Material handling system and its control device and control method

Abstract

This invention discloses a material handling system and its control device and method. The control device includes: a buffer mechanism disposed between a conveying mechanism and a material holding mechanism for buffering materials to be loaded; a parameter acquisition module for acquiring system monitoring parameters of the material handling system, including at least one of the following: status parameters of the material holding mechanism, conveying speed of the conveying mechanism, and material monitoring parameters; and a buffer control module for storing preset receiving and releasing conditions of the buffer mechanism. The buffer control module is configured to drive the buffer mechanism to perform receiving or releasing operations based on the system monitoring parameters, preset receiving conditions, and preset releasing conditions. This invention adjusts the material transmission logic based on the buffer mechanism, reducing handling time and improving work efficiency; the control logic is simple and clear, avoiding problems such as card jams caused by control errors, and improving the stability and reliability of handling.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to a material handling system and its control device and method. Background Technology

[0002] In the semiconductor or photovoltaic cell manufacturing process, it is necessary to transfer materials such as silicon wafers or panels between different processes. To avoid material contamination or damage, silicon wafers or panels are usually placed in cassettes, and the cassettes are moved by a handling system to achieve material transfer.

[0003] Figure 1 This is a schematic diagram of an existing material handling system. Figure 1 As shown, the existing handling system connects the feed inlet IN0, the material holding mechanism 2' (e.g., a cassette), and the receiving mechanism ( ) via the conveying mechanism 1'. Figure 1 (Not shown). The conveying mechanism 1' transfers the silicon wafer S or panel from the inlet to the cassette and then transports the cassette to the receiving mechanism. The existing technology has the following problems: During cassette transport, upstream materials continuously flow into the cassette and downstream receiving mechanism at specific intervals. The existing transport intervals are relatively long, resulting in low transport efficiency. When the downstream receiving mechanism exchanges cassettes or malfunctions, the continuous entry of upstream products into the cassette can easily lead to incorrect receiving, causing problems such as card jams, chip blockages, or chip collisions. Summary of the Invention

[0004] This invention provides a material handling system and its control device and method to solve the problem that existing handling systems continuously transport materials downstream based on specific intervals, resulting in low handling efficiency and problems such as jamming, blockage, or collision, thereby improving work efficiency.

[0005] According to the present invention, a material handling system control device is provided. The material handling system includes a conveying mechanism, a material holding mechanism, and a receiving mechanism. The control device includes a buffer mechanism disposed between the conveying mechanism and the material holding mechanism for buffering the material to be loaded; a parameter acquisition module for acquiring system monitoring parameters of the material handling system; wherein the system monitoring parameters include at least one of the following: status parameters of the material holding mechanism, conveying speed of the conveying mechanism, and material monitoring parameters; and a buffer control module for storing preset receiving conditions and preset releasing conditions of the buffer mechanism. The buffer control module is configured to drive the buffer mechanism to perform receiving or releasing operations according to the system monitoring parameters, the preset receiving conditions, and the preset releasing conditions.

[0006] Optionally, the material handling system control device further includes: a system configuration module for configuring system parameters of the material handling system; wherein the system parameters include at least one of the following: a first capacity of the material holding mechanism, a second capacity of the buffer mechanism, the lifting speed and action delay time of the buffer mechanism, the handling interval time, and the pallet warning time; the system configuration module is configured to: determine the values ​​of the system parameters based on user instructions; and / or correct the values ​​of the system parameters according to the system monitoring parameters.

[0007] Optionally, the system configuration module includes: a touch display unit and / or a communication unit; the touch display unit has at least one display interface, the display interface has human-computer interaction function, and is used to display operation buttons, alarm indicator buttons and at least one of the system parameters; the communication unit is used to connect to a terminal device, receive operation instructions sent by the terminal device, and perform data interaction with the terminal device.

[0008] Optionally, the parameter acquisition module includes: a first sensor, a second sensor, a third sensor, and a fourth sensor; the first sensor is used to collect a first material monitoring parameter on the feed side of the conveying mechanism; the second sensor is used to collect a second material monitoring parameter on the feed side of the buffer mechanism; the third sensor is used to collect a third material monitoring parameter on the discharge side of the buffer mechanism; the fourth sensor is used to collect a fourth material monitoring parameter on the feed side of the material holding mechanism; the parameter acquisition module is configured to: determine the status parameter and the conveying speed based on the first material monitoring parameter, the second material monitoring parameter, the third material monitoring parameter, and the fourth material monitoring parameter.

