Normalizing device and feeding and discharging equipment

Abstract

The invention provides a tidying device and feeding and discharging equipment. The tidying device comprises a rack; the rotating frame is rotationally connected to the rack; the grabbing assembly is connected to the rotating frame and moves synchronously with the rotating frame; the overturning driving assembly is used for driving the rotating frame to rotate so as to drive the grabbing assembly to overturn to a first state or a second state; when the grabbing assembly is overturned to the first state, the carriers and the sheet materials are allowed to be transferred between the arranging device and an external conveying device; and when the grabbing assembly is overturned to the second state, the multiple sheet-shaped materials topple over under the action of gravity and abut against the inner side of the carrier at the same time. Therefore, the plurality of sheet materials can be changed from an original uneven stacking state to a regular stacking state, the plurality of sheet materials are ensured to be aligned in the vertical direction, the unevenness of a whole formed by the plurality of sheet materials is reduced, the adverse effect on the subsequent process due to the fact that the sheet materials cannot be aligned is reduced, and the production efficiency is improved. And the process efficiency and the yield are improved.

Description

Technical Field

[0001] The present application relates to the technical field of battery cell production lines, and in particular to a tidying device and loading and unloading equipment. Background Art

[0002] At present, semiconductors or photovoltaic materials are widely used in electronics, new energy and other industries. Semiconductors and photovoltaic materials usually need to undergo chemical treatment before they can be applied to products. For example, ALD (atomic layer deposition) technology is used to process sheet materials. In the production process of solar cells, sheet materials are usually loaded by special carriers, and loading and unloading equipment transports the carriers and raw materials to put the raw materials into the processing equipment. Among them, the carrier is provided with a receiving space for accommodating sheet materials. The receiving space can accommodate multiple sheet materials at the same time, and multiple sheet materials are stacked and placed on the carrier.

[0003] However, the spatial dimensions of the internal storage space of the carrier are usually configured to be larger than the total volume of the stacked multiple sheet materials, so that there is a gap between the side of the sheet material and the carrier, making it difficult to align the multiple sheet materials in the vertical direction, affecting the subsequent process of operating the sheet materials and reducing production efficiency. Summary of the invention

[0004] In view of the above, it is necessary to provide a tidying device and loading and unloading equipment to improve production efficiency.

[0005] In a first aspect, the present application provides a tidying device for tidying a plurality of sheet materials loaded on a carrier, the carrier having a receiving space, and the plurality of sheet materials being arranged in the receiving space, the tidying device comprising: a frame; a rotating frame, rotatably connected to the frame; a grabbing assembly, connected to the rotating frame and moving synchronously with the rotating frame, the grabbing assembly being provided with a loading area, the grabbing assembly being used to grab the carrier located in the loading area; a flipping drive assembly, arranged on the frame and connected to the rotating frame, the flipping drive assembly being used to drive the rotating frame to rotate, so as to drive the grabbing group to flip to a first state or a second state; when the grabbing assembly flips to the first state, the carrier and the sheet materials are allowed to be transferred between the tidying device and an external transport device; when the grabbing assembly flips to the second state, an angle is formed between the stacking direction of the plurality of sheet materials and the vertical direction, so that the plurality of sheet materials are tipped over under the action of gravity and simultaneously hold against the inner side of the carrier.

[0006] In some embodiments, the grabbing assembly includes: a carrier frame connected to a rotating frame and moving synchronously with the rotating frame, the carrier frame being used to carry a carrier located in a loading area; a clamping module disposed on the carrier frame, the clamping module being used to cooperate with the carrier frame to clamp the carrier located in the loading area in a first direction.

[0007] In some embodiments, the clamping module includes: a clamping drive, which is arranged on a carrier; a clamping block, which is connected to the clamping drive, and the clamping block and the carrier are spaced apart in a first direction; the clamping block is used to move in the first direction under the drive of the clamping drive; wherein the clamping block can move in a direction close to the carrier, so that the clamping block and the carrier cooperate in the first direction to clamp the carrier located in the loading area; when the grabbing assembly is in the first state, the first direction is parallel to the vertical direction.

[0008] In some embodiments, the carrier is provided with a first stop block, which is located on one side of the loading area. The first stop block can support the carrier located in the loading area in the second direction; wherein, when the grabbing assembly is flipped to the first state, the second direction is parallel to the horizontal direction; when the grabbing assembly is flipped to the second state, the second direction is parallel to the vertical direction.

