Material carrying clamp flow transfer system and flow transfer method

Abstract

The present application relates to the technical field of material conveying, in particular to a material bearing clamp flow transfer system and a flow transfer method. The clamps of the material flow transfer system can be stacked together to form a stacked clamp group, and the material bearing clamp flow transfer can be performed in the form of the stacked clamp group, thereby reducing the occupied space and the floor area of the flow transfer system. In addition, when loading or unloading the material, the clamps in the stacked clamp group can be moved to the exit position one by one through the displacement module, and then be stacked again to form the stacked clamp group, and the stacked clamp group can be moved away from the exit position through the stacker. Through reasonable scheduling of the stacker, the displacement module and the industrial robot, the flow transfer efficiency of the stacked clamp group and the material is improved.

Description

Technical Field

[0001] This invention relates to the field of material conveying technology, specifically to a material carrying fixture transfer system and transfer method. Background Technology

[0002] With the development of intelligent manufacturing technology, the requirements for the efficiency of lithium-ion battery transfer between different processes in lithium-ion battery production are becoming increasingly stringent. Currently, in lithium-ion battery production, the transfer of material-carrying fixtures mainly relies on a conveyor system for sequential transfer. When the fixture transfers to the loading station, the material is loaded into the fixture, and when it transfers to the unloading station, the material is unloaded from the fixture. This transfer method requires a large area to arrange the conveyor system. Summary of the Invention

[0003] The purpose of this invention is to provide a material handling fixture transfer system for reducing the floor space occupied by the transfer system.

[0004] In addition, the present invention aims to provide a method for transferring a material carrying fixture.

[0005] In a first aspect, one embodiment provides a material-carrying fixture transfer system, comprising: The fixture includes at least two fixtures; each fixture comprises a fixture carrier, an upper positioning structure, and a lower positioning structure. The upper positioning structure is located on the upper side of the fixture carrier, and the lower positioning structure is located on the lower side of the fixture carrier. The positions of the upper positioning structure and the lower positioning structure correspond vertically to each other, so that at least two fixtures are stacked together to form a stacked fixture group. The material carrying fixture transfer system has an inlet position and an outlet position, both of which can be used to carry the stacked fixture group. A stacker crane, used to move the stacked clamp assembly as a whole to the inlet position and move the stacked clamp assembly as a whole out of the outlet position; A shifting module is used to move the fixtures in the stacked fixture group one by one from the vehicle entry position to the vehicle exit position, and stack the fixtures one by one at the vehicle exit position to re-form the stacked fixture group. An industrial robot capable of loading materials into the gripper and removing materials from the gripper; The system also includes a control module, which is communicatively connected to the stacker crane, the transfer module, and the industrial robot to control their movement.

[0006] Furthermore, in one embodiment, the number of the entry positions is at least two, and the at least two entry positions are a first entry position and a second entry position; the stacker crane is used to alternately transfer the stacked fixture group to the first entry position and the second entry position; the shifting module is capable of moving the fixtures in the stacked fixture group located in the first entry position to the exit position one by one, and is capable of moving the fixtures in the stacked fixture group located in the second entry position to the exit position one by one.

[0007] Furthermore, in one embodiment, the material carrying fixture transfer system has a transition position. The shifting module is used to move the fixtures in the stacked fixture group at the entry position one by one from the entry position to the transition position, and then move the fixtures from the transition position to the exit position and stack them up to re-form the stacked fixture group. The industrial robot can load materials into the fixtures at the transition position and can remove the materials from the fixtures at the transition position.

[0008] Furthermore, in one embodiment, the shifting module includes a first shifting module and a second shifting module. The first shifting module is used to move the clamps in the stacked clamp group at the vehicle entry position one by one from the vehicle entry position to the transition position. The second shifting module is used to move the clamps at the transition position from the transition position to the vehicle exit position, and stack them up at the vehicle exit position to re-form the stacked clamp group.

[0009] Furthermore, in one embodiment, the shifting module includes: Support base, A first shifting mechanism is mounted on the support base; A second shifting mechanism is connected to the first shifting mechanism; A gripper mechanism, which is mounted on the second shifting mechanism; The first shifting mechanism is used to drive the second shifting mechanism to move along the X direction, and the second shifting mechanism is used to drive the gripper mechanism to move along the Y direction. The angle between the X direction and the Y direction is greater than 0° and less than 180°. The gripper mechanism is used to hold the fixture.

[0010] Furthermore, in one embodiment, the material carrying fixture transfer system includes a material tray, the inlet position and the outlet position are both located on the material tray, and the support base is installed together with the material tray.

[0011] Secondly, a method for transferring material-carrying fixtures is provided, comprising the following steps: stacking at least two fixtures carrying materials to form a stacked fixture group, and transferring the entire stacked fixture group; when loading or unloading materials into the fixtures of the stacked fixture group, removing the fixtures one by one from the stacked fixture group and re-stacking them, and completing the loading or unloading of materials during the process of removing the fixtures from the stacked fixture group and re-stacking them.

[0012] Thirdly, a material handling fixture transfer method based on the above-mentioned material handling fixture transfer system is provided, including the following steps: The stacker crane moves the stacked clamp assembly to the vehicle entry position; The shifting module removes the fixtures from the stacked fixture group one by one and moves them to the exit position to stack them up again to re-form the stacked fixture group; During the process of the fixtures being removed one by one from the stacked fixture group and then re-stacked, the industrial robot loads materials into the fixtures one by one, or first removes the old materials from the fixtures and then loads new materials into the fixtures. When the amount of material in the topmost clamp of the vehicle exit position reaches a preset value and the number of clamps stacked on the vehicle exit position also reaches a preset value, the stacker crane removes the stacked clamp group on the vehicle exit position.

[0013] Fourthly, a material handling fixture transfer method based on the above-mentioned material handling fixture transfer system is provided, comprising the following steps: During the process of the fixture being removed from the stacked fixture assembly and then re-stacked: When it is necessary to load materials into the fixtures one by one, the industrial robot loads materials into the top fixture of the exit position or the top fixture of the entry position. When it is necessary to remove the old material from the fixture and load the new material, the industrial robot removes the old material from the top fixture of the infeed position, and the shifting module moves the empty fixture of the top fixture of the infeed position to the outfeed position; the industrial robot loads the new material into the top fixture of the outfeed position.

[0014] In another embodiment, after the stacker crane moves the stacked clamp group to the vehicle entry position, the stacker crane returns and moves the next stacked clamp group to the vehicle entry position.

[0015] Fifthly, a material handling fixture transfer method based on the above-mentioned material handling fixture transfer system is provided, comprising the following steps: The process includes the following steps: the stacker crane moves the unloaded stacking fixture group to the first entry position, and then the stacker crane moves the next unloaded stacking fixture group to the second entry position; The industrial robot loads materials into the topmost clamp of the exit position or into the topmost clamp of the first entry position; The shifting module moves the topmost clamp of the first entry position to the exit position; When the amount of material in the topmost clamp of the exit position reaches a preset value and the number of clamps stacked on the exit position also reaches a preset value, the stacker crane removes the stacked clamp group on the exit position, and then the stacker crane moves the next empty stacked clamp group to the first entry position. The shifting module moves the uppermost clamp of the second entry position to the exit position; The industrial robot loads materials into the topmost clamp of the exit position or the topmost clamp of the second entry position; When the amount of material in the topmost clamp of the vehicle exit position reaches a preset value and the number of clamps stacked on the vehicle exit position also reaches a preset value, the stacker crane removes the stacked clamp group on the vehicle exit position.