[0009] Optionally, the buffer control module includes a buffer controller and a drive motor; the buffer controller is configured to: determine the take-up speed according to the system monitoring parameters, output a first control signal according to the take-up speed, and control the drive motor to run along a first direction to drive the buffer mechanism to perform a take-up operation; and determine the release speed according to the system monitoring parameters, output a second control signal according to the release speed, and control the drive motor to run along a second direction to drive the buffer mechanism to perform a release operation; wherein the first direction is opposite to the second direction.

[0010] Optionally, the preset receiving conditions of the buffer mechanism include: there are materials to be loaded around the buffer mechanism, and any one of the following: the material holding mechanism is in a full-load state, the material holding mechanism is in a receiving action execution state, or the material holding mechanism is in a holding mechanism exchange action execution state; the buffer control module is configured to: determine the initial number of materials and the number of materials to be loaded in the material holding mechanism according to the system monitoring parameters; determine the quantity of materials in the material holding mechanism according to the initial number of materials and the number of materials to be loaded, and determine whether the material holding mechanism is in a full-load state according to the quantity of materials.

[0011] Optionally, the preset loading conditions of the buffer mechanism include: the buffer mechanism is in a non-empty state, there are no materials to be loaded around the buffer mechanism, the conveying mechanism is in an extended state, and the material holding mechanism is in a non-operational state.

[0012] Optionally, the material handling system control device further includes: a timing unit for acquiring the duration of any film placement condition; the buffer control module is configured to: compare the duration with a preset time, and when the duration of all film placement conditions reaches the preset time, control the buffer mechanism to start executing the film placement operation.

[0013] Secondly, the present invention provides a material handling system control method, the material handling system comprising: a conveying mechanism, a material holding mechanism, and a receiving mechanism, comprising: using a buffer mechanism to buffer the material to be loaded, the buffer mechanism being disposed between the inlet of the conveying mechanism and the material holding mechanism; acquiring system monitoring parameters of the material handling system; wherein the system monitoring parameters include at least one of the following: status parameters of the material holding mechanism, conveying speed of the conveying mechanism, and material monitoring parameters; acquiring preset receiving conditions and preset releasing conditions of the buffer mechanism; and driving the buffer mechanism to perform receiving or releasing operations according to the system monitoring parameters, the preset receiving conditions, and the preset releasing conditions.

[0014] Thirdly, the present invention provides a material handling system, comprising: a conveying mechanism, a material holding mechanism, a receiving mechanism, a buffer mechanism, and a control device for the above-mentioned material handling system; the material handling system control device is configured to: acquire system monitoring parameters, preset receiving conditions, and preset releasing conditions, and drive the buffer mechanism to perform receiving or releasing operations according to the system monitoring parameters, the preset receiving conditions, and the preset releasing conditions.

[0015] The technical solution of this invention includes a buffer mechanism between the conveying mechanism and the material holding mechanism. A parameter acquisition module acquires system monitoring parameters of the material handling system, such as the status parameters of the material holding mechanism, the conveying speed of the conveying mechanism, and the material monitoring parameters. The buffer control module drives the buffer mechanism to perform receiving or releasing operations based on the system monitoring parameters, preset receiving conditions, and preset releasing conditions. The material transmission logic is adjusted based on the buffer mechanism, solving the problem of low handling efficiency and the susceptibility to problems like carding, blockage, or collisions caused by continuous downstream material transport in existing handling systems with specific intervals. This reduces wasted transport interval time and improves work efficiency. The control logic is simple and clear, avoiding problems like carding caused by control errors and improving the stability and reliability of the transport actions.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the existing material handling system.

[0019] Figure 2 This is a schematic diagram of the structure of a material handling system control device provided in an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of another material handling system control device provided in an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the display interface of a material handling system control device provided in an embodiment of the present invention;

[0022] Figure 5 A schematic diagram of the display interface of another material handling system control device provided in an embodiment of the present invention;

[0023] Figure 6 This is a flowchart of a material handling system control method provided in an embodiment of the present invention. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] Figure 2 This is a schematic diagram of a material handling system control device provided in an embodiment of the present invention. This embodiment can be applied to handling silicon wafers, printed circuit boards, glass substrates, display panels, photovoltaic panels or other types of sheet materials.