[0009] In some embodiments, the carrier is provided with a second stop block, and the second stop block and the first stop block are distributed at intervals along the circumference of the loading area. The second stop block is used to support the carrier located in the loading area in a third direction, and there is an angle between the third direction and the first direction, and there is an angle between the third direction and the second direction.

[0010] In some embodiments, an opening is provided on the top of the carrier for the sheet material to enter and exit the receiving space; the organizing device also includes a top plate, which is provided on the rotating frame, and the top plate and the supporting frame are spaced apart to form a loading area; the top plate is used to cover the opening of the carrier located in the loading area to prevent the sheet material from escaping from the opening during the flipping process.

[0011] In some embodiments, the tidying device also includes: an adjusting fixed seat fixed to a rotating frame; an adjusting slider slidably connected to the rotating frame, and a top plate fixed to the adjusting slider; an adjusting screw rotatably connected to the adjusting fixed seat and threadedly connected to the adjusting slider; when the adjusting screw rotates, the adjusting screw drives the adjusting slider and the top plate to move so that the top plate moves closer to or away from the supporting frame.

[0012] In some embodiments, the tidying device also includes a lifting drive member, which is arranged on the rotating frame and connected to the grabbing assembly; the lifting drive member is used to drive the grabbing assembly to reciprocate in a first direction relative to the rotating frame; when the grabbing assembly is in a first state, the first direction is parallel to the vertical direction.

[0013] In some embodiments, the transport device includes a lifting mechanism, which is used to carry the carrier and drive the carrier to rise and fall; a clearance opening is provided on one side of the carrier, and the clearance opening passes through the upper and lower surfaces of the carrier, and the clearance opening is for the jacking mechanism to pass through; when the jacking mechanism carries the carrier and the jacking mechanism passes through the clearance opening, the carrier can extend under the bottom of the carrier to allow the carrier to rise and drive the carrier to rise and separate from the jacking mechanism.

[0014] In some embodiments, the frame is provided with a buffer, the position of the buffer passes through the flipping path of the rotating frame, the buffer is used to resist the rotating frame after flipping and absorb kinetic energy; and / or, the frame is provided with an in-position detection member, the position of the in-position detection member passes through the flipping path of the rotating frame, the in-position detection member is used to detect the position of the rotating frame after flipping; and / or, the frame is provided with a braking screw, the position of the braking screw passes through the flipping path of the rotating frame, the braking screw is threadedly connected to the frame, and the braking screw is used to limit the flipping angle of the rotating frame by resisting the rotating frame.

[0015] In some embodiments, the flipping drive assembly includes: an eccentric rod, a first end of the eccentric rod is coaxially fixed with the rotating axis of the rotating frame and is rotatably connected to the frame; a flipping drive member, a second end of the eccentric rod and the frame are respectively rotatably connected to the flipping drive member, and the flipping drive member is used to change the distance between the second end of the eccentric rod and the frame to drive the eccentric rod to rotate.

[0016] In some embodiments, the transport device includes a lifting mechanism, which is used to carry the carrier and drive the carrier to rise and fall; the frame includes a base frame and a transverse base plate, a transfer area is arranged above the base frame, the transfer area is used to dock with the lifting mechanism, the transverse base plate is slidably connected to the base frame, and the rotating frame, the grabbing assembly and the flipping drive assembly all move synchronously with the transverse base plate; the regularization device also includes a transverse drive assembly, which is connected to the transverse base plate, and the transverse drive assembly is used to drive the transverse base plate to move, so as to drive the grabbing assembly to move toward or away from the transfer area; when the grabbing assembly is away from the transfer area, the transport device is allowed to transport the carrier to the transfer area; when the grabbing assembly is close to the transfer area, the carrier located in the transfer area can enter the loading area for grabbing by the grabbing assembly.

[0017] In some embodiments, a clearance opening is provided on one side of the carrier, and the clearance opening passes through the upper and lower surfaces of the carrier, and the clearance opening is provided for the jacking mechanism to pass through; when the jacking mechanism carries the carrier and the grabbing assembly approaches the transfer area, the carrier can extend under the bottom of the carrier to allow the carrier located in the transfer area to enter the loading area.

