A material conveying method and a material conveying device

Abstract

The present invention relates to a material conveying method and a material conveying device. The material conveying method includes: a. Controlling a plurality of transfer devices to pass through the loading station one by one and receive materials at the loading station; b. The transfer device passing through the loading station moves downstream at a preset feeding speed and passes through n buffer sections and n grasping stations, where n is a positive integer greater than or equal to 1; wherein, in the upstream to downstream direction, the buffer sections and the grasping stations are alternately arranged in sequence; and c. When a preset number of the transfer devices loaded with materials reach the mth grasping station, controlling the grasping device to simultaneously grasp the materials on each of the transfer devices at the mth grasping station and transfer them to the detection station for detection; wherein, m is a positive integer, and 1 ≤ m ≤ n; and d. Detecting each material at the detection station; if defective products are detected among the materials at the detection station, the defective products are removed and a replenishment step is performed.

Description

Technical Field

[0001] The present invention relates to the technical field of battery preparation, and in particular to a material conveying method and material conveying equipment. Background Art

[0002] In the lithium battery stacking process, a belt conveyor is often required to convey the sheet material, which can be a pole piece, a diaphragm, or a stacking unit consisting of a pole piece and a diaphragm. The grabbing mechanism grabs the sheet material from the conveying belt and transfers it to the stacking table for stacking.

[0003] In the stacking process, in order to improve the stacking efficiency, multiple sheets are usually grabbed and stacked at one time. If there are unqualified sheets in a group of sheets, the unqualified sheets need to be removed, but the incoming sheets from the upstream cannot be stopped, so the conveyor belt cannot stop conveying, which makes it impossible to stably and efficiently remove the unqualified sheets. Summary of the invention

[0004] Based on this, it is necessary to provide a material conveying method and material conveying equipment that improve the above defects in order to solve the problem that the belt conveyor device used in the prior art to convey the sheet materials cannot stably and efficiently remove the unqualified sheet materials.

[0005] A material conveying method comprises the following steps:

[0006] a. Control multiple transfer devices to pass through the loading stations one by one, and receive materials at the loading stations;

[0007] b. The transfer device passing through the loading station moves downstream at a preset feeding speed and passes through n buffer sections and n grabbing stations, where n is a positive integer greater than or equal to 1; wherein, in the direction from upstream to downstream, the buffer sections and the grabbing stations are arranged alternately in sequence;

[0008] c. When a preset number of the transfer devices loaded with materials arrive at the mth grabbing station, control the grabbing devices to simultaneously grab the materials on each of the transfer devices at the mth grabbing station, and transfer them to the inspection station for inspection; wherein m is a positive integer, and 1≤m≤n; and

[0009] d. Testing each material on the testing station;

[0010] If defective products are detected in the materials on the inspection station, the defective products are removed and a material replenishment step is performed;

[0011] The feeding step comprises:

[0012] Control the transfer device located in the m-th cache section to reduce the spacing between each other by adjusting the feeding speed, so that the m-th cache section can continue to accommodate the transfer devices input from the upstream, and only allow the transfer devices loaded with materials equal to the number of defective products to enter the m-th grasping station;

[0013] Control the grasping device to simultaneously grasp the materials on each of the transfer devices at the m-th grasping station and transfer them to the detection station; and

[0014] Control the transfer devices located in the m-th cache section to restore the spacing between each other by adjusting the feeding speed.

[0015] In one embodiment, if no defective products are detected among the materials at the detection station, transfer the materials at the detection station downstream and loop through steps a to d.

[0016] In one embodiment, after the step of controlling the grasping device to simultaneously grasp the materials on each of the transfer devices at the m-th grasping station and transfer them to the detection station in the replenishment step, return to execute step d.

[0017] In one embodiment, in step b, every preset duration L, the preset number of transfer devices move to reach each of the grasping stations;

[0018] At the m-th grasping station, the time interval between two executions of grasping the materials on each of the transfer devices at the m-th grasping station in step c is n×L.