[0027] See Figure 1 and Figure 2 As shown, the material handling system includes: a conveying mechanism 1', a material receiving mechanism 2', and a receiving mechanism (not shown in the figure). Typically, the conveying mechanism 1' can be a telescopic conveyor belt. The material receiving mechanism 2' can be a cartridge with multiple storage layers.

[0028] See Figure 2 As shown, the material handling system control device of this application includes: a buffer mechanism 100, a parameter acquisition module 200, and a buffer control module 300.

[0029] The buffer mechanism 100 is disposed between the conveying mechanism 1' and the material holding mechanism 2', and is used to buffer the material to be loaded. In this embodiment, the buffer mechanism 100 can be a temporary storage box with multiple storage layers. For example, taking silicon wafers as the material to be loaded, the height of each storage layer is defined as 4.72 mm. When the silicon wafer enters the buffer mechanism 100, the storage layer of the buffer mechanism 100 is raised by 4.72 mm to realize the wafer receiving action; when the storage layer of the buffer mechanism 100 is lowered by 4.72 mm, the silicon wafer falls onto the conveying mechanism 1' to realize the wafer unloading action.

[0030] The parameter acquisition module 200 is used to acquire system monitoring parameters of the material handling system. In this embodiment, the system monitoring parameters are parameters characterizing the operating status of multiple different mechanisms within the material handling system. Typically, the system monitoring parameters include, but are not limited to, at least one of the following: the status parameters of the material holding mechanism 2', the conveying speed of the conveying mechanism 1', and material monitoring parameters. In this embodiment, the status of the material holding mechanism 2' includes, but is not limited to: empty state, full load state, sheet receiving action execution state, empty / full holding mechanism exchange action execution state, and non-action execution state. The status parameters of the material holding mechanism 2' are parameters that directly or indirectly characterize the real-time status of the material holding mechanism 2'.

[0031] See Figure 2 As shown, the parameter acquisition module 200 of this application includes: a first sensor S1, a second sensor S2, a third sensor S3, and a fourth sensor S4; the first sensor S1 is disposed on the inlet side of the conveying mechanism 1', and is used to collect a first material monitoring parameter on the inlet side of the conveying mechanism 1'; the second sensor S2 is disposed on the inlet side of the buffer mechanism 100, and is used to collect a second material monitoring parameter on the inlet side of the buffer mechanism 100; the third sensor S3 is disposed on the outlet side of the buffer mechanism 100, and is used to collect a third material monitoring parameter on the outlet side of the buffer mechanism 100; the fourth sensor S4 is disposed on the inlet side of the material holding mechanism 2', and is used to collect a fourth material monitoring parameter on the inlet side of the material holding mechanism 2'. The parameter acquisition module 200 is configured to determine the conveying speed and at least some state parameters based on the first material monitoring parameter, the second material monitoring parameter, the third material monitoring parameter, and the fourth material monitoring parameter.

[0032] In this embodiment, the first sensor S1, the second sensor S2, the third sensor S3, and the fourth sensor S4 can be position sensors or position-speed sensors. The first material monitoring parameter is used to characterize the material to be loaded entering or about to enter the conveying mechanism 1' at the first time t1, the second material monitoring parameter is used to characterize the material to be loaded entering or about to enter the buffer mechanism 100 at the second time t2, the third material monitoring parameter is used to characterize the material to be loaded leaving or about to leave the buffer mechanism 100 at the third time t3, and the fourth material monitoring parameter is used to characterize the material to be loaded entering or about to enter the material holding mechanism 2' at the fourth time t4. The parameter acquisition module 200 can determine the conveying speed based on the interval distance between different workstations and the conveying time of the material to be loaded; and determine the status parameters of the mechanism based on the number of materials to be loaded entering and leaving any mechanism (such as the buffer mechanism 100 or the material holding mechanism 2') within a specific time. If the interval between the inlet of the conveying mechanism 1' and the inlet of the buffer mechanism 100 is defined as D, then the conveying speed is equal to D / (t2-t1).

[0033] See Figure 2 As shown, the cache control module 300 is connected to the cache mechanism 100. The cache control module 300 stores the preset receiving conditions and preset playing conditions of the cache mechanism 100. The cache control module 300 is configured to drive the cache mechanism 100 to perform receiving or playing operations based on system monitoring parameters, the preset receiving conditions, and the preset playing conditions. Specifically, the preset receiving conditions are the preset conditions for the cache control module 300 to initiate receiving control; the preset playing conditions are the preset conditions for the cache control module 300 to initiate playing control. Specifically, when the system monitoring parameters meet the preset receiving conditions, the cache control module 300 controls the cache mechanism 100 to perform a receiving operation; when the system monitoring parameters meet the preset playing conditions, the cache control module 300 controls the cache mechanism 100 to perform a playing operation.