[0018] In some embodiments, the tidying device also includes a lifting drive member, which is arranged on the rotating frame and connected to the grabbing assembly. The carrier frame of the grabbing assembly is used to be lifted and lowered to a first height or a second height under the drive of the lifting drive member; when the carrier frame is at the first height, the carrier frame is located below the bottom of the carrier in the transfer area; when the transverse base plate approaches the transfer area and the carrier frame is at the second height, the carrier frame supports the bottom of the carrier to drive the carrier to rise and disengage from the lifting mechanism.

[0019] In some embodiments, a connecting port is provided on the side of the carrier; the organizing device also includes a pushing component, which includes: a pushing bracket; a pushing block, which is arranged relative to the grabbing component; when the grabbing component is in a first state, the pushing block is directly opposite to the carrier located in the loading area in the pushing direction, and there is an angle between the pushing direction and the stacking direction of the multiple sheet materials; a pushing driving member, which is arranged on the pushing bracket and connected to the pushing block, and the pushing driving member is used to drive the pushing block to move closer to or away from the grabbing component in the pushing direction; when the pushing block is directly opposite to the carrier located in the loading area and the pushing block moves close to the grabbing component, the pushing block passes through the connecting port and pushes the multiple sheet materials to move toward the direction close to the inner side of the carrier.

[0020] The second aspect of the present application provides a loading and unloading device, including a transport device and a tidying device, the transport device is used to transport a carrier, the tidying device can be docked with the transport device, the tidying device is used to sort multiple sheet materials loaded on the carrier, the carrier has a receiving space, and multiple sheet materials are arranged in the receiving space; the tidying device includes: a frame; a rotating frame, which is rotatably connected to the frame; a grabbing assembly, which is connected to the rotating frame and moves synchronously with the rotating frame, the grabbing assembly is provided with a loading area, and the grabbing assembly is used to grab the carrier located in the loading area; a flipping drive assembly, which is arranged on the frame and connected to the rotating frame, and the flipping drive assembly is used to drive the rotating frame to rotate, so as to drive the grabbing assembly to flip to a first state or a second state; when the grabbing assembly flips to the first state, the carrier and the sheet material are allowed to be transferred between the tidying device and the external transport device; when the grabbing assembly flips to the second state, the stacking direction of the multiple sheet materials has an angle with the vertical direction, so that the multiple sheet materials are tilted under the action of gravity and simultaneously press against the inner side of the carrier.

[0021] The tidying device and loading and unloading equipment provided in the embodiments of the present application can grab the carrier through the grabbing component. After the grabbing component is flipped back and forth between the first state, the second state, and the first state, multiple sheet materials are simultaneously tilted and pressed against the inner side of the carrier. As a result, the multiple sheet materials can be transformed from the original uneven stacking state to a regular stacking state, ensuring that the multiple sheet materials are aligned in the vertical direction, reducing the overall unevenness formed by the multiple sheet materials, reducing the adverse effects on subsequent processes due to the inability to align, and improving process efficiency and yield rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the loading and unloading equipment provided for this application.

[0023] Figure 2 A schematic diagram of the structure of the vehicle provided in this application.

[0024] Figure 3 This is a schematic diagram of the state of the transport device provided in this application when transporting a carrier.

[0025] Figure 4 This is a schematic diagram of the structure of the regularization device provided in this application.

[0026] Figure 5 This is a schematic diagram of the state of the grabbing assembly provided in the present application grabbing a carrier and being in a first state.

[0027] Figure 6 This is a schematic diagram of the state of the grabbing assembly provided in the present application grabbing a carrier and being in the second state.

[0028] Figure 7 A schematic diagram of the structure of the rotating frame and the grabbing assembly provided in this application.

[0029] Figure 8 A schematic structural diagram of the regularization device provided in this application from another perspective.

[0030] Fig. 9 An exploded view of the action of the grabbing assembly provided in the present application grabbing a carrier from a transport device.

[0031] Fig.10 A top view of the turret and gripper assembly provided for this application.