[0016] Sixthly, a material handling fixture transfer method based on the above-mentioned material handling fixture transfer system is provided, comprising the following steps: The stacker crane moves the stacked clamp assembly carrying the material to the first entry position, and then the stacker crane moves the next stacked clamp assembly carrying the material to the second entry position; The industrial robot removes the material from the topmost fixture of the first entry station; When the topmost clamp of the first entry position is unloaded, the shifting module moves the topmost clamp of the first entry position to the exit position; The industrial robot loads materials into the topmost clamp of the vehicle exit position; When the amount of material in the topmost clamp of the exit position reaches a preset value and the number of clamps stacked on the exit position also reaches a preset value, the stacker crane removes the stacked clamp group on the exit position, and then the stacker crane moves the next set of stacked clamp groups carrying materials to the first entry position. The industrial robot removes the material from the topmost fixture of the second loading station; When the topmost clamp of the second entry position is unloaded, the shifting module moves the topmost clamp of the second entry position to the exit position; The industrial robot loads materials into the topmost clamp of the vehicle exit position; When the amount of material in the topmost clamp of the vehicle exit position reaches a preset value and the number of clamps stacked on the vehicle exit position also reaches a preset value, the stacker crane removes the stacked clamp group on the vehicle exit position.

[0017] Seventhly, a material handling fixture transfer method based on the above-mentioned material handling fixture transfer system is provided, comprising the following steps: The stacker crane moves the stacked clamp assembly to the vehicle entry position; The shifting module moves the uppermost clamp of the vehicle entry position to the transition position; The industrial robot loads material into the fixture at the transition position, or the industrial robot first removes the old material from the fixture at the transition position or the uppermost fixture at the entry position, and then loads new material into the fixture at the transition position. When the amount of material in the fixture at the transition position reaches a preset value, the shifting module moves the fixture at the transition position to the exit position; When the number of clamps at the vehicle exit position reaches a preset value, the stacker crane removes the stacked clamp group from the vehicle exit position.

[0018] In a further embodiment, the shifting module includes a first shifting module and a second shifting module. The first shifting module moves the uppermost clamp of the vehicle entry position to the transition position; the second shifting module moves the clamp on the transition position to the vehicle exit position and stacks the clamps at the vehicle exit position to re-form the stacked clamp group.

[0019] According to the material carrying fixture transfer system of the above embodiment, since the fixtures of the material transfer system can be stacked together to form a stacked fixture group, the material carrying fixture can be transferred in the process of transfer using the stacked fixture group, which occupies little space and reduces the floor area of ​​the transfer system.

[0020] Furthermore, during material loading or unloading, the transfer module can move the fixtures in the stacked fixture group one by one to the exit position, and then stack them back together to form a stacked fixture group. The stacked fixture group is then moved away from the exit position by a stacker crane. By rationally scheduling the stacker crane, transfer module, and industrial robot, the flow efficiency of the stacked fixture group and materials is improved. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of the first material carrying fixture transfer system provided in this application; Figure 2 This is a structural schematic diagram of the second type of material carrying fixture transfer system provided in this application; Figure 3This is a structural schematic diagram of the third type of material carrying fixture transfer system provided in this application; Figure 4 This is a structural schematic diagram of the fourth type of material carrying fixture transfer system provided in this application; Figure 5 This is a structural schematic diagram of the fifth type of material carrying fixture transfer system provided in this application; Figure 6 A schematic diagram of the sixth type of material carrying fixture transfer system provided in this application; Figure 7 A structural schematic diagram of the seventh type of material carrying fixture transfer system provided in this application; Figure 8 This is a structural schematic diagram of the eighth type of material carrying fixture transfer system provided in this application; Figure 9 This is a schematic diagram of the transfer module of the material carrying fixture transfer system in one embodiment of this application; Figure 10 This is a schematic diagram of the structure of a stackable clamp in one embodiment of this application; Figure 11 for Figure 10 The left view; Figure 12 This is an isometric view of a stackable fixture in one embodiment of this application; Figure 13 This is a schematic diagram of the lower structure of a stackable fixture in one embodiment of this application; Figure 14 A flowchart of the first material-carrying fixture transfer method provided in this application; Figure 15 A flowchart of the second material-carrying fixture transfer method provided in this application; Figure 16 A flowchart of the third material-carrying fixture transfer method provided in this application; Figure 17 A flowchart of the fourth material-carrying fixture transfer method provided in this application; Figure 18 A flowchart of the fifth material-carrying fixture transfer method provided in this application; Figure 19 A flowchart of the sixth material carrying fixture transfer method provided in this application; Figure 20 A flowchart of the seventh material-carrying fixture transfer method provided in this application; Figure 21 A flowchart of the eighth material carrying fixture transfer method provided in this application; Figure 22 A flowchart of the ninth material-carrying fixture transfer method provided in this application; Figure 23 A flowchart of the tenth material-carrying fixture transfer method provided in this application; Figure 24 A flowchart of the eleventh material carrying fixture transfer method provided in this application; Figure 25 A flowchart of the twelfth material carrying fixture transfer method provided in this application; Figure 26 A flowchart of the thirteenth material-carrying fixture transfer method provided in this application; Figure 27 A flowchart of the fourteenth material-carrying fixture transfer method provided in this application; Figure 28 A flowchart of the fifteenth material carrying fixture transfer method provided in this application; Figure 29 A flowchart of the sixteenth material carrying fixture transfer method provided in this application; Figure 30 A flowchart of the seventeenth material carrying fixture transfer method provided in this application.

[0022] The feature names corresponding to the reference numerals in the figure are as follows: 100, clamp; 200, shifting module; 2001, first shifting module; 2002, second shifting module; 201, support base; 202, first shifting mechanism; 2021, first shifting guide rail; 2022, first drive mechanism; 203, second shifting mechanism; 2031, second shifting seat; 2032, second shifting guide rail; 2033, second drive mechanism; 204, gripper mechanism; 2041, gripper mounting base; 2042, gripper drive mechanism; 2043, gripper; 300, industrial robot; 400, entry position; 401, first entry position; 402, second entry position; 500, exit position; 501, first exit position; 502, second exit position; 600, loading tray; 700, transition position; 800, guide wheel; 1. Fixture carrier; 11. Support base plate; 12. Side guard plate; 13. Mounting rod; 14. Battery positioning plate; 15. Bottom guard plate; 16. Heating film protection plate; 2. Mounting block; 21. Positioning groove; 3. Positioning block; 31. Chamfer; 4. Guide rail; 5. Fixture electrical connector; 51. Press contact; 52. Connector plate; 6. Connector mounting plate. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0024] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0025] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0026] In some embodiments, please refer to Figures 1 to 13 The material handling fixture transfer system includes a fixture 100, a stacker crane, a transfer module 200, an industrial robot 300, and a control module.

[0027] Please refer to Figures 10 to 13 The number of fixtures 100 is at least two. Each fixture 100 includes a fixture carrier 1, an upper positioning structure, and a lower positioning structure. The upper positioning structure is located on the upper side of the fixture carrier 1, and the lower positioning structure is located on the lower side of the fixture carrier 1. The positions of the upper and lower positioning structures correspond vertically, so that at least two fixtures are stacked together to form a stacked fixture assembly. The structure of the fixture 100 will be described in detail below.