[0034] In one embodiment, the buffer control module 300 includes a buffer controller and a drive motor. The buffer controller can be a PLC controller, and the drive motor can be a servo motor. The drive motor drives a lead screw, which in turn drives the buffer mechanism 100 to perform take-up or release operations. Typically, the rated speed of the drive motor can be set to 300 rpm, the lead screw lead can be set to 1 cm, and the reduction ratio between the drive motor and the buffer mechanism 100 can be set to 5:1. The buffer controller of this application is configured to: configure a take-up speed according to system monitoring parameters; output a first control signal according to the take-up speed to control the drive motor to run in a first direction (e.g., counterclockwise) to drive the buffer mechanism 100 to perform a take-up operation; and configure a release speed according to system monitoring parameters; output a second control signal according to the release speed to control the drive motor to run in a second direction (e.g., clockwise) to drive the buffer mechanism 100 to perform a release operation; wherein the first direction and the second direction are opposite.

[0035] Specifically, the control logic of the buffer control module 300 can be integrated into the PLC program. After the material handling system starts running, the parameter acquisition module 200 collects material monitoring parameters in real time from the inlet of the conveying mechanism 1', the inlet of the buffer mechanism 100, the outlet of the buffer mechanism 100, and the inlet of the material holding mechanism 2', and transmits all material monitoring parameters to the buffer control module 300. The buffer control module 300 determines the conveying speed and at least some status parameters based on all material monitoring parameters to obtain the final system monitoring parameters. When the system monitoring parameters meet the preset receiving conditions, the buffer control module 300 configures the receiving speed according to the system monitoring parameters, outputs a first control signal according to the receiving speed, and controls the drive motor to run in a first direction to drive the buffer mechanism 100 to perform the receiving operation; when the system monitoring parameters meet the preset releasing conditions, the buffer control module 300 controls the buffer mechanism 100 to configure the releasing speed according to the system monitoring parameters, outputs a second control signal according to the releasing speed, and controls the drive motor to run in a second direction to drive the buffer mechanism 100 to perform the releasing operation. By optimizing the control strategy of the buffer mechanism and adjusting the material transfer logic, the problem of low handling efficiency and easy occurrence of problems such as carding, blockage, or collision caused by the continuous downstream material transfer based on specific intervals in the existing handling system is solved. This helps to reduce the waste of handling interval time and improve work efficiency. The control logic is simple and clear, avoiding problems such as carding caused by control errors, and improving the stability and reliability of handling actions.

[0036] Figure 3 This is a schematic diagram of another material handling system control device provided in an embodiment of the present invention. See also... Figure 3 As shown, the material handling system control device further includes a system configuration module 400, used to configure the system parameters of the material handling system. The system configuration module 400 is configured to: determine the values ​​of the system parameters based on user instructions; and / or, correct the values ​​of the system parameters based on system monitoring parameters.

[0037] In this embodiment, the system parameters are design parameters that measure the working performance of different mechanisms (e.g., material holding mechanism 2' and buffer mechanism 100) in the material handling system. The system parameters can be set as fixed parameters, or they can be set as parameters that can be adjusted numerically based on actual needs; there is no limitation on this.

[0038] In this embodiment, the system parameters include, but are not limited to, at least one of the following: the first capacity of the material holding mechanism 2', the second capacity of the buffer mechanism 100, the lifting speed and action delay time of the buffer mechanism 100, the handling interval time, and the pallet warning time.

[0039] The first capacity of the material holding mechanism 2' represents the maximum number of materials that the material holding mechanism 2' can hold (e.g., 50 pieces). The second capacity of the buffer mechanism 100 represents the maximum number of materials that the buffer mechanism 100 can hold (e.g., 50 pieces).

[0040] The lifting and lowering speed of the cache mechanism 100 represents the speed at which the cache mechanism 100 performs the take-up and take-down of chips (for example, any value greater than or equal to 0.1 m / s and less than or equal to 6 m / s).