[0032] Main component symbols 100, regularization device; 200, carrier; 201, receiving space; 202, opening; 203, connecting port; 204, limit column; 205, chassis; 10, frame; 11, chassis; 111, first support frame; 112, second support frame; 12, transverse bottom plate; 13, transfer area; 14, fixed seat; 15, first brake frame; 16, buffer; 16a, first buffer; 16b, second buffer; 17, brake screw; 17a, first brake screw; 17b, second brake screw; 18, in-place detection member; 18a, first in-place detection member; 18b, second in-place detection member; 20, rotating frame; 21, support plate; 22, connecting block; 23, rotating shaft; 30, grab assembly; 31, installation Loading area; 40, load-bearing frame; 41, lifting drive member; 42, yielding port; 43, first stopper; 44, second stopper; 45, guide column; 50, clamping module; 51, clamping drive member; 52, clamping block; 60, flipping drive assembly; 61, eccentric rod; 62, flipping drive member; 70, transverse drive assembly; 80, pushing assembly; 81, pushing bracket; 82, pushing block; 83, pushing drive member; 90, top plate; 91, adjusting fixed seat; 92, adjusting slider; 93, adjusting screw; 300, transportation device; 400, assembly line mechanism; 401, synchronous belt assembly; 500, lifting mechanism; 501, lifting platform; 502, lifting drive assembly; 600, material grabbing mechanism; 1000, loading and unloading equipment. DETAILED DESCRIPTION

[0033] In the description of the embodiments of the present application, when an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centrally disposed element at the same time. When an element is considered to be "disposed on" another element, it may be directly disposed on the other element or there may be a centrally disposed element at the same time.

[0034] It should be understood that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] It should also be understood that the directional descriptions in this embodiment, such as "up", "down", "top", "bottom", etc., are all based on the directions of the product in actual usage scenarios.

[0036] It should also be understood that the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. For example, A / B means: A or B.

[0037] It should also be understood that reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0038] At present, ALD (atomic layer deposition) technology is widely used in the processing of semiconductor or photovoltaic materials. There are many related equipments in the industry, and the corresponding equipment can be selected for processing according to specific processing requirements. In the automated processing system, the sheet materials need to be automatically loaded and unloaded, and the sheet materials are usually loaded by special carriers in this process.

[0039] The carrier is provided with a receiving space for receiving sheet materials, and the receiving space can simultaneously receive a plurality of sheet materials, and the plurality of sheet materials are stacked and placed on the carrier.

[0040] However, in order to avoid the problem of jamming when multiple sheet materials enter and exit the carrier, the spatial dimensions of the internal storage space of the carrier are usually configured to be larger than the total volume of the multiple stacked sheet materials, so that there is a gap between the side of the sheet material and the carrier, which makes it difficult to align the multiple sheet materials in the vertical direction, affecting the subsequent process of operating the sheet materials and reducing production efficiency.

[0041] For example, the automated processing system includes an assembly line transport device, a material grabbing device, and a processing device. During the automatic loading process, multiple sheet materials to be processed are stacked in a carrier, and the assembly line transport device transports the carrier together with the multiple sheet materials to a designated workstation, and the material grabbing device grabs the multiple sheet materials from the carrier and transports them to the processing device. Since the multiple sheet materials are not tidied in the process from the assembly line transport device to the material grabbing device, it is impossible to ensure that the multiple sheet materials are aligned in the vertical direction, resulting in the side surface of the whole formed by the multiple sheet materials may be uneven, affecting the execution of the grabbing action of the grabbing device on the multiple sheet materials, increasing the risk of accidental damage to the sheet materials during the material grabbing and transportation process, and reducing production efficiency.

[0042] To this end, the embodiments of the present application provide a tidying device and loading and unloading equipment, which can realize the function of material tidying and ensure the normal execution of process operations.

[0043] Figure 1 This is a schematic diagram of the structure of the loading and unloading equipment 1000 provided in this application. Figure 2 A schematic diagram of the structure of the carrier 200 provided in this application.

[0044] like Figure 1 and Figure 2 As shown, the tidying device 100 in the present application can be applied to a loading and unloading device 1000, and the loading and unloading device 1000 can include the tidying device 100 and a transport device 300. The transport device 300 is used to transport materials, and the materials include a carrier 200 and sheet materials.

[0045] The carrier 200 has a receiving space 201, and the receiving space 201 is used for stacking a plurality of sheet materials. The stacking of the sheet materials can be stacked without spacing or with spacing. Stacking without spacing can be stacking a plurality of sheet materials directly together, and the adjacent two layers of sheet materials are attached. Stacking with spacing can be inserting a plurality of sheet materials into the boat, and there is a certain spacing between the adjacent two layers of sheet materials.

[0046] The arranging device 100 can be docked with the transport device 300 to transfer materials. The arranging device 100 is also used to arrange a plurality of sheet materials loaded on the carrier 200 .