[0019] In one embodiment, when the detection station detects that there are defective products among the materials transferred from the m-th grasping station, at the m-th grasping station, the time interval between grasping the materials on each of the transfer devices at the m-th grasping station in step c and grasping the materials on each of the transfer devices at the m-th grasping station in the replenishment step is 3×L.

[0020] In one embodiment, in step b, each of the transfer devices reaches the blanking station after passing through n cache sections and n grasping stations, and the transfer devices reaching the blanking station can return to the loading station.

[0021] A material conveying device applying the one described in any of the above embodiments includes a feeding device, a conveying line, a grasping device, and a detecting device; the conveying line includes a plurality of transfer devices, each of the transfer devices can independently control the feeding speed moving downstream, and each of the transfer devices can move to the feeding station and alternately pass through n buffer sections and n grasping stations downstream along a first preset trajectory;

[0022] The feeding device is used to feed materials onto the transfer device that reaches the feeding station; the grasping device is used to grasp the materials on each of the transfer devices at any of the grasping stations and transfer them to the detecting station; the detecting device is used to detect each of the materials transferred to the detecting station.

[0023] In one embodiment, each of the buffer sections includes a first state and a second state; when the buffer section is in the first state, the transfer devices in the buffer section feed downstream at the preset feeding speed; when the buffer section is in the second state, the transfer devices in the buffer section adjust their respective feeding speeds to increase or decrease the spacing between the transfer devices in the buffer section.

[0024] In one embodiment, each of the transfer devices can pass through a discharging station downstream of the n grasping stations, and the transfer device that reaches the discharging station can return to the feeding station along a second preset trajectory.

[0025] In one embodiment, the conveying line further includes a mounting seat, and each of the transfer devices is movably connected to the mounting seat;

[0026] An electromagnetic element is provided on the mounting seat, and a magnetic element is provided on each of the transfer devices. The electromagnetic element drives each of the transfer devices to move on the mounting seat through electromagnetic induction with the magnetic element.

[0027] In the above material conveying method and material conveying equipment, since the control of the feeding speeds of the various transfer devices on the conveying line is independent of each other, during normal operation, the various transfer devices move downstream at the same preset feeding speed, successively passing through the respective buffer sections and the respective grasping stations, thereby realizing the transfer of the materials 100 in groups to the respective grasping stations (the number of each group is the above preset number) for the grasping device to grasp and transfer to the inspection station for inspection. During the replenishment process, the feeding speed of the transfer device corresponding to the buffer section is controlled, thereby reducing the spacing between the various transfer devices in the corresponding buffer section. On the one hand, it enables the buffer section to accommodate the transfer devices that continue to enter the buffer section, and on the other hand, only allows the transfer devices loaded with materials equal to the number of defective products to enter the corresponding grasping station, so that the grasping device can grasp and transfer them to the inspection station to achieve replenishment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic structural diagram of a material conveying equipment according to an embodiment of the present invention;

[0029] Figure 2 is Figure 1 a top view of the shown material conveying equipment;

[0030] Figures 3 to 9 is a schematic diagram of the operation process of the material conveying equipment when no defective product is detected;

[0031] Figures 10 to 15 is a schematic diagram of the operation process of the material conveying equipment when a defective product is detected;

[0032] Figure 16 is a flowchart of the steps of a material conveying method according to an embodiment of the present invention;

[0033] Figure 17 is a flowchart of the steps of a replenishment step according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0035] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0036] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0037] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0039] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0040] Please refer to Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a material conveying device, including a feeding device 10, a conveying line (not labeled in the figure), a grasping device (not shown in the figure) and a detection device (not shown in the figure). The conveying line includes a plurality of transfer devices 20 capable of independently controlling the feeding speed for moving downstream. The plurality of transfer devices 20 can sequentially move to reach the loading station A, and alternately pass through n buffer sections C and n grasping stations B along a first preset trajectory downstream. That is, they are arranged in sequence from upstream to downstream in the order of the 1st buffer section C, the 1st grasping station B, the 2nd buffer section C, the 2nd grasping station B... the (n - 1)th buffer section C, the (n - 1)th grasping station B, the nth buffer section C and the nth grasping station B. The feeding device 10 is used to load the material 100 (see Figure 3 ) onto the transfer device 20 that reaches the loading station A. The grasping device is used to grasp the materials 100 on each of the transfer devices 20 at any grasping station B and transfer the grasped materials 100 to the detection station. The detection device is used to detect each of the materials 100 transferred to the detection station. Wherein, n is a positive integer greater than or equal to 1.