[0041] The delay time of the buffer mechanism 100 includes: a first delay time for the buffer mechanism 100 to perform the receiving action, a second delay time for the buffer mechanism 100 to perform the releasing action, and a third delay time for the material receiving mechanism 2' to perform the receiving action. The transport interval time represents the interval between two adjacent materials to be loaded entering the feed port of the conveyor mechanism 1' (for example, it can be set to any value greater than or equal to 0.1 seconds and less than or equal to 2 seconds). When the first material to be loaded enters the feed port of the conveyor mechanism 1', after the transport interval time, the transport of the second material to be loaded begins. By setting the transport interval time, collisions between materials that are too close together are avoided.

[0042] The jam warning time represents the lower threshold for when the material to be loaded will jam during the conveying process (for example, it can be set to any value greater than or equal to 0.1 seconds and less than or equal to 3 seconds). An alarm is issued when the duration of the detection signal of the material to be loaded at any sensor exceeds the jam warning time. The specific value of the jam warning time can be adjusted according to the conveying speed or actual needs.

[0043] like Figure 3 As shown, the system configuration module 400 of this application includes: a touch display unit 401 and / or a communication unit 402. The touch display unit 401 has at least one display interface with human-computer interaction function, used to display at least one of operation buttons, alarm indicator buttons and system parameters; the communication unit 402 is used to connect to a terminal device, receive operation commands sent by the terminal device 01, and perform data interaction with the terminal device 01.

[0044] The operation buttons include, but are not limited to: start button, stop button, alarm light, buzzer, and maintenance setting operation button.

[0045] Figure 4 This is a schematic diagram of the display interface of a material handling system control device provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of the display interface of another material handling system control device provided in an embodiment of the present invention.

[0046] See Figure 4 and Figure 5 As shown, operation buttons (such as start and stop buttons) and alarm buttons can be displayed on different display interfaces.

[0047] See Figure 4 As shown, the display interface is used to configure and display system parameters such as the first delay time (e.g., any value greater than or equal to 0.1 seconds and less than or equal to 2 seconds), the second delay time (e.g., any value greater than or equal to 0.1 seconds and less than or equal to 2 seconds), the third delay time (e.g., any value greater than or equal to 0.1 seconds and less than or equal to 2 seconds), and the transport interval time. The various delay times can be set to the same or different values; there is no restriction on this. The transport interval time can be adjusted according to the conveying speed of the conveying mechanism 1', the distance between the inlet of the conveying mechanism 1' and the buffer mechanism 100, and the distance between the inlet of the conveying mechanism 1' and the material holding mechanism 2'.

[0048] In some embodiments, when the system monitoring parameters meet the preset wafer receiving conditions, a delay timer is started. When the delay time reaches the first delay time, the buffer mechanism 100 is controlled to rise to perform the wafer receiving action. When the system monitoring parameters meet the preset wafer releasing conditions, a delay timer is started. When the delay time reaches the second delay time, the buffer mechanism 100 is controlled to fall to perform the wafer releasing action. When the system monitoring parameters meet the cassette loading conditions, a delay timer is started. When the delay time reaches the third delay time, the material receiving mechanism 2' is controlled to rise to perform the wafer receiving action.

[0049] In other embodiments, combined with Figure 2 As shown, when the material to be loaded leaves the detection area of ​​the first sensor S1, a delay timer is started. When the delay time reaches the first delay time (e.g., any value between 0.1 seconds and 2 seconds), the buffer mechanism 100 is controlled to rise, performing a wafer receiving action. When the material to be loaded leaves the detection area of ​​the fourth sensor S4, a delay timer is started. When the delay time reaches the second delay time, the buffer mechanism 100 is controlled to perform a wafer releasing action. When the material to be loaded leaves the detection area of ​​the third sensor S3, a delay timer is started. When the delay time reaches the third delay time, the material receiving mechanism 2' is controlled to start rising, performing a wafer receiving action. The first delay time can be adjusted according to the conveying speed of the conveying mechanism 1' and the position of the first sensor S1; the second delay time can be adjusted according to the conveying speed of the conveying mechanism 1' and the position of the fourth sensor S4; the third delay time can be adjusted according to the conveying speed of the conveying mechanism 1' and the position of the third sensor S3.

