and is communicated with the grabbing cavity.

Preferably, a blind rivet is arranged on the tray 123, a zero point positioning system is arranged in the machine tool 3, and clamping and alignment of the blank in the machine tool 3 are realized through cooperation of the blind rivet and the zero point positioning system;

further, an automatic door is arranged on one side of the machine tool 3 close to the blank transferring device 1, when the end pick-up device 134 of the grabbing robot 13 takes and puts the tray 123 on the machine tool 3, the automatic door is opened, and after taking and putting are completed, the automatic door is closed;

the man-machine interaction device 2 comprises a device main body, a mouse button, a drawer man-machine interaction interface and a code scanning pen hardware cabinet body; the man-machine interaction device 2 and the machine tool 3 are existing devices, and the internal structures thereof are not described in detail here;

when the blank is processed, the blank is placed on the tray 123, the grabbing robot 13 grabs the blank and conveys the blank to a buffer station in the machine tool 3 for processing, the processed blank is taken out from the machine tool 3 and placed on the tray 123, and therefore the whole processing process is repeated, and the good beat is achieved; the working efficiency is high.

The utility model is not limited to the specific embodiments described above. The utility model extends to any novel one, or any novel combination, of the features disclosed in this specification, as well as to any novel one, or any novel combination, of the steps of the method or process disclosed.

Claims (9)

1. The blank transfer device is characterized by comprising a box body, two groups of storage position assemblies symmetrically arranged in the box body and used for clamping blanks, and a grabbing robot arranged in the box body and positioned between the two groups of quick-change assemblies; the grabbing robot comprises a rotating shaft arranged at the bottom of the box body and an end picking assembly which is arranged on the rotating shaft and moves along the horizontal direction and the Z-axis direction; a grabbing cavity is formed between the two groups of quick-change assemblies, and the grabbing robot is positioned in the grabbing cavity;

the warehouse location component comprises a plurality of groups of laminates which are arranged in parallel along the Z-axis direction and a plurality of groups of warehouse location seats which are detachably arranged on the laminates; the warehouse seat comprises a warehouse seat base arranged on the laminate and a tray detachably arranged on the warehouse seat base;

the base comprises a seat plate arranged on the laminate and a limiting plate arranged on the seat plate and forming an installation cavity; the two groups of limiting plates are symmetrically arranged, and clamping grooves communicated with the mounting cavity are formed between the two limiting plates; the laminate is provided with a first through hole, and the seat board is provided with a second through hole matched with the first through hole;

the limiting plates are plates with arc-shaped sections, the circle centers of the limiting plates are arranged on the axis of the first through hole, the openings of the two groups of limiting plates are arranged on one side close to each other, clamping grooves are formed between the end faces of the two groups of limiting plates on one side close to each other, and the inner side faces of the limiting plates are matched with each other to form a cylindrical mounting cavity;

the cross section of the clamping groove is of a fan-shaped structure, and the small end of the clamping groove is arranged on one side close to the mounting cavity.

2. A blank transfer device according to claim 1, wherein the seat plate is provided with a waist-shaped hole, and the laminate is provided with a threaded hole for cooperation with the waist-shaped hole; the long axis of the waist-shaped hole is an arc section, and the center of the arc section is positioned on the axis of the first through hole.

3. The blank transferring device according to claim 1, wherein the bottom of the tray is provided with a mounting piece matched with the mounting cavity, and a clamping block matched with the clamping groove and connected with the mounting piece; the tray is provided with positioning holes matched with the end picking assembly.

4. A blank transfer device according to claim 3 wherein the end effector assembly comprises a lift shaft disposed in the Z-axis direction, a horizontal shaft slidably engaged with the lift shaft and movable in the Z-axis direction, an end effector slidably mounted on the horizontal shaft and movable in the longitudinal direction of the horizontal shaft, a vertical drive for controlling one end of the horizontal shaft in the Z-axis direction, and a horizontal telescopic drive for driving the end effector to move in the longitudinal direction of the horizontal shaft; and the end pick-up is provided with a positioning pin matched with the positioning hole.

5. The blank transfer device of claim 4, wherein the vertical drive comprises a screw disposed in the Z-axis direction and rotatably mounted on the lift shaft, a screw nut in driving engagement with the screw and mounted on the horizontal shaft, a vertical drive motor in driving engagement with the screw, a guide rail disposed parallel to the screw and mounted on the lift shaft, and a slider mounted on the horizontal shaft and in sliding engagement with the guide rail.

6. A blank transfer device according to claim 4, wherein the horizontal telescopic drive comprises a rack arranged in the longitudinal direction of the horizontal shaft and mounted on the horizontal shaft, a gear engaged with the rack, a horizontal motor in driving connection with the gear, and a slide table for mounting the horizontal motor and the end effector and in sliding engagement with the horizontal shaft.

7. A blank transfer device according to claim 1, wherein the box comprises a chassis for mounting the rotation shaft, a vertical beam mounted on the chassis and connected to the end of the laminate, a gate connected to the vertical beam and located outside the laminate, a control cabinet located above the vertical beam, and a movement assembly and leveling assembly mounted on the bottom of the chassis.

8. The blank transfer device of claim 1, wherein the axes of the plurality of library seats in each set of the laminae are projected on a circle centered on the axis of the rotating shaft; the side of the warehouse component, which is close to each other, is arc-shaped.

9. A flexible unit manufacturing apparatus comprising a blank handling device according to any one of claims 1-8, two sets of machine tools, and a human-machine interaction device in signal connection with the blank handling device and the machine tools, respectively; the blank transfer device is located between the two groups of machine tools and communicated with the grabbing cavity.