[0028] The material handling fixture transfer system has an inlet position 400 and an outlet position 500, both of which can be used to hold stacked fixture assemblies. A stacker crane is used to move the stacked fixture assembly as a whole to the inlet position 400 and then move it out of the outlet position 500 as a whole. A transfer module 200 is used to move the fixtures 100 in the stacked fixture assembly one by one from the inlet position 400 to the outlet position 500, and then stack the fixtures 100 one by one at the outlet position 500 to re-form the stacked fixture assembly. An industrial robot 300 can load materials into the fixtures 100 and remove materials from the fixtures 100.

[0029] The control module is connected to the stacker crane, the shifting module 200, and the industrial robot 300 to control their movement.

[0030] The stacker crane, the transfer module 200, and the industrial robot 300 can all utilize existing, mature equipment. For example, the stacker crane can be a robotic palletizer or a mechanical palletizer, both of which can be gantry-type, column-type, or robotic arm-type palletizers. The industrial robot 300 can be any feasible robot available in the prior art, such as a multi-axis articulated robot. The industrial robot 300 uses a robotic arm to load and remove materials.

[0031] In one embodiment, please refer to Figure 9 The shifting module 200 includes a support base 201, a first shifting mechanism 202, a second shifting mechanism 203, and a gripper mechanism 204. The first shifting mechanism 202 is mounted on the support base 201, the second shifting mechanism 203 is connected to the first shifting mechanism 202, and the gripper mechanism 204 is mounted on the second shifting mechanism 203. The first shifting mechanism 202 drives the second shifting mechanism 203 to move along the X direction, and the second shifting mechanism drives the gripper mechanism 204 to move along the Y direction. The angle between the X and Y directions is greater than 0° and less than 180°. The gripper mechanism 204 is used to hold the fixture 100.

[0032] Specifically, the X direction is perpendicular to the Y direction, and the first shifting mechanism 202 and the second shifting mechanism 203 form a cross-shaped translation mechanism. The first shifting mechanism 202 includes a first shifting guide rail 2021 and a first driving mechanism 2022 that drives the second shifting mechanism 203. The second shifting mechanism 203 includes a second shifting seat 2031, a second shifting guide rail 2032 fixed on the second shifting seat 2031, and a second driving mechanism 2033 that drives the gripper mechanism 204. The second shifting seat 2031 is mounted on the first shifting guide rail 2021, and under the action of the first shifting guide rail 2021, the second shifting seat 2031 can reciprocate linearly in the X direction.

[0033] The gripper mechanism 204 includes a gripper mounting base 2041, a gripper drive mechanism 2042, and grippers 2043. Both the gripper drive mechanism 2042 and the grippers 2043 are mounted on the gripper mounting base 2041. The gripper mounting base 2041 is mounted on a second shift guide rail 2032, and the second drive mechanism 2033 is mounted on the second shift base 2031. Under the action of the second drive mechanism 2033, the gripper mounting base 2041 can reciprocate linearly in the Y direction. The grippers 2043 are arranged in pairs, and the gripper drive mechanism 2042 can drive the paired grippers 2043 to move closer and further apart, thereby achieving the gripping and releasing of materials.

[0034] In this application, the first shifting drive mechanism, the second shifting drive mechanism, and the gripper drive mechanism 2042 are all linear drive mechanisms, which can be any feasible method such as a lead screw and nut mechanism, a gear and rack mechanism, a belt transmission mechanism, a sprocket and chain, a linear motor, or a drive cylinder.

[0035] In some other embodiments, the shifting module 200 may also be a robot with a robotic arm, with the gripper 2043 located at the end of the robot's robotic arm. The robot can control the position of the gripper 2043 and the gripping and releasing of the gripper 2043 by controlling the robotic arm.

[0036] In one embodiment, please refer to Figure 9 The material handling fixture transfer system includes a material tray 600, with an inlet position 400, an outlet position 500, and a transition position 700 all located on the material tray 600. A support base 201 is mounted together with the material tray 600. In some other embodiments, the support base 201 and the material tray 600 can also be arranged separately, but the relative positions of the support base 201 and the material tray 600 need to be fixed to facilitate the shifting module 200 in recognizing the position of the material tray 600. Guide wheels 800 for guiding and engaging with the fixture 100 are arranged at the inlet position 400, the outlet position 500, and the transition position 700.

[0037] The structure of fixture 100 is described in detail below: In some embodiments, please refer to Figure 12 and Figure 13 The clamp carrier 1 includes a base plate 11 and side guard plates 12. The side guard plates 12 and the base plate 11 form a receiving cavity for placing materials. The side guard plates 12 can protect the materials from impact damage.

[0038] In some embodiments, the clamp 100 is a battery clamp, and the receiving cavity is for accommodating the battery. An electric heating element is provided on the clamp carrier 1, which heats the battery when energized. Electric heating elements (not shown in the figure) are embedded in both the supporting base plate 11 and the side guard plate 12. In this case, the clamp 100 is used to dry the battery. Specifically, in one embodiment, the electric heating element is an electric heating tube. The clamp carrier 1 is made of a thermally conductive material. The embedded electric heating element enables the clamp carrier 1 to generate heat, simplifies the structure of the clamp carrier 1, and prevents the electric heating element from being bumped or scratched during the movement of the clamp carrier 1. In some other embodiments, the clamp may only be used to carry and transfer materials without the need for heating and drying the materials.

[0039] In one embodiment, please refer to Figure 12 and Figure 13 The electric heating element includes a main heating film covering the base plate 11 and a secondary heating film covering the side guard plate 12. The heating film provides more uniform heating, improving the heating uniformity of the fixture carrier 1 and reducing the manufacturing difficulty of the fixture 100. To prevent the heating film from being scratched by impacts, in one embodiment, the main heating film covers the bottom of the base plate 11, and a bottom guard plate 15 is fixed to the outside of the main heating film for protection. Similarly, the secondary heating film is located on the outside of the side guard plate 12, and a heating film protection plate 16 is fixed to the outside of the secondary heating film for protection.

[0040] In one embodiment, please refer to Figure 12 and Figure 13 The upper positioning structure is located on the upper side of the fixture carrier 1, and the lower positioning structure is located on the lower side of the fixture carrier 1. The positions of the upper positioning structure and the lower positioning structure are vertically corresponding, so that when the fixtures 100 are stacked, the upper positioning structure of the lower fixture 100 can be positioned and cooperated with the lower positioning structure of the upper fixture 100 in two adjacent fixtures 100.

[0041] In one embodiment, please refer to Figure 12 and Figure 13 The lower positioning structure includes a positioning groove 21, and the upper positioning structure includes a positioning block 3 for inserting into the positioning groove 21. The positioning groove 21 and the positioning block 3 are positioned and engaged, resulting in a simple structure and convenient positioning and insertion. In one embodiment, the upper positioning structure is located on the side guard plate 12. Specifically, the positioning block 3 is fixed to the side guard plate 12 by screws. To facilitate the insertion of the positioning block 3 into the positioning groove 21, in this embodiment, the upper end of some positioning blocks 3 is provided with a chamfer 31 to guide the positioning block 3 into the positioning groove 21, facilitating the stacking operation of the clamp 100.

[0042] In one embodiment, please refer to Figure 12 and Figure 13 The positioning block 3 is fixed to the clamp carrier 1 by screws. The positioning block 3 is provided with two fixing holes, and the positioning block 3 is fixed to the upper side of the side guard plate 12 by two screws.

[0043] Specifically, in this embodiment there are 9 positioning blocks 3, and the four side guards 12 form a rectangular frame, with two or more positioning blocks 3 fixed on each side guard 12.