[0050] See Figure 5As shown, taking the setup of two sets of material handling systems (left and right) as an example, the display interface is used to configure and display the lifting speed of the left and right buffer mechanisms 100 (e.g., any value greater than or equal to 0.1 m / s and less than or equal to 6 m / s) and the pallet warning time (e.g., any value greater than or equal to 0.1 seconds and less than or equal to 3 seconds). When any of the first sensor S1, the second sensor S2, the third sensor S3, or the fourth sensor S4 detects that the duration of the material to be loaded exceeds the pallet warning time, the system configuration module 400 controls the alarm indicator key to issue an alarm message. For example, when the first sensor S1 detects that the duration of the material to be loaded exceeds the pallet warning time, the system configuration module 400 controls the alarm indicator key to issue an alarm message.

[0051] It should be noted that the specific values ​​of the lifting speed of the buffer mechanism 100 and the card warning time can be adaptively adjusted according to the transmission speed of the transmission mechanism 1'.

[0052] In some embodiments, the preset receiving conditions of the buffer mechanism 100 include: there are materials to be loaded around the buffer mechanism 100, and any one of the following: the material receiving mechanism 2' is in a full-load state, the material receiving mechanism 2' is in a receiving operation execution state, or the material receiving mechanism 2' is in an empty / full receiving mechanism exchange operation execution state.

[0053] Specifically, see Figure 2 As shown, the presence of materials to be loaded around the buffer mechanism 100 can be determined based on the material monitoring parameters of the first sensor S1. When the system monitoring parameters meet any of the following conditions: the material holding mechanism 2' is in a full-load state, the material holding mechanism 2' is in a wafer receiving action execution state, or the material holding mechanism 2' is in an empty / full holding mechanism exchange action execution state, and the first sensor S1 senses the entry of materials to be loaded, the buffer control module 300 determines that the system monitoring parameters meet the preset wafer receiving conditions and controls the buffer mechanism 100 to perform the wafer receiving operation. By collecting system monitoring parameters from sensors before and after the buffer mechanism 100, and performing wafer receiving logic judgment based on the system monitoring parameters, the buffer mechanism's action time is reasonably configured to avoid abnormal handling errors caused by missed or incorrect wafer receiving.

[0054] Optionally, the buffer control module 300 is configured to: determine the initial material quantity and the quantity of materials to be loaded in the material holding mechanism 2' based on system monitoring parameters; determine the quantity of materials in the material holding mechanism 2' based on the initial material quantity and the quantity of materials to be loaded; and determine whether the material holding mechanism 2' is in a full-load state based on the quantity of materials. Specifically, the initial material quantity can be obtained based on system parameters, and the quantity of materials to be loaded can be determined based on material monitoring parameters collected by the first sensor S1 within a specific time period. The initial material quantity and the quantity of materials to be loaded are summed, and when the total quantity of materials reaches the second capacity of the buffer mechanism 100, the buffer control module 300 determines that the material holding mechanism 2' is in a full-load state.

[0055] Optionally, the preset film placement conditions for the buffer mechanism 100 include: the buffer mechanism 100 is in a non-empty state, there is no material to be loaded around the buffer mechanism 100, the conveying mechanism 1' is in an extended state, and the material holding mechanism 2' is in a non-operational state. Specifically, whether the buffer mechanism 100 is in an empty state can be determined based on the material monitoring parameters collected by the first sensor S1 to the fourth sensor S4 within a specific time period; whether there is material to be loaded around the buffer mechanism 100 can be determined based on the material monitoring parameters collected by the first sensor S1 within a specific time period. Thus, by collecting system monitoring parameters from the sensors before and after the buffer mechanism 100, and performing film placement logic judgment based on the system monitoring parameters, the film placement time can be accurately controlled to avoid premature film placement causing collisions; or delaying film placement to reduce work efficiency.

[0056] Optionally, the material handling system control device further includes: a timing unit for acquiring the duration of any release condition; and a buffer control module 300 configured to: compare the duration with a preset time, and control the buffer mechanism 100 to start the release operation when the duration of all preset release conditions has reached the preset time. By setting the release action logic, condition misjudgment is avoided, which helps to improve the reliability of buffer control.

[0057] Based on the same inventive concept, the present invention provides a material handling system control method. The material handling system control method of this embodiment is executed by the material handling system control device described in the above embodiment, and has the corresponding beneficial effects of the material handling system control device.

[0058] See Figure 2 As shown, the material handling system of this application includes: a conveying mechanism 1', a material holding mechanism 2', and a receiving mechanism ( Figure 2 (Not shown).

[0059] Figure 6 This is a flowchart illustrating a material handling system control method provided in an embodiment of the present invention. Figure 6 As shown, the control method for this material handling system includes the following steps:

[0060] S1: A buffer mechanism is used to buffer the materials to be loaded.