[0041] It should be noted that the grasping device may include a plurality of grasping manipulators corresponding to the plurality of grasping stations B one by one, and each grasping manipulator grasps and transfers the materials 200 on each of the transfer devices 20 at the corresponding grasping station B. Of course, in other embodiments, the number of grasping manipulators may also be less than the number of grasping stations B, that is, some grasping stations B share one grasping manipulator, as long as it can grasp and transfer the materials 200 at each grasping station B, which is not limited herein. Similarly, the detection station may also include a plurality of stations, and the plurality of detection stations are arranged corresponding to the plurality of grasping stations B one by one, and each detection station is used to receive the materials 200 transferred from the corresponding grasping station. Of course, in other embodiments, the number of detection stations may also be less than the number of grasping stations B, that is, some grasping stations B share one detection station, as long as it can receive and detect the materials 200 transferred from each grasping station B, which is not limited herein.

[0042] It should also be noted that the material can be a pole piece, a separator for lamination, or a lamination unit formed by a combination of a pole piece and a separator. Of course, it can also be other types of products, which are not limited herein.

[0043] In the actual use process of the above material conveying equipment, each transfer device 20 of the conveying line successively passes through the loading station A one by one, and receives the material 100 transferred by the loading device 10 at the loading station A. After each transfer device 20 receives the material 100 at the loading station A, it moves downstream and successively passes through n buffer sections C and n grasping stations B alternately. When the preset number (i.e., 4 shown in the drawings) of transfer devices 20 loaded with the material 100 reach the mth grasping station B, the grasping device is controlled to simultaneously grasp the materials 100 on each transfer device 20 at the mth grasping station B, and transfer the preset number of grasped materials 100 to the detection station, where m is a positive integer and 1 ≤ m ≤ n. That is to say, continuously, the transfer device 20 receives the material 100 at the loading station A, then moves successively to each downstream grasping station B, and the grasping device grasps the preset number of materials 100 at each grasping station B and transfers them to the detection station.

[0044] After the preset number of materials 100 on each transfer device 20 at the mth grasping station B are grasped by the grasping device and transferred to the detection station, the detection station detects the preset number of materials 100. If there are no defective products among the preset number of materials 100, the preset number of materials 100 is transferred downstream (for example, transferred to the lamination table for lamination). If there are defective products among the preset number of materials 100, the defective products are removed, and the grasping device is controlled to replenish the materials (that is, re-grasp the materials 100 equal to the number of defective products to the corresponding positions at the detection station, so that the number of materials 100 at the detection station is the above preset number).

[0045] During the feeding process: Control the feeding speeds of the transfer devices 20 in the m-th buffer section C to reduce the spacing between them, so as to ensure that the transfer devices 20 entering the m-th buffer section C from the upstream can be accommodated (since the upstream incoming materials of the material 100 are continuous, there will be transfer devices 20 continuously entering the m-th buffer section C), and only allow the transfer devices 20 carrying the material 100 in the m-th buffer section C equal to the detected number of defective products to enter the m-th grasping station B. Then, the grasping device grasps each material 100 (the same number as the number of defective products) on the transfer device 20 at the m-th grasping station B and transfers it to the corresponding position at the inspection station. Then, the supplemented material 100 is inspected. If defective products are still detected at the inspection station, the above feeding process is executed again; if no defective products are detected, each material 100 at the inspection station is transferred downstream, so that the grasping device can transfer a preset number of materials 100 to the inspection station again for inspection.