[0044] In one embodiment, please refer to Figure 12 and Figure 13 The lower positioning structure includes a mounting block 2, which is fixed to the clamp carrier 1 by bolts. The mounting block 2 has a positioning groove 21.

[0045] In one embodiment, the underside of the fixture carrier 1 has a carrier guiding and moving structure for cooperating with the external guiding mechanism for forward and backward guiding movement, and a portion of the positioning groove 21 is provided on the carrier guiding and moving structure. By arranging a portion of the positioning groove 21 on the carrier guiding and moving structure, the structure is more compact. When the fixture serves as the base for stacking, the carrier guiding and moving structure contacts the external guiding mechanism, acting as a support structure to support each stacked fixture. Under the guiding action of the carrier guiding and moving structure and the external guiding mechanism, the fixture can move smoothly to the material handling station.

[0046] In one embodiment, the clamp carrier 1 has a support structure for supporting the clamp 100. The entire clamp 100 is directly supported by the support structure on the clamp carrier, eliminating the need for a stacked foundation. In one embodiment, the support structure is composed of a carrier guiding and moving structure. In another embodiment, the support structure is the lower side of the clamp carrier, which supports the clamp 100.

[0047] Please refer to Figure 13 In one embodiment, the carrier guiding and moving structure is a guide rail 4. The guide rail 4 has a simple structure and low processing cost. Some positioning grooves 21 are directly formed on the guide rail 4. The guide rail 4 is fixed to the bearing base plate 11 with screws. In this embodiment, two guide rails 4 are arranged at intervals on the left and right. In one embodiment, the number of guide rails can be set as needed, such as three, four, or any other arbitrary number. In another embodiment, the carrier guiding and moving structure is a guide wheel. The guide wheel can not only realize the guiding function, but also reduce the friction during the movement of the clamp. In this embodiment, the carrier guiding and moving structure uses insulating material, which can avoid generating conductive friction debris that contaminates the battery and affects the battery performance.

[0048] Please refer to Figure 12 and Figure 13The fixture 100 also includes a fixture electrical connector 5, which is used to conduct electricity with an external electrical connector to connect the electric heating element to a power source. In one embodiment, the fixture electrical connector 5 includes a pressure contact 51, which is located at the front of the fixture carrier 1. The fixture carrier 1 is used to move forward into the working position. After the fixture carrier 1 moves forward into position, the pressure contact 51 presses against the external electrical connector and makes conductive contact with it. In another embodiment, the fixture electrical connector 5 includes a connector plate 52, on which the pressure contact 51 is disposed. The connector plate 52 is vertically arranged on the fixture carrier 1. Specifically, a connector mounting plate 6 is fixed on the fixture carrier 1, with the front part of the connector mounting plate 6 suspended at the front of the fixture carrier 1. The fixture electrical connector 5 is fixed to the suspended front part of the connector mounting plate 6. The pressure contact 51 in the fixture electrical connector 5 also extends forward from the connector plate 52 to facilitate conductive contact with the external electrical connector. In one embodiment, the fixture carrier 1 is square, and the fixture electrical connector 5 is located at one corner of the fixture carrier 1. In this embodiment, the external electrical connector is located at the material handling station of the fixture.

[0049] In this embodiment, the clamp electrical connector 5, in addition to connecting the electric heating element, will also be used to connect the temperature sensor signal transmission circuit for detecting the heating temperature.

[0050] In one embodiment, please refer to Figure 12 and Figure 13 The fixture carrier 1 includes a material positioning structure fixed on the supporting base plate 11 for positioning materials. The material positioning structure includes a mounting rod 13 extending to the left and right, and multiple material positioning plates 14 are fixed on the mounting rod 13. The multiple material positioning plates 14 are arranged at intervals from left to right, and adjacent material positioning plates 14 position the materials. Specific materials can be batteries, battery cells, etc.

[0051] Each fixture in this application can serve as the base for stacking, eliminating the need for a dedicated base plate. At the material handling station, the fixture carrier 1 can move back and forth under the action of the guide rail 4. During the back and forth movement of the fixture carrier 1, the contact points between the fixture electrical connector 5 and the external electrical connector can be switched on and off.

[0052] In one embodiment, the fixture carrier is flat, the upper positioning structure is a positioning post fixed on the fixture carrier, and the lower positioning structure is a positioning hole located on the lower side of the fixture carrier.

[0053] In one embodiment, the clamp electrical connector is fixed to the left or right side guard plate of the clamp carrier. In another embodiment, the clamp electrical connector and the external electrical connector are connected and disconnected via plugging and unplugging. The clamp electrical connector is a plug, and the compatible external electrical connector is a socket. The clamp carrier's back-and-forth movement enables insertion into the socket. In another embodiment, the clamp electrical connector can also be fixed to the underside of the clamp carrier. In this case, sufficient space needs to be left on the underside of the clamp carrier so that after the clamp carrier moves into position, the external electrical connector extends into the underside of the clamp carrier and plugs into the clamp electrical connector. When the clamp carriers are stacked, space is also left between the upper and lower clamps for the clamp electrical connector to plug into the external electrical connector.

[0054] In one embodiment, the upper positioning structure in the lower clamp and the lower positioning structure in the upper clamp are positioned by a stop. The upper positioning structure is a first annular step set on the side guard plate, and the corresponding lower positioning structure is a second annular step set on the bearing base plate. The first annular step and the second annular step can be fitted and nested together to realize the positioning of the upper positioning structure and the lower positioning structure.

[0055] In one embodiment, in addition to the automatic pressure contact conduction or automatic plug-in conduction methods described in the above embodiments, the clamp electrical connector can also be located on the rear side of the clamp carrier. After the clamp carrier is pushed into the battery drying box, the external electrical connector is manually plugged into the clamp electrical connector.

[0056] The stacking process of the fixtures is as follows: When there is a large quantity of material to be processed, the material to be processed is loaded into the cavities of multiple fixtures, and then the fixtures are stacked. The upper and lower fixtures are positioned by a positioning structure. The positioning block in the lower fixture is inserted into the positioning groove of the upper fixture. After stacking, the stacked fixtures are sent into the material processing station as a whole. The guide rail in the bottom fixture is guided and cooperated with the external guide mechanism at the material processing station. After the fixture moves into place, the fixture electrical connector on the fixture makes conductive contact with the external electrical connector at the material processing station, connecting the electric heating element in the fixture to the power supply.

[0057] In one embodiment, the material handling station of the fixture of this application is located in a battery drying chamber, resulting in higher battery drying efficiency and better drying effect. In another embodiment, the material handling station is located in an open drying space. In yet another embodiment, the external guiding mechanism is a guide wheel 800 or a guide groove adapted to the guide rail.

[0058] In one embodiment, if the space at the material handling station is large enough, the stacking of fixtures can also be carried out at the material handling station. In this case, the guide rail on the fixture carrier is not a necessary structure and can be selected as needed.

[0059] In summary, due to the upper and lower positioning structures on the fixture carrier, the fixtures of this application can be stacked together and then fed into the material handling station for material processing. After the fixtures are fed into the material handling station, the fixture electrical connectors make conductive contact with external electrical connectors, and the electric heating element is connected to the power supply to heat and dry the material. During the stacking operation, there is no fixed requirement for the stacking order of the fixtures. Depending on actual needs, two or more fixtures can be directly stacked for use, or they can be used individually, making the use of the fixtures more flexible.