[0047] The transport device 300 in the present application can perform different transport actions for different transport objects, that is, the transport device 300 can transport a carrier 200 loaded with multiple sheet materials, or it can transport an empty carrier 200 alone, or it can transport multiple sheet materials alone. The specific configuration can be based on process requirements.

[0048] In the example of the present application, the loading and unloading device 1000 can be applied to an ALD automated processing system, which includes the loading and unloading device 1000 and processing equipment.

[0049] Figure 3 This is a schematic diagram of the state of the transportation device 300 provided in the present application when transporting the carrier 200.

[0050] like Figure 1 and Figure 3 As shown, the working mode of the loading and unloading equipment 1000 can be: First, the transport device 300 receives the carrier 200 loaded with a plurality of sheet materials to be processed, and transports the carrier 200 to a position corresponding to the tidying device 100 .

[0051] Then, the arranging device 100 takes away the carrier 200 and arranges the plurality of sheet materials loaded on the carrier 200 , and then puts the carrier 200 back into the transporting device 300 .

[0052] Then, the transport device 300 moves the multiple sheet materials that have been organized from the carrier 200 and transports them to a designated loading position, so as to put the multiple sheet materials into the processing equipment to complete the loading operation.

[0053] Then, the transport device 300 transports the empty carrier 200 to the designated unloading location to complete the unloading operation.

[0054] In the example of this embodiment, the transport device 300 includes an assembly line mechanism 400, a lifting mechanism 500 and a material grabbing mechanism 600. The assembly line mechanism 400 is used to transport the carrier 200 in a horizontal direction.

[0055] The lifting mechanism 500 is used to carry the carrier 200 and drive the carrier 200 to rise and fall. Specifically, when the assembly line mechanism 400 transports the carrier 200 to a designated location, the lifting mechanism 500 is used to lift the carrier 200 from the assembly line mechanism 400 by lifting it, so that the carrier 200 can be separated from the assembly line mechanism 400 and taken away by the tidying device 100; the lifting mechanism 500 is also used to receive the carrier 200 put into the tidying device 100, and place the carrier 200 back to the assembly line mechanism 400 by descending, so that the assembly line mechanism 400 can continue to transport the carrier 200.

[0056] The material grabbing mechanism 600 is used to move the multiple neat sheet materials out of the carrier 200 when the carrier 200 moves to a corresponding position.

[0057] Exemplarily, the assembly line mechanism 400 includes a plurality of groups of synchronous belt assemblies 401 arranged in parallel and at intervals, and two ends of the synchronous belt assemblies 401 are respectively arranged corresponding to a loading position and a unloading position.

[0058] Exemplarily, the lifting mechanism 500 includes a lifting platform 501 and a lifting drive assembly 502, wherein the lifting platform 501 and the lifting drive assembly 502 are located between the multiple sets of synchronous belt assemblies 401, and the lifting platform 501 is connected to the lifting drive assembly 502, and the lifting drive assembly 502 is used to drive the lifting platform 501 to rise and fall. The area of ​​the lifting platform 501 is smaller than the area of ​​the bottom of the carrier 200. When the carrier 200 is placed on the lifting platform 501, the edge of the bottom of the carrier 200 protrudes from the side of the lifting platform 501. The lifting drive assembly 502 includes but is not limited to a cylinder, a motor screw mechanism, etc.

[0059] When the synchronous belt assembly 401 starts to transport the carrier 200 , the height of the lifting platform 501 is lower than the height of the upper surface of the synchronous belt assembly 401 , so that the synchronous belt assembly 401 can transport the carrier 200 to above the lifting platform 501 .

[0060] When the synchronous belt assembly 401 transports the carrier 200 to the top of the lifting platform 501, the synchronous belt assembly 401 can suspend transportation, and the lifting drive assembly 502 drives the lifting platform 501 to rise. The lifting platform 501 carries the carrier 200 and lifts the carrier 200 from the synchronous belt assembly 401 to make the carrier 200 detach from the synchronous belt assembly 401, so that the tidying device 100 can take away the carrier 200 for tidying.

[0061] After the tidying device 100 completes tidying, the carrier 200 is put back into the lifting platform 501, and the lifting drive assembly 502 drives the lifting platform 501 to descend. The lifting platform 501 carries the carrier 200 and places the carrier 200 back to the synchronous belt assembly 401, and the synchronous belt assembly 401 continues to transport the carrier 200.