[0046] In this way, since the control of the feeding speeds of the transfer devices 20 on the conveyor line is independent of each other, during normal operation, each transfer device 20 moves downstream at the same preset feeding speed, passing through each buffer section C and each grasping station B in sequence, so as to realize the transfer of the materials 100 in groups to each grasping station B (the number of each group is the above preset number) for the grasping device to grasp and transfer to the inspection station for inspection. During the feeding process, the feeding speed of the transfer device 20 in the corresponding buffer section C is controlled, so as to reduce the spacing between the transfer devices 20 in the corresponding buffer section C. On the one hand, it enables the buffer section C to accommodate the transfer devices 20 that continue to enter the buffer section C, and on the other hand, only allows the transfer devices 20 loaded with the material 100 equal to the number of defective products to enter the corresponding grasping station B, so that the grasping device can grasp and transfer them to the inspection station to achieve feeding.

[0047] That is to say, each buffer section C includes a first state and a second state. When the buffer section C is in the first state, each transfer device 20 within the buffer section C feeds and moves downstream at a preset feed speed, so that the material 100 loaded thereon can be grabbed and transferred by the grabbing device when reaching the corresponding grabbing station B. When the buffer section C is in the second state, each transfer device 20 within the buffer section C adjusts its own feed speed to increase or decrease the spacing between the transfer devices 20 within the buffer section C. Thus, when replenishment is not required, each buffer section C is in the first state, that is, each transfer device 20 downstream of the loading station A moves downstream at a preset speed, and the spacing between each transfer device 20 remains equal. During the process of replenishment, each transfer device 20 within the corresponding buffer section C first adjusts its own feed speed (the transfer devices 20 of other buffer sections C and each grabbing station B can remain in the first state), thereby reducing the spacing between the transfer devices 20 within the buffer section C. On the one hand, it enables the buffer section C to accommodate the transfer devices 20 that continue to enter the buffer section C. On the other hand, only the transfer devices 20 loaded with the material 100 equal in number to the defective products are allowed to enter the corresponding grabbing station B, so as to be grabbed by the grabbing device and transferred to the detection station to achieve replenishment. After the grabbing device transfers away the replenished material 100, each transfer device 20 within the buffer section C adjusts its own feed speed again, thereby increasing the spacing between the transfer devices 20 until the spacing between each transfer device 20 returns to the state before the replenishment process.

[0048] In an embodiment of the present application, each transfer device 20 can also pass through the unloading station D located downstream of the above-mentioned n grabbing stations B. And the transfer device 20 reaching the unloading station D can return to the loading station A along a second preset trajectory, thereby realizing the recycling of the transfer device 20, which is beneficial to improving production efficiency. That is to say, each transfer device 20 receives the material 100 at the loading station A, then feeds and moves downstream and sequentially passes through each buffer section C and each grabbing station B (the material 100 loaded at a certain grabbing station B is grabbed by the grabbing device), until it reaches the unloading station D, and then returns from the unloading station D to the loading station A along the second preset trajectory, and so on in a cycle. Further, the first preset trajectory does not coincide with the second preset trajectory to avoid interference between the transfer device 20 returning from the unloading station D to the loading station A and the transfer device 20 feeding and moving from the loading station A to the unloading station D. Optionally, the conveyor line includes upper and lower layers. When at the loading station A, the transfer device 20 rises to the upper layer and moves along the upper layer and passes through each buffer section C and each grabbing station B, and reaches the unloading station D. At the unloading station D, the transfer device 20 descends to the lower layer and returns to the loading station A along the lower layer, and so on in a cycle.

[0049] In an embodiment of the present application, the conveyor line further includes a mounting base, and each transfer device 20 is movably connected to the mounting base. An electromagnetic element is provided on the mounting base, and a magnetic element is provided on each transfer device 20. The electromagnetic element drives each transfer device 20 to move on the mounting base through electromagnetic induction with the magnetic element. That is to say, the conveyor line adopts a magnetic levitation conveyor line, which can independently control the feeding and moving speed of each transfer device 20. As for the specific structure of the transfer device 20 and the assembly structure between the transfer device 20 and the mounting base, relatively mature existing technologies can be adopted and are not limited herein.