[0060] It should be noted that the material handling station refers to the station where materials in the fixtures are processed. Usually, after the material handling station has finished processing the materials in the stacked fixture group, the materials in the stacked fixture group need to be taken out and new materials need to be loaded to start processing the new materials, such as the station for heating and drying batteries.

[0061] To facilitate the positioning of the stacked fixture assembly, please refer to the following during the transfer of the stacked fixture assembly: Figure 9 Guide wheels 800 that cooperate with guide rail 4 are arranged in the entry position 400, exit position 500 and transition position 700. The stacking fixture assembly can move back and forth under the action of guide wheels 800 and guide rail 4, which makes it convenient for the stacker crane to transport the stacking fixture assembly to the position.

[0062] The clamp electrical connector is only used at the material handling station. It is usually not needed during the clamp transfer process.

[0063] The stacked fixture assembly transfer system of this application is used for the transfer of stacked fixture assemblies. During the transfer of stacked fixture assemblies, the stacker crane transports the stacked fixture assembly from the material handling station to the inlet position 400, and then completes the transfer of the stacked fixture assembly and the removal and loading of materials in the stacked fixture assembly.

[0064] In some embodiments, please refer to Figures 3 to 6 The number of entry positions 400 is at least two, namely, the first entry position 401 and the second entry position 402. The stacker crane is used to alternately transfer stacked fixture groups to the first entry position 401 and the second entry position 402. The transfer module 200 is capable of moving the fixtures in the stacked fixture group in the first entry position 401 to the exit position 500 one by one, and is also capable of moving the fixtures in the stacked fixture group in the second entry position 402 to the exit position 500.

[0065] Furthermore, in some embodiments, please refer to Figure 5 and Figure 6The system has at least two entry positions 400, namely a first entry position 401 and a second entry position 402, and at least two exit positions 500, namely a first exit position 501 and a second exit position 502. The stacker crane is used to alternately transfer stacked fixture groups to the first entry position 401 and the second entry position 402. The stacker crane alternately removes the stacked fixture groups entirely from the first exit position 501 and the second exit position 502. The transfer module 200 is capable of moving fixtures from the stacked fixture group at the first entry position 401 to the first exit position 501 or the second exit position 502 one by one, and is also capable of moving fixtures from the stacked fixture group at the second entry position 402 to the first exit position 501 or the second exit position 502.

[0066] Furthermore, in one embodiment, please refer to Figure 6 The shifting module 200 includes a first shifting module 2001 and a second shifting module 2002. The first shifting module 2001 is responsible for moving the clamps in the stacked clamp group in the first entry position 401 one by one to the first exit position 501, and the second shifting module 2002 is responsible for moving the clamps in the stacked clamp group in the second entry position 402 one by one to the second exit position 502. Of course, in some other embodiments, the first shifting module 2001 and the second shifting module 2002 can also be used in a one-for-one standby manner.

[0067] In some embodiments, please refer to Figure 7 and Figure 8 The material handling fixture transfer system has a transition position 700. The shifting module 200 is used to move the fixtures in the stacked fixture group in the entry position 400 one by one from the entry position 400 to the transition position 700, and then move the fixtures from the transition position 700 to the exit position 500 and stack them up to form a stacked fixture group again. The industrial robot 300 can load materials into the fixtures in the transition position 700 and can remove the materials from the fixtures in the transition position 700.

[0068] In one embodiment, please refer to Figure 8 The shifting module 200 includes a first shifting module 2001 and a second shifting module 2002. The first shifting module 2001 is used to move the fixtures in the stacked fixture group in the entry position 400 one by one from the entry position 400 to the transition position 700. The second shifting module 2002 is used to move the fixtures in the transition position 700 from the transition position 700 to the exit position 500, and stack them up again in the exit position 500 to form a stacked fixture group.

[0069] In one embodiment, please refer to Figure 2 and Figure 4The shifting module 200 includes a first shifting module 2001 and a second shifting module 2002, wherein one of the first shifting module 2001 and the second shifting module 2002 is operational while the other is on standby. In some other embodiments, the first shifting module 2001 and the second shifting module 2002 may also operate alternately.

[0070] In some embodiments of the material carrying fixture transfer method, the material carrying fixture transfer method is as follows: at least two fixtures carrying materials are stacked to form a stacked fixture group, and the stacked fixture group as a whole is transferred; when materials are loaded or removed from the fixtures in the stacked fixture group, the fixtures in the stacked fixture group are removed one by one from the stacked fixture group and re-stacked, and the loading or removal of materials is completed during the process of the fixtures being removed from the stacked fixture group and being re-stacked.

[0071] Based on this concept, different material handling fixture transfer systems of the above different types can be used to generate different transfer methods, as illustrated below.

[0072] In some embodiments, please refer to Figures 14 to 19 The material handling fixture transfer method includes the following steps: The stacker crane moves the stacked clamp assembly to the entry position 400; The shifting module 200 removes the fixtures from the stacked fixture group one by one and moves them to the exit position 500 to stack them up again to form a new stacked fixture group. During the process of removing the fixtures one by one from the stacked fixture group and then re-stacking them, the industrial robot 300 loads materials into the fixtures one by one, or removes the old materials from the fixtures and then loads the new materials into the fixtures. When the amount of material in the topmost clamp of the exit position 500 reaches the preset value and the number of clamps stacked on the exit position 500 also reaches the preset value, the stacker crane will remove the stacked clamp group on the exit position 500.

[0073] It should be noted that in this application, during the re-stacking of the stacked fixture groups, the topmost fixture changes. For example, during the process of removing the stacked fixture groups one by one from the parking space, the topmost fixture in the parking space stacked fixture group gradually decreases. When the topmost fixture is removed, the fixture below the topmost fixture becomes the new topmost fixture. Similarly, during the stacking of fixtures in the parking space, after a new fixture is stacked on top of the topmost fixture, the new fixture forms the new topmost fixture. When only one fixture remains in the parking space or parking space, that fixture is the topmost fixture.

[0074] In one embodiment, during the process of removing and re-stacking the fixtures from the stacked fixture assembly: when materials need to be loaded into the fixtures one by one, the industrial robot 300 loads materials into the topmost fixture of the exit position 500 or the topmost fixture of the entry position 400. Specifically, in one embodiment, please refer to... Figure 14 The shifting module 200 first moves the empty fixture from the inlet position 400 to the outlet position 500. At this time, the topmost fixture of the inlet position 400 is unloaded, which reduces the load on the shifting module 200 to a certain extent and lowers energy consumption. Then, the industrial robot 300 loads materials one by one into the topmost fixture of the outlet position 500. This embodiment utilizes one inlet position 400 and one outlet position 500 to achieve reasonable scheduling of the stacker crane and the shifting module 200, which not only improves the efficiency of stacked fixture groups and material flow, but also reduces the occupation of space. In some other embodiments, the number of outlet positions 500 and inlet positions 400 can be set as needed; for example, the number of inlet positions 400 and outlet positions 500 can be any value of two or more.

[0075] Specifically, in one embodiment, please refer to Figure 15 The industrial robot 300 loads materials one by one into the top fixture of the loading station 400, and then the transfer module 200 moves the fixtures with materials to the unloading station 500 and stacks them up. This embodiment utilizes one loading station 400 and one unloading station 500 to achieve reasonable scheduling of the stacker crane and the transfer module 200, which not only improves the efficiency of stacked fixture groups and material flow, but also reduces the occupation of space.