[0062] Exemplarily, the material grabbing mechanism 600 includes a clamping assembly and a material grabbing drive assembly, wherein the clamping assembly is used to grab the sheet material in the carrier 200 and move it away. The material grabbing drive assembly is connected to the clamping assembly, and the material grabbing drive assembly is used to drive the clamping assembly to move so that the clamping assembly can move to a corresponding position to grab the sheet material. The material grabbing drive assembly includes but is not limited to a gantry transverse module, a multi-axis manipulator, etc.

[0063] like Figure 2 and Figure 3As shown, in the example of this embodiment, the sheet material is the raw material of the solar cell, including but not limited to silicon wafers, silicon carbide wafers, etc. The carrier 200 is a bearing structure suitable for loading sheet materials, including but not limited to a carrier plate, a material box, etc. The top of the carrier 200 is provided with an opening 202, and the sheet material can enter and exit the receiving space 201 through the opening 202. The side of the carrier 200 is provided with a connecting port 203, and the structure outside the carrier 200 can extend into the receiving space 201 through the connecting port 203 to contact the sheet material.

[0064] Exemplarily, the sheet material is a silicon wafer, and the sheet material is rectangular as a whole. The upper side of the carrier 200 can carry the sheet material, and the carrier 200 includes a chassis 205 and a plurality of limiting posts 204, the limiting posts 204 and the chassis 205 are perpendicular to each other, and the limiting posts 204 are bolted and fixed to the upper side of the chassis 205. The plurality of limiting posts 204 are distributed at intervals along the shape corresponding to the silicon wafer, and the area of ​​the contour formed by the plurality of limiting posts 204 is larger than the area of ​​the sheet material, so that the plurality of limiting posts 204 are enclosed to form a receiving space 201, and the spatial size of the receiving space 201 is larger than the total volume of the stacked plurality of sheet materials. The plurality of limiting posts 204 form an opening 202 at one end away from the chassis 205, and the spacing between two adjacent limiting posts 204 located on the chassis 205 forms a connecting port 203. It can be understood that the plurality of limiting posts 204 form the inner side of the carrier 200 on one side facing the receiving space 201.

[0065] The carrier 200 is loaded with multiple sheet materials in the following manner: the multiple sheet materials are stacked on the chassis 205, the length direction of the limiting pillars 204 is parallel to the stacking direction of the multiple sheet materials, the multiple limiting pillars 204 are distributed around the multiple sheet materials, and there is a gap between at least part of the side surface of each sheet material and the adjacent limiting pillars 204. When the assembly line mechanism 400 transports the carrier 200, the chassis 205 is arranged in a horizontal direction, and the stacking direction of the multiple sheet materials is parallel to the vertical direction.

[0066] Figure 4 This is a schematic diagram of the structure of the regularization device 100 provided in this application. Figure 5 This is a schematic diagram of the state when the grabbing assembly 30 provided in the present application grabs the carrier 200 and is in the first state. Figure 6 This is a schematic diagram of the state when the grabbing assembly 30 provided in the present application grabs the carrier 200 and is in the second state.

[0067] like Figure 4 , Figure 5 and Figure 6 As shown, the present application first provides a tidying device 100 .

[0068] The tidying device 100 includes a frame 10, a rotating frame 20, a grabbing assembly 30 and a flipping drive assembly 60, wherein the rotating frame 20 is rotatably connected to the frame 10, and the grabbing assembly 30 is connected to the frame 10 and moves synchronously with the frame 10, and the synchronous movement includes synchronous rotation and synchronous movement. The axis of the rotating frame 20 is parallel to the horizontal direction. The grabbing assembly 30 is provided with a loading area 31, and the grabbing assembly 30 is used to grab the carrier 200 located in the loading area 31. It can be understood that the position of the loading area 31 is based on the grabbing assembly 30, and the loading area 31 moves with the movement of the grabbing assembly 30.

[0069] The flip drive assembly 60 is disposed on the frame 10, and the flip drive assembly 60 is connected to the rotating frame 20. The flip drive assembly 60 is used to drive the rotating frame 20 to rotate, so that the grab assembly 30 flips clockwise or counterclockwise to the first state or the second state. When the grab assembly 30 grabs the carrier 200, the grab assembly 30 drives the carrier 200 to flip synchronously during the flipping process.