[0050] Please refer to Figure 16 and Figure 17 . The present application also provides a material conveying method using the above-mentioned material conveying equipment, including the following steps:

[0051] S10. Control each transfer device 20 of the conveyor line to pass through the loading station A one by one, and receive the material 100 at the loading station A.

[0052] S20. The transfer device 20 passing through the loading station A moves downstream at a preset feeding speed and passes through n buffer sections C and n grasping stations B. Among them, in the direction from upstream to downstream, the buffer sections C and the grasping stations B are alternately arranged with each other.

[0053] S30. When a preset number of transfer devices 20 loaded with the material 100 reach the mth grasping station B, control the grasping device to simultaneously grasp the materials 100 on each transfer device 20 at the mth grasping station B and transfer them to the inspection station for inspection; where m is a positive integer and 1 ≤ m ≤ n.

[0054] S40. Inspect each material 100 at the inspection station.

[0055] If no defective products are detected among the materials 100 at the inspection station, transfer each material 100 at the inspection station downstream and continue to loop through steps S10 to S40.

[0056] If defective products are detected among the materials 100 at the inspection station, remove the defective products and execute the replenishment step S41. Through this replenishment step S41, grasp and transfer the corresponding number of materials 100 again at the mth grasping station B to compensate to the inspection station.

[0057] Further, the replenishment step S41 includes:

[0058] S411. Control the transfer device 20 located in the m-th buffer section C to reduce the distance between each other by adjusting the feeding speed, so that the m-th buffer section C can continue to accommodate the transfer devices 20 input from the upstream, and only allow the transfer devices 20 loaded with the materials 100 equal to the number of defective products to enter the m-th grasping station B from the m-th buffer section C.

[0059] S412. Control the grasping device to simultaneously grasp the materials 100 (the number of which is equal to the number of defective products) on each transfer device 20 at the m-th grasping station B, and transfer them to the detection station, so as to achieve replenishment of materials.

[0060] S413. Control the transfer device 20 located in the m-th buffer section C to restore the distance between each other by adjusting the feeding speed.

[0061] Specifically in the embodiment, in the material replenishment step, after executing step S412, return to execute the above step S40 to detect the replenished materials 100. If no defective products are detected in the replenished materials 100, transfer each material 100 at the detection station to the downstream, and loop to execute steps S10 to S40. If defective products are detected in the replenished materials 100, remove the defective products, and execute the above material replenishment step again, that is, replenish the materials 100 to the detection station again until there are no defective products in each material 100 at the detection station.

[0062] In the embodiment of the present application, in step S20, every preset duration L, a preset number of transfer devices 20 feed to reach each grasping station B. At the m-th grasping station B, the duration between every two executions of grasping the materials 100 on each transfer device 20 at the m-th grasping station B in step S30 is n×L. That is to say, at the same grasping station B, the duration between the grasping device grasping the materials 100 on each transfer device 20 at this grasping station B and the next grasping of the materials 100 on each transfer device 20 at this grasping station B is n×L, so as to ensure that every grasping station B has transfer devices 20 carrying materials 100 moving to this grasping station B at a preset rate every n×L duration.

[0063] Further, when defective products are detected in the material 100 transferred from the m-th gripping station B at the inspection station, at the m-th gripping station B, the time interval between gripping the material 100 on each transfer device 20 at the m-th gripping station B in step S30 and gripping the material 100 on each transfer device 20 at the m-th gripping station B in the replenishment step S41 is 3×L. Thus, the 3×L time is utilized to ensure that the transfer device 20 at the m-th gripping station B can be emptied first, and then the transfer devices 20 carrying the material 100 with the same quantity as the defective products in the m-th buffer section C reach the corresponding positions of the m-th gripping station B for the gripping device to grip and transfer. Meanwhile, within this 3×L time, 2×4 transfer devices 20 loaded with the material 100 pass by the m-th gripping station B and are conveyed downstream).

[0064] It should be noted that after one replenishment step is executed, the timing of the downstream transfer device 20 reaching the downstream gripping station B is affected. Since each transfer device 20 can independently control the feeding speed, the arrival time can be extended or shortened by controlling the transfer device 20 in the corresponding downstream buffer section C to vary the distance, so as to match the gripping action of the gripping device and ensure that the downstream gripping stations B can orderly perform the material 100 conveying and gripping actions.