[0076] In some embodiments, please refer to Figure 18 and Figure 19 During the process of removing and re-stacking the fixtures from the stacked fixture assembly: when it is necessary to remove the old material from the fixtures and load new material, the industrial robot 300 removes the old material from the top fixture in the infeed position 400. At this time, the top fixture in the infeed position 400 is in an unloaded state, which reduces the load on the transfer module 200 to a certain extent and lowers energy consumption. The transfer module 200 moves the unloaded top fixture in the infeed position 400 to the outfeed position 500. The industrial robot 300 loads new material into the top fixture in the outfeed position 500. This not only completes the unloading but also the loading of materials using the industrial robot 300, improving its utilization rate. By utilizing the entry position 400 and exit position 500, the stacker crane and the transfer module 200 are rationally scheduled. This not only improves the efficiency of stacked fixture groups and material flow and reduces the occupation of the site, but also allows a single industrial robot 300 to complete both loading and unloading operations, thereby improving the utilization rate of the industrial robot 300.

[0077] In some embodiments, for the case where the parking space 400 includes a first parking space 401 and a second parking space 402, please refer to... Figures 20 to 22 The material handling fixture transfer method includes the following steps: the stacker crane moves the empty stacked fixture group to the first entry position 401, and then the stacker crane moves the next empty stacked fixture group to the second entry position 402. Industrial robot 300 loads materials into the top clamp of exit position 500 or into the top clamp of first entry position 401; The shifting module 200 moves the topmost clamp of the first entry position 401 to the exit position 500; When the amount of material in the topmost clamp of the exit position 500 reaches the preset value and the number of clamps stacked on the exit position 500 also reaches the preset value, the stacker crane will remove the stacked clamp group on the exit position 500, and then the stacker crane will move the next empty stacked clamp group to the first entry position 401. The shifting module 200 moves the uppermost clamp of the second entry position 402 to the exit position 500; Industrial robot 300 loads materials into the top clamp of exit position 500 or the top clamp of the second entry position; When the amount of material in the topmost clamp of the exit position 500 reaches the preset value and the number of clamps stacked on the exit position 500 also reaches the preset value, the stacker crane will remove the stacked clamp group on the exit position 500.

[0078] By making reasonable use of the first entry position 401 and the second entry position 402, not only is the waiting time of the stacker crane reduced and the utilization efficiency of the stacker crane improved, but the interval time of the stacked fixture group entering the entry position 400 is also reduced, thereby improving the flow efficiency of fixtures and materials.

[0079] By making reasonable use of the first entry position 401, the second entry position 402, and the exit position 500, the stacker crane and the transfer module 200 are rationally scheduled. This not only improves the utilization efficiency of the stacker crane, but also allows the stacker crane to alternately send the stacking fixture group into the first entry position 401 and the second entry position 402, reducing the waiting time of the stacker crane and improving the flow efficiency of the stacking fixture group and materials.

[0080] Specifically, in one embodiment, please refer to Figure 20The shifting module 200 first moves the empty fixture from the inlet position 400 to the outlet position 500, and then the industrial robot 300 loads materials one by one into the top fixture of the outlet position 500. The shifting module 200 moves the top fixture of the first inlet position 401 to the outlet position 500. At this time, the top fixture of the first inlet position 401 is in an unloaded state, which reduces the load on the shifting module 200 to a certain extent and lowers energy consumption. Similarly, the shifting module 200 moves the top fixture of the second inlet position 402 to the outlet position 500. At this time, the top fixture of the second inlet position 402 is in an unloaded state, which reduces the load on the shifting module 200 to a certain extent and lowers energy consumption.

[0081] Specifically, in one embodiment, please refer to Figure 21 The industrial robot 300 loads materials one by one into the top fixture of the entry position 400, and then the transfer module 200 moves the fixtures with materials to the exit position 500 and stacks them up.

[0082] In one embodiment, please refer to Figure 22 The material carrying fixture transfer method includes: the stacker crane moves the stacked fixture group carrying the material to the first entry position 401, and then the stacker crane moves the next stacked fixture group carrying the material to the second entry position 402. Industrial robot 300 removes material from the top fixture of the first entry station 401; When the topmost fixture of the first entry position 401 is unloaded, the shifting module 200 moves the topmost fixture of the first entry position 401 to the exit position 500. Industrial robot 300 loads materials into the top clamp of vehicle exit position 500; When the amount of material in the topmost clamp of the exit position 500 reaches the preset value and the number of clamps stacked on the exit position 500 also reaches the preset value, the stacker crane will remove the stacked clamp group on the exit position 500, and then the stacker crane will move the next stacked clamp group carrying material to the first entry position 401. Industrial robot 300 removes material from the top fixture of the second entry station 402; When the uppermost fixture of the second entry position 402 is unloaded, the shifting module 200 moves the uppermost fixture of the second entry position 402 to the exit position 500; Industrial robot 300 loads materials into the top clamp of vehicle exit position 500; When the amount of material in the topmost clamp of the exit position 500 reaches the preset value and the number of clamps stacked on the exit position 500 also reaches the preset value, the stacker crane will remove the stacked clamp group on the exit position 500.

[0083] By utilizing the first entry position 401, the second entry position 402, and the exit position 500, the stacker crane and the transfer module 200 are rationally scheduled, which not only improves the utilization efficiency of the stacker crane, but also allows the stacker crane to alternately send the stacked fixture group into the first entry position 401 and the second entry position 402, reducing the waiting time of the stacker crane and improving the flow efficiency of the stacked fixture group and materials. Furthermore, the use of a single industrial robot 300 to complete both loading and unloading operations improves the utilization rate of the industrial robot 300.

[0084] In some embodiments, please refer to Figures 23 to 30 A method for transferring a material-carrying fixture includes: The stacker crane moves the stacked clamp assembly to the entry position 400; The shifting module 200 moves the uppermost fixture of the entry position 400 to the transition position 700; Industrial robot 300 loads material into the fixture at transition position 700, or first uses industrial robot 300 to remove old material from the fixture at transition position 700 or the top fixture at entry position 400, and then uses industrial robot 300 to load new material into the fixture at transition position 700. When the amount of material in the fixture on the transition position 700 reaches the preset value, the shift module 200 moves the fixture on the transition position 700 to the exit position 500. When the number of clamps in exit position 500 reaches the preset value, the stacker crane will remove the stacked clamp group on exit position 500.

[0085] Industrial robot 300 loads materials into the fixture at transition position 700. Because the fixture at transition position 700 remains at the same height, industrial robot 300 does not need to adjust the height of the fixture each time it loads materials, thus improving its working efficiency. By utilizing entry position 400, transition position 700, and exit position 500, the stacker crane and transfer module 200 are rationally scheduled, improving not only the efficiency of the stacked fixture group and material flow but also the working efficiency of industrial robot 300.

[0086] Specifically, in some embodiments, please refer to Figure 23 and Figure 24 Industrial robot 300 loads materials into the fixture at transition position 700.

[0087] Specifically, in some embodiments, please refer to Figure 25 , Figure 26 , Figure 29 and Figure 30The shifting module 200 includes a first shifting module 2001 and a second shifting module 2002. The first shifting module 2001 moves the uppermost fixture in the entry position 400 to the transition position 700. The second shifting module 2002 moves the fixture on the transition position 700 to the exit position 500 and stacks the fixtures again in the exit position 500 to form a stacked fixture group.