[0070] When the gripping assembly 30 is turned over to the first state, the carrier 200 and the sheet materials are allowed to be transferred between the organizing device 100 and the external transport device 300. When the gripping assembly 30 is turned over to the second state, the stacking direction of the plurality of sheet materials is at an angle to the vertical direction, so that the plurality of sheet materials are tilted under the action of gravity and simultaneously abut against the inner side of the carrier 200.

[0071] When the grabbing assembly 30 is in the first state and grabs the carrier 200 , the stacking direction of the plurality of sheet materials is parallel to the vertical direction to meet the transportation requirements of the transportation device 300 for the carrier 200 and the sheet materials.

[0072] When the grabbing assembly 30 is in the first state, the transfer of the carrier 200 and the sheet material includes the action of the organizing device 100 grabbing the carrier 200 and the sheet material from the transport device 300 , and also includes the action of the organizing device 100 putting the carrier 200 and the sheet material into the transport device 300 .

[0073] For example, during the loading action, the transport device 300 can transport the carrier 200 loaded with multiple sheet materials to be organized to a designated position so that the carrier 200 can enter the loading area 31; then, the grabbing component 30 in the first state grabs the carrier 200 located in the loading area 31; then, the grabbing component 30 is driven by the flipping drive component 60 to flip to the second state to organize the multiple sheet materials; then, the grabbing component 30 is driven by the flipping drive component 60 to flip back to the first state; then, the grabbing component 30 releases the carrier 200 located in the loading area 31 so that the carrier 200 loaded with the organized multiple sheet materials can be put back into the transport device 300; then, the transport device 300 continues to transport the carrier 200 and the multiple sheet materials.

[0074] When the grabbing assembly 30 is in the second state and grabs the carrier 200, the stacking direction of the multiple sheet materials is parallel to the horizontal direction, so that the multiple sheet materials simultaneously abut against the limiting columns 204 located therebelow. This part of the limiting columns 204 forms a reference surface that smoothes the sides of the multiple sheet materials, so that the multiple sheet materials are aligned along the length direction of the limiting columns 204.

[0075] After the grasping component 30 grasps the carrier 200 and flips back and forth between the first state, the second state, and the first state, multiple sheet materials are simultaneously tilted to press against the inner side of the carrier 200, so that the multiple sheet materials can be transformed from the original uneven stacking state to a regular stacking state, ensuring that the multiple sheet materials are aligned in the vertical direction, reducing the overall unevenness formed by the multiple sheet materials, reducing the adverse effects on subsequent processes due to the inability to align, and improving process efficiency and yield rate.

[0076] like Figure 2 and Figure 5 As shown, in some embodiments, the tidying device 100 further includes a pushing component 80, which is arranged relative to the grabbing component 30. When the grabbing component 30 is in the first state and grabs the carrier 200, the pushing component 80 is arranged opposite to the communication port 203 of the carrier 200. At this time, the pushing component 80 can extend into the interior of the carrier 200 through the communication port 203 to contact the plurality of sheet materials, so as to push the plurality of sheet materials to move toward the direction close to the inner side of the carrier 200.

[0077] It can be understood that after the grabbing assembly 30 grabs the carrier 200 and before it is turned over to the second state, the pushing assembly 80 can move toward the direction close to the inner side of the carrier 200 by pushing the plurality of sheet materials.

[0078] like Figure 2 and Figure 5 As shown, in some embodiments, the tidying device 100 further includes a top plate 90, which is disposed on the rotating frame 20, and the top plate 90 and the grabbing assembly 30 are spaced apart, and a loading area 31 is formed between the top plate 90 and the grabbing assembly 30. The top plate 90 is used to cover the opening 202 of the carrier 200 located in the loading area 31.

[0079] When the grab assembly 30 is at the first angle, the grab assembly 30 and the top plate 90 are arranged up and down relative to the rotating frame 20. When the grab assembly 30 grabs the carrier 200 and is at the second angle, the top plate 90 blocks the opening 202 of the carrier 200 to prevent the sheet material from escaping from the opening 202 under the action of gravity during the flipping process. The width, length, size, etc. of the top plate 90 can be configured according to the size of the carrier 200 or the sheet material.

[0080] A clearance space is formed between one end of the top plate 90 away from the rotating frame 20 and one end of the grab assembly 30 away from the rotating frame 20 . The grab assembly 30 and the top plate 90 do not block the clearance space to allow the carrier 200 to enter and exit the loading area 31 .

[0081] In some embodiments, the tidying device 100 further includes an adjustment module, through which the top plate 90 is connected to the rotating frame 20. The adjustment module is used to adjust the distance between the top plate 90 and the grab assembly 30 to meet the applicability requirements of carriers 200 of different heights.