[0065] Please refer to Figures 3 to 9 As shown, for example, when n is equal to 2 (i.e., the number of buffer sections C and gripping stations B is both two), the above preset time L is 1 s, and the above preset quantity is 4. First, in the time period from 0S to 2S, each transfer device 20 passes by the feeding station A one by one to receive the material 100 and feeds downstream at the preset feeding speed. At 2 s, four transfer devices 20 loaded with the material 100 reach the first gripping station B. At this time, the gripping device grips the material 100 on the four transfer devices 20 at the first gripping station B and transfers it to the inspection station.

[0066] In the time period from 2 s to 3 s, each transfer device 20 continues to feed downstream at the preset feeding speed. During this process, if all the materials 100 at the inspection station are detected as qualified products, then in the time period from 3 s to 4 s, each transfer device 20 continues to feed downstream at the preset feeding speed. At 4 s, four transfer devices 20 loaded with the material 100 reach the first gripping station B. At this time, the gripping device grips the material 100 on the four transfer devices 20 at the first gripping station B and transfers it to the inspection station.

[0067] In the time period from 4 s to 5 s, each transfer device 20 continues to feed and move downstream at a preset feed speed. During this process, if all the materials 100 at the inspection station are detected as qualified products, then in the time period from 5 s to 6 s, each transfer device 20 continues to feed and move downstream at a preset feed speed. At 6 s, the gripping device grabs the materials 100 on the four transfer devices 20 at the first gripping station B and transfers the grabbed materials 100 to the inspection station for inspection.

[0068] At 5.25 s, since the four transfer devices 20 loaded with materials 100 reach the second gripping station B, at this time, the gripping device grabs the materials 100 on the four transfer devices 20 at the second gripping station B and transfers them to the inspection station for inspection.

[0069] In the time period from 6 s to 7 s, each transfer device 20 continues to feed and move downstream at a preset feed speed. During this process, if all the materials 100 at the inspection station are detected as qualified products, then in the time period from 7 s to 8 s, each transfer device 20 continues to feed and move downstream at a preset feed speed. And so on, the gripping device grabs and transfers the materials 100 on the four transfer devices 20 at the first gripping station B at 2 s, 4 s, 6 s, 8 s... That is, the gripping device grabs and transfers the materials 100 at the first gripping station B every 2 seconds. At the same time, the gripping device grabs and transfers the materials 100 on the four transfer devices 20 at the second gripping station B at 5.25 s, 7.25 s, 9.25 s, 11.25 s... That is, the gripping device grabs and transfers the materials 100 at the second gripping station B every 2 seconds.

[0070] Please refer to Figures 10 to 15 When it is detected at 3 s that there are defective products among the materials 100 transferred from the first gripping station B to the inspection station, then in the time period from 3 s to 4 s, each transfer device 20 in the first buffer section C adjusts the feed speed to reduce the spacing so as to be able to accommodate the transfer devices 20 input from the loading station A (during this process, the transfer devices 20 at other positions continue to move downstream at the preset feed speed). In the time period from 4 s to 5 s, each transfer device 20 in the first buffer section C adjusts the feed speed to reduce the spacing. On the one hand, it is convenient to accommodate the transfer devices 20 input from the loading station A, and at the same time, only the same number of transfer devices 20 as the number of defective products are allowed to enter the first gripping station B from the first buffer section C (during this process, the transfer devices 20 at other positions continue to move downstream at the preset feed speed). And at 5 s, the gripping device grabs the materials 100 on the transfer device 20 at the first gripping station B and transfers them to the inspection station to replace the defective products (i.e., replenish the materials).

[0071] Within the time period from 5 s to 5.5 s, each transfer device 20 in the first buffer section C restores the spacing by adjusting the feeding speed (during this process, the transfer devices 20 at other positions continue to move downstream at the preset feeding speed). At 5.25 s, the grasping device grasps the materials 100 on the four transfer devices 20 at the second grasping station B and transfers them to the detection station...