[0088] Specifically, in some embodiments, please refer to Figure 27 and Figure 28 First, the old material is removed from the top fixture in the entry position 400 by the industrial robot 300, and then the new material is loaded into the fixture in the transition position 700 by the industrial robot 300.

[0089] In some embodiments, please refer to Figure 14 , Figure 15 , Figure 18 , Figure 23 , Figure 25 , Figure 27 and Figure 29 After the stacker crane delivers the empty stacking fixture assembly to the inlet position 400, it moves to the outlet position 500 to wait for the stacking fixture assembly loaded with materials to be transported away.

[0090] In some embodiments, after the stacker crane moves the stacking fixture assembly to the entry position 400, the stacker crane returns and moves the next stacking fixture assembly to the entry position 400. Specifically, in one embodiment, please refer to... Figure 16 , Figure 17 , Figure 19 , Figure 24 , Figure 28 and Figure 30 After the stacker crane delivers an empty stacked clamp assembly to the inlet position 400, it returns to deliver the next empty stacked clamp assembly to wait beside the inlet position 400. Once the inlet position 400 is empty, the stacker crane delivers the next stacked clamp assembly to the inlet position 400, and then moves to the outlet position 500 to transport the stacked clamp assembly loaded with materials away. This process not only reduces the stacker crane's waiting time and improves its utilization efficiency, but also reduces the interval between stacked clamp assemblies entering the inlet position 400, improving the flow efficiency of clamps and materials.

[0091] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A material handling fixture transfer system, characterized in that, include: A clamp is provided for carrying materials, and the number of clamps is at least two. Each clamp includes a clamp carrier, an upper positioning structure, and a lower positioning structure. The upper positioning structure is located on the upper side of the clamp carrier, and the lower positioning structure is located on the lower side of the clamp carrier. The positions of the upper and lower positioning structures correspond vertically, so that at least two clamps are stacked together to form a stacked clamp group. The material carrying clamp transfer system has an inlet position and an outlet position, both of which can be used to carry the stacked clamp group. A stacker crane, used to move the stacked clamp assembly as a whole to the inlet position and move the stacked clamp assembly as a whole out of the outlet position; A shifting module is used to move the fixtures in the stacked fixture group one by one from the vehicle entry position to the vehicle exit position, and stack the fixtures one by one at the vehicle exit position to re-form the stacked fixture group. An industrial robot capable of loading materials into the gripper and removing materials from the gripper; The system also includes a control module, which is communicatively connected to the stacker crane, the transfer module, and the industrial robot to control their movement. The control module is used to control the stacker crane, the transfer module, and the industrial robot to perform the following steps: The stacker crane is controlled to move the stacking fixture assembly to the vehicle entry position; The shifting module controls the fixtures in the stacked fixture group to be removed one by one from the stacked fixture group and moved to the exit position to be stacked up to re-form the stacked fixture group; During the process of the fixtures being removed one by one from the stacked fixture group and then re-stacked, the industrial robot is controlled to load materials into the fixtures one by one, or to first remove the old materials from the fixtures and then load new materials into the fixtures. When the amount of material in the topmost clamp of the vehicle exit position reaches a preset value and the number of clamps stacked on the vehicle exit position also reaches a preset value, the stacker crane is controlled to remove the stacked clamp group on the vehicle exit position.

2. The material handling fixture transfer system as described in claim 1, characterized in that, The number of the vehicle entry positions is at least two, and the at least two vehicle entry positions are the first vehicle entry position and the second vehicle entry position; the stacker crane is used to alternately transfer the stacked fixture group to the first vehicle entry position and the second vehicle entry position; the shifting module is able to move the fixtures in the stacked fixture group in the first vehicle entry position to the vehicle exit position one by one, and is able to move the fixtures in the stacked fixture group in the second vehicle entry position to the vehicle exit position one by one.

3. The material handling fixture transfer system as described in claim 1, characterized in that, The material handling fixture transfer system has a transition position. The shifting module is used to move the fixtures in the stacked fixture group in the infeed position one by one from the infeed position to the transition position, and then move the fixtures from the transition position to the outfeed position and stack them up to re-form the stacked fixture group. The industrial robot can load materials into the fixtures in the transition position and can remove the materials from the fixtures in the transition position.

4. The material handling fixture transfer system as described in claim 3, characterized in that, The shifting module includes a first shifting module and a second shifting module. The first shifting module is used to move the clamps in the stacked clamp group at the vehicle entry position one by one from the vehicle entry position to the transition position. The second shifting module is used to move the clamps at the transition position from the transition position to the vehicle exit position, and stack them up at the vehicle exit position to re-form the stacked clamp group.

5. The material handling fixture transfer system as described in claim 1, characterized in that, The shifting module includes: Support base, A first shifting mechanism is mounted on the support base; A second shifting mechanism is connected to the first shifting mechanism; A gripper mechanism, which is mounted on the second shifting mechanism; The first shifting mechanism is used to drive the second shifting mechanism to move along the X direction, and the second shifting mechanism is used to drive the gripper mechanism to move along the Y direction. The angle between the X direction and the Y direction is greater than 0° and less than 180°. The gripper mechanism is used to hold the fixture.

6. The material carrying fixture transfer system as described in claim 5, characterized in that, The material carrying fixture transfer system includes a material tray, the inlet position and the outlet position are both located on the material tray, and the support base is installed together with the material tray.

7. A method for transferring a material-carrying fixture based on the material-carrying fixture transfer system according to claim 1, characterized in that, At least two clamps carrying materials are stacked together to form a stacked clamp group, and the stacked clamp group is circulated as a whole. When materials are loaded or removed from the clamps in the stacked clamp group, the clamps in the stacked clamp group are removed one by one from the stacked clamp group and stacked again, and the loading or removal of materials is completed during the process of the clamps being removed from the stacked clamp group and being stacked again.

8. A method for transferring a material-carrying fixture based on the material-carrying fixture transfer system of claim 1, characterized in that, Includes the following steps: The stacker crane moves the stacked clamp assembly to the vehicle entry position; The shifting module removes the fixtures from the stacked fixture group one by one and moves them to the exit position to stack them up again to re-form the stacked fixture group; During the process of the fixtures being removed one by one from the stacked fixture group and then re-stacked, the industrial robot loads materials into the fixtures one by one, or first removes the old materials from the fixtures and then loads new materials into the fixtures. When the amount of material in the topmost clamp of the vehicle exit position reaches a preset value and the number of clamps stacked on the vehicle exit position also reaches a preset value, the stacker crane removes the stacked clamp group on the vehicle exit position.

9. A method for transferring materials using a material-carrying fixture as described in claim 8, characterized in that, Includes the following steps: During the process of the fixture being removed from the stacked fixture assembly and then re-stacked: When it is necessary to load materials into the fixtures one by one, the industrial robot loads materials into the top fixture of the exit position or the top fixture of the entry position. When it is necessary to remove the old material from the fixture and load the new material, the industrial robot removes the old material from the top fixture of the infeed position, and the shifting module moves the empty fixture of the top fixture of the infeed position to the outfeed position; the industrial robot loads the new material into the top fixture of the outfeed position.

10. The material carrying fixture transfer method according to claim 8 or 9, characterized in that, After the stacker crane moves the stacked clamp group to the vehicle entry position, the stacker crane returns and moves the next stacked clamp group to the vehicle entry position.