[0061] See Figure 2 As shown, the buffer mechanism is located between the feed inlet of the conveying mechanism 1' and the material holding mechanism 2'.

[0062] S2: Obtain system monitoring parameters of the material handling system.

[0063] The system monitoring parameters include at least one of the following: the status parameters of the material holding mechanism 2', the conveying speed of the conveying mechanism 1', and the material monitoring parameters.

[0064] S3: Get the preset receiving conditions and preset releasing conditions of the cache mechanism.

[0065] S4: Drives the buffer mechanism to perform the receiving or releasing operation based on the system monitoring parameters, preset receiving conditions, and preset releasing conditions.

[0066] Optionally, the material handling system control method further includes: determining the values ​​of system parameters based on user instructions; and / or correcting the values ​​of system parameters according to system monitoring parameters; wherein the system parameters include at least one of the following: the first capacity of the material holding mechanism, the second capacity of the buffer mechanism, the lifting speed and action delay time of the buffer mechanism, the handling interval time, and the pallet warning time.

[0067] Optionally, the material handling system control method further includes: determining the receiving speed according to system monitoring parameters, outputting a first control signal according to the receiving speed, controlling the drive motor to run in a first direction to drive the buffer mechanism to perform the receiving operation; and determining the unloading speed according to system monitoring parameters, outputting a second control signal according to the unloading speed, controlling the drive motor to run in a second direction to drive the buffer mechanism to perform the unloading operation; wherein the first direction and the second direction are opposite.

[0068] Optionally, the preset receiving conditions of the buffer mechanism include: there are materials to be loaded around the buffer mechanism, and any one of the following: the material receiving mechanism is in a full-load state, the material receiving mechanism is in a receiving action execution state, or the material receiving mechanism is in a receiving mechanism exchange action execution state.

[0069] Optionally, the material handling system control method further includes: determining the initial number of materials and the number of materials to be loaded in the material holding mechanism based on system monitoring parameters; determining the quantity of materials in the material holding mechanism based on the initial number of materials and the number of materials to be loaded; and determining whether the material holding mechanism is in a fully loaded state based on the quantity of materials.

[0070] Optionally, the preset loading conditions of the buffer mechanism include: the buffer mechanism is in a non-empty state, there are no materials to be loaded around the buffer mechanism, the conveying mechanism is in an extended state, and the material holding mechanism is in a non-operational state.

[0071] Optionally, the material handling system control method further includes: obtaining the duration of any release condition; comparing the duration with a preset time; and controlling the buffer mechanism to start the release operation when the duration of all release conditions has reached the preset time.

[0072] Based on the same inventive concept, the present invention also provides a material handling system, including: a conveying mechanism 1', a material holding mechanism 2', a receiving mechanism, a buffer mechanism 100, and the above-mentioned material handling system control device; the material handling system control device is configured to: acquire system monitoring parameters, preset receiving conditions, and preset releasing conditions, and drive the buffer mechanism 100 to perform receiving or releasing operations according to the system monitoring parameters, preset receiving conditions, and preset releasing conditions.

[0073] Therefore, the material handling system of this invention sets up a buffer mechanism between the conveying mechanism and the material holding mechanism. This buffer mechanism acquires system monitoring parameters, preset receiving conditions, and preset releasing conditions, and drives the buffer mechanism to perform receiving or releasing operations based on these parameters. By adjusting the material transfer logic based on the buffer mechanism, the system solves the problem of low handling efficiency and the susceptibility to problems such as jamming, blockage, or collisions caused by existing handling systems that continuously transport materials downstream at specific intervals. This reduces wasted handling interval time and improves work efficiency. The control logic is simple and clear, avoiding problems such as jamming caused by control errors, improving the stability and reliability of handling actions, and enabling large-scale, continuous operations for efficient and stable production.