[0072] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0073] The above-described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A material conveying method, characterized in that, Including the following steps: a. Control multiple transfer devices to pass through the feeding station one by one and receive materials at the feeding station; b. The transfer device passing through the feeding station moves downstream at a preset feeding speed and passes through n buffer sections and n grasping stations, where n is a positive integer greater than or equal to 1; wherein, in the upstream to downstream direction, the buffer sections and the grasping stations are arranged alternately in sequence; c. When a preset number of transfer devices loaded with materials reach the m-th grasping station, control the grasping device to simultaneously grasp the materials on each of the transfer devices at the m-th grasping station and transfer them to the detection station for detection; wherein, m is a positive integer, and 1 ≤ m ≤ n; and d. Detect each material at the detection station; If defective products are detected among the materials at the detection station, remove the defective products and perform the replenishment step; The replenishment step includes: Control the transfer devices at the m-th buffer section to reduce the distance between each other by adjusting the feeding speed, so that the m-th buffer section can continue to accommodate the transfer devices input from the upstream, and only allow the transfer devices loaded with materials equal in number to the defective products to enter the m-th grasping station; Control the grasping device to simultaneously grasp the materials on each of the transfer devices at the m-th grasping station and transfer them to the detection station; and Control the transfer devices at the m-th buffer section to restore the distance between each other by adjusting the feeding speed.

2. The material conveying method according to claim 1, wherein If no defective products are detected among the materials at the detection station, transfer each material at the detection station downstream and loop to execute steps a to d.

3. The material conveying method according to claim 1, characterized in that After the step of controlling the grasping device to simultaneously grasp the materials on each of the transfer devices at the m-th grasping station and transfer them to the detection station in the replenishment step, return to execute step d.

4. The material conveying method according to claim 1, characterized in that In step b, every preset duration L, a preset number of the transfer devices move to reach each of the grasping stations; At the m-th grasping station, the time interval between two executions of grasping the materials on each of the transfer devices at the m-th grasping station in step c is n×L.

5. The material conveying method according to claim 4, wherein When the detection station detects that there are defective products among the materials transferred from the m-th grasping station, at the m-th grasping station, the time interval between grasping the materials on each of the transfer devices at the m-th grasping station in step c and grasping the materials on each of the transfer devices at the m-th grasping station in the replenishment step is 3×L.

6. The material conveying method according to claim 1, wherein In step b, each of the transfer devices reaches the unloading station after passing through n buffer sections and n grasping stations, and the transfer device reaching the unloading station can return to the feeding station.

7. A material conveying device applying the material conveying method according to any one of claims 1 to 6, characterized in that, It includes a feeding device, a conveying line, a grasping device and a detecting device; the conveying line includes a plurality of transfer devices, each of the transfer devices can independently control the feeding speed of moving downstream, and each of the transfer devices can move to the feeding station and alternately pass through n buffer sections and n grasping stations downstream along a first preset trajectory; The feeding device is used for feeding materials onto the transfer device that reaches the feeding station; the grasping device is used for grasping the materials on each of the transfer devices at any of the grasping stations and transferring them to the detecting station; the detecting device is used for detecting each of the materials transferred to the detecting station.

8. The material conveying device according to claim 7, characterized in that, Each of the buffer sections includes a first state and a second state; when the buffer section is in the first state, the transfer devices in the buffer section feed downstream at the preset feeding speed; when the buffer section is in the second state, the transfer devices in the buffer section adjust their respective feeding speeds to increase or decrease the distance between the transfer devices in the buffer section.

9. The material conveying device according to claim 7, wherein, Each of the transfer devices can pass through a discharging station downstream of the n grasping stations, and the transfer device that reaches the discharging station can return to the feeding station along a second preset trajectory.

10. The material conveying device according to claim 7, wherein, The conveying line further includes a mounting base, and each of the transfer devices is movably connected to the mounting base; An electromagnetic element is arranged on the mounting base, and a magnetic element is arranged on each of the transfer devices. The electromagnetic element drives each of the transfer devices to move on the mounting base through electromagnetic induction with the magnetic element.

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