11. A material-carrying fixture transfer method based on a material-carrying fixture transfer system, characterized in that, The material handling fixture transfer system includes: A clamp is provided for carrying materials, and the number of clamps is at least two. Each clamp includes a clamp carrier, an upper positioning structure, and a lower positioning structure. The upper positioning structure is located on the upper side of the clamp carrier, and the lower positioning structure is located on the lower side of the clamp carrier. The positions of the upper and lower positioning structures correspond vertically, so that at least two clamps are stacked together to form a stacked clamp group. The material carrying clamp transfer system has an inlet position and an outlet position, both of which can be used to carry the stacked clamp group. A stacker crane, used to move the stacked clamp assembly as a whole to the inlet position and move the stacked clamp assembly as a whole out of the outlet position; A shifting module is used to move the fixtures in the stacked fixture group one by one from the vehicle entry position to the vehicle exit position, and stack the fixtures one by one at the vehicle exit position to re-form the stacked fixture group. An industrial robot capable of loading materials into the gripper and removing materials from the gripper; The system also includes a control module, which is communicatively connected to the stacker crane, the transfer module, and the industrial robot to control their movement. The number of the loading positions is at least two, and the at least two loading positions are the first loading position and the second loading position; the stacker crane is used to alternately transfer the stacked fixture group to the first loading position and the second loading position; the transfer module can move the fixtures in the stacked fixture group in the first loading position one by one to the exit position, and can move the fixtures in the stacked fixture group in the second loading position one by one to the exit position; the material carrying fixture transfer method includes the following steps: the stacker crane moves the empty stacked fixture group to the first loading position, and then the stacker crane moves the next empty stacked fixture group to the second loading position; The industrial robot loads materials into the topmost clamp of the exit position or into the topmost clamp of the first entry position; The shifting module moves the topmost clamp of the first entry position to the exit position; When the amount of material in the topmost clamp of the exit position reaches a preset value and the number of clamps stacked on the exit position also reaches a preset value, the stacker crane removes the stacked clamp group on the exit position, and then the stacker crane moves the next empty stacked clamp group to the first entry position. The shifting module moves the uppermost clamp of the second entry position to the exit position; The industrial robot loads materials into the topmost clamp of the exit position or the topmost clamp of the second entry position; When the amount of material in the topmost clamp of the vehicle exit position reaches a preset value and the number of clamps stacked on the vehicle exit position also reaches a preset value, the stacker crane removes the stacked clamp group on the vehicle exit position.

12. A material-carrying fixture transfer method based on a material-carrying fixture transfer system, characterized in that, The material handling fixture transfer system includes: A clamp is provided for carrying materials, and the number of clamps is at least two. Each clamp includes a clamp carrier, an upper positioning structure, and a lower positioning structure. The upper positioning structure is located on the upper side of the clamp carrier, and the lower positioning structure is located on the lower side of the clamp carrier. The positions of the upper and lower positioning structures correspond vertically, so that at least two clamps are stacked together to form a stacked clamp group. The material carrying clamp transfer system has an inlet position and an outlet position, both of which can be used to carry the stacked clamp group. A stacker crane, used to move the stacked clamp assembly as a whole to the inlet position and move the stacked clamp assembly as a whole out of the outlet position; A shifting module is used to move the fixtures in the stacked fixture group one by one from the vehicle entry position to the vehicle exit position, and stack the fixtures one by one at the vehicle exit position to re-form the stacked fixture group. An industrial robot capable of loading materials into the gripper and removing materials from the gripper; The system also includes a control module, which is communicatively connected to the stacker crane, the transfer module, and the industrial robot to control their movement. The number of the vehicle entry positions is at least two, and the at least two vehicle entry positions are a first vehicle entry position and a second vehicle entry position; the stacker crane is used to alternately transfer the stacked fixture group to the first vehicle entry position and the second vehicle entry position; the transfer module is capable of moving the fixtures in the stacked fixture group located in the first vehicle entry position to the vehicle exit position one by one, and is also capable of moving the fixtures in the stacked fixture group located in the second vehicle entry position to the vehicle exit position one by one; The material carrying fixture transfer method includes the following steps: the stacker crane moves the stacked fixture group carrying the material to the first entry position, and then the stacker crane moves the next set of stacked fixture groups carrying the material to the second entry position; The industrial robot removes the material from the topmost fixture of the first entry station; When the topmost clamp of the first entry position is unloaded, the shifting module moves the topmost clamp of the first entry position to the exit position; The industrial robot loads materials into the topmost clamp of the vehicle exit position; When the amount of material in the topmost clamp of the exit position reaches a preset value and the number of clamps stacked on the exit position also reaches a preset value, the stacker crane removes the stacked clamp group on the exit position, and then the stacker crane moves the next set of stacked clamp groups carrying materials to the first entry position. The industrial robot removes the material from the topmost fixture of the second loading station; When the topmost clamp of the second entry position is unloaded, the shifting module moves the topmost clamp of the second entry position to the exit position; The industrial robot loads materials into the topmost clamp of the vehicle exit position; When the amount of material in the topmost clamp of the vehicle exit position reaches a preset value and the number of clamps stacked on the vehicle exit position also reaches a preset value, the stacker crane removes the stacked clamp group on the vehicle exit position.

13. A material-carrying fixture transfer method based on a material-carrying fixture transfer system, characterized in that, The material handling fixture transfer system includes: A clamp is provided for carrying materials, and the number of clamps is at least two. Each clamp includes a clamp carrier, an upper positioning structure, and a lower positioning structure. The upper positioning structure is located on the upper side of the clamp carrier, and the lower positioning structure is located on the lower side of the clamp carrier. The positions of the upper and lower positioning structures correspond vertically, so that at least two clamps are stacked together to form a stacked clamp group. The material carrying clamp transfer system has an inlet position and an outlet position, both of which can be used to carry the stacked clamp group. A stacker crane, used to move the stacked clamp assembly as a whole to the inlet position and move the stacked clamp assembly as a whole out of the outlet position; A shifting module is used to move the fixtures in the stacked fixture group one by one from the vehicle entry position to the vehicle exit position, and stack the fixtures one by one at the vehicle exit position to re-form the stacked fixture group. An industrial robot capable of loading materials into the gripper and removing materials from the gripper; The system also includes a control module, which is communicatively connected to the stacker crane, the transfer module, and the industrial robot to control their movement. The material carrying fixture transfer system has a transition position. The shifting module is used to move the fixtures in the stacked fixture group in the infeed position one by one from the infeed position to the transition position, and then move the fixtures from the transition position to the outfeed position and stack them up to re-form the stacked fixture group. The industrial robot can load materials into the fixtures in the transition position and can remove the materials from the fixtures in the transition position. The material carrying fixture transfer method includes the following steps: The stacker crane moves the stacked clamp assembly to the vehicle entry position; The shifting module moves the uppermost clamp of the vehicle entry position to the transition position; The industrial robot loads material into the fixture at the transition position, or the industrial robot first removes the old material from the fixture at the transition position or the uppermost fixture at the entry position, and then loads new material into the fixture at the transition position. When the amount of material in the fixture at the transition position reaches a preset value, the shifting module moves the fixture at the transition position to the exit position; When the number of clamps at the vehicle exit position reaches a preset value, the stacker crane removes the stacked clamp group from the vehicle exit position.

14. The material carrying fixture transfer method according to claim 13, characterized in that, The shifting module includes a first shifting module and a second shifting module. The first shifting module moves the uppermost clamp of the vehicle entry position to the transition position. The second shifting module moves the clamp on the transition position to the vehicle exit position and stacks the clamps at the vehicle exit position to re-form the stacked clamp group.

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