[0074] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0075] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control device for a material handling system, the material handling system comprising: The conveying mechanism, the material holding mechanism, and the receiving mechanism are characterized in that the control device includes: A buffer mechanism is disposed between the conveying mechanism and the material holding mechanism for buffering the material to be loaded; The parameter acquisition module is used to acquire system monitoring parameters of the material handling system; wherein, the system monitoring parameters include at least one of the following: the status parameters of the material holding mechanism, the conveying speed of the conveying mechanism, and the material monitoring parameters; The cache control module is used to store the preset receiving conditions and preset releasing conditions of the cache mechanism; The cache control module is configured to drive the cache mechanism to perform a receiving or releasing operation based on the system monitoring parameters, the preset receiving conditions, and the preset releasing conditions. The preset receiving conditions of the buffer mechanism include: there are materials to be loaded around the buffer mechanism, and any one of the following: the material holding mechanism is in a full-load state, the material holding mechanism is in a receiving action execution state, or the material holding mechanism is in a holding mechanism exchange action execution state. The cache control module is configured to: determine the initial number of materials and the number of materials to be loaded in the material holding mechanism according to the system monitoring parameters; determine the quantity of materials in the material holding mechanism according to the initial number of materials and the number of materials to be loaded; and determine whether the material holding mechanism is in a full-load state according to the quantity of materials. It also includes: a system configuration module, used to configure the system parameters of the material handling system; The system parameters include at least one of the following: the first capacity of the material holding mechanism, the second capacity of the buffer mechanism, the lifting speed and action delay time of the buffer mechanism, the handling interval time, and the pallet warning time; The system configuration module is configured to: determine the value of the system parameter based on user instructions; and / or, correct the value of the system parameter according to the system monitoring parameters; It also includes: a timing unit, used to obtain the duration of any film playback condition; The cache control module is configured to compare the duration with a preset time, and when the duration for which all playback conditions are met reaches the preset time, control the cache mechanism to start the playback operation.

2. The material handling system control device according to claim 1, characterized in that, The system configuration module includes: a touch display unit and / or a communication unit; The touch display unit has at least one display interface, which has human-computer interaction function and is used to display at least one of the operation buttons, alarm indicator buttons and system parameters; The communication unit is used to connect to the terminal device, receive operation instructions sent by the terminal device, and interact with the terminal device for data.

3. The material handling system control device according to claim 1, characterized in that, The parameter acquisition module includes: a first sensor, a second sensor, a third sensor, and a fourth sensor; The first sensor is used to collect the first material monitoring parameters on the feed side of the conveying mechanism; The second sensor is used to collect second material monitoring parameters on the feed side of the buffer mechanism; The third sensor is used to collect third material monitoring parameters on the discharge side of the buffer mechanism; The fourth sensor is used to collect the fourth material monitoring parameter on the feed side of the material holding mechanism; The parameter acquisition module is configured to determine the status parameter and the conveying speed based on the first material monitoring parameter, the second material monitoring parameter, the third material monitoring parameter and the fourth material monitoring parameter.

4. The material handling system control device according to claim 1, characterized in that, The cache control module includes a cache controller and a drive motor; The buffer controller is configured to: determine a take-up speed based on the system monitoring parameters, output a first control signal based on the take-up speed, control the drive motor to run along a first direction to drive the buffer mechanism to perform a take-up operation; and determine a release speed based on the system monitoring parameters, output a second control signal based on the release speed, control the drive motor to run along a second direction to drive the buffer mechanism to perform a release operation; wherein the first direction is opposite to the second direction.

5. The material handling system control device according to any one of claims 1-4, characterized in that, The preset loading conditions of the buffer mechanism include: the buffer mechanism is in a non-empty state, there are no materials to be loaded around the buffer mechanism, the conveying mechanism is in an extended state, and the material holding mechanism is in a non-operational state.

6. A control method for a material handling system, the material handling system comprising: The conveying mechanism, material holding mechanism, and sheet receiving mechanism are characterized in that, applied to the material handling system control device according to any one of claims 1-5, they include: A buffer mechanism is used to buffer the material to be loaded, and the buffer mechanism is disposed between the conveying mechanism and the material holding mechanism; Obtain system monitoring parameters of the material handling system; wherein, the system monitoring parameters include at least one of the following: the status parameters of the material holding mechanism, the conveying speed of the conveying mechanism, and the material monitoring parameters; Obtain the preset receiving conditions and preset releasing conditions of the cache mechanism; The system monitoring parameters, the preset receiving conditions, and the preset releasing conditions drive the buffer mechanism to perform receiving or releasing operations.

7. A material handling system, characterized in that, include: A conveying mechanism, a material holding mechanism, a receiving mechanism, a buffer mechanism, and a material handling system control device according to any one of claims 1-5; The material handling system control device is configured to: acquire system monitoring parameters, preset receiving conditions and preset releasing conditions, and drive the buffer mechanism to perform receiving or releasing operations according to the system monitoring parameters, the preset receiving conditions and the preset releasing conditions.

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