[0082] like Figure 1 and Figure 5 As shown, in some embodiments, the tidying device 100 further includes a transverse driving assembly 70, which is used to drive the grabbing assembly 30 to move in the horizontal direction. The grabbing assembly 30 can move close to or away from the lifting mechanism 500 of the transport device 300 under the drive of the transverse driving assembly 70.

[0083] In some embodiments, the frame 10 includes a base frame 11 and a transverse bottom plate 12, wherein a transfer area 13 is provided above the base frame 11, and the transfer area 13 is used to dock with the lifting mechanism 500 of the transport device 300, so that the transport device 300 can transfer the carrier 200 and the sheet material. A fixed seat 14 is provided on the upper side of the base frame 11, and the fixed seat 14 is rotatably connected to the rotating frame 20.

[0084] The traverse bottom plate 12 is slidably connected to the bottom frame 11, the grab assembly 30 is rotatably connected to the traverse bottom plate 12, and the flip drive assembly 60 is arranged on the traverse bottom plate 12, so that the grab assembly 30 and the flip drive assembly 60 move synchronously with the traverse bottom plate 12. The traverse drive assembly 70 is connected to the traverse bottom plate 12, and the traverse drive assembly 70 is used to drive the traverse bottom plate 12 to move, so as to drive the grab assembly 30 to move toward or away from the transfer area 13. The traverse drive assembly 70 includes but is not limited to a cylinder, a motor screw mechanism, a gear rack mechanism, etc.

[0085] Exemplarily, when the grab assembly 30 is far away from the transfer area 13, the grab assembly 30 is located at the avoidance position. When the grab assembly 30 is close to the transfer area 13, the grab assembly 30 is located at the docking position.

[0086] When the grab assembly 30 moves to the avoidance position, the transport device 300 is allowed to transport the carrier 200 to the transfer area 13. When the grab assembly 30 is in the avoidance position, the grab assembly 30 and the transverse bottom plate 12 are both away from the transfer area 13, preventing the grab assembly 30 or the transverse bottom plate 12 from interfering with the transport device 300 in transporting the carrier 200, and allowing the lifting mechanism 500 of the transport device 300 to lift the carrier 200 to the transfer area 13.

[0087] When the grabbing assembly 30 moves to the docking position, the loading area 31 overlaps with the transfer area 13, and the carrier 200 located in the transfer area 13 can enter the loading area 31 for grabbing by the grabbing assembly 30. In particular, when the grabbing assembly 30 is in the docking position, the loading area 31 of the grabbing assembly 30 overlaps with the transfer area 13 of the chassis 11, so as to allow the grabbing assembly 30 to grab the carrier 200 loaded with a plurality of sheet materials to be organized, and at the same time, the grabbing assembly 30 is also allowed to release the carrier 200 loaded with a plurality of sheet materials that have been organized, so as to allow the transport device 300 to take away the plurality of sheet materials that have been organized.

[0088] like Figure 1 , Figure 3 and Figure 4 As shown, in some embodiments, the base frame 11 includes a first support frame 111 and a second support frame 112, and the first support frame 111 and the second support frame are arranged side by side and spaced apart, so that a transportation space is formed between the first support frame 111 and the second support frame 112, and the transportation space is used to accommodate the transportation device 300. Exemplarily, the assembly line mechanism 400 and the lifting mechanism 500 of the transportation device 300 are both arranged in the transportation space, and the assembly line mechanism 400 can drive the carrier 200 to move through the transportation space.

[0089] In the example of this embodiment, the transfer area 13 is located above the lifting mechanism 500, and the transfer area 13 is used to dock with the lifting mechanism 500. Specifically, when the synchronous belt assembly 401 transports the carrier 200 to the bottom of the transfer area 13, the carrier 200 arrives above the lifting platform 501, and the lifting platform 501 can lift the carrier 200 off the synchronous belt assembly 401, so that the carrier 200 enters the transfer area 13 for the grab assembly 30 to take away. After the grab assembly 30 places the carrier 200 on the lifting platform 501, the lifting platform 501 descends to move the carrier 200 from the transfer area 13 back to the synchronous belt assembly 401, and the synchronous belt assembly 401 continues to transport the carrier 200.

[0090] In some embodiments, the chassis 11 is further provided with a plurality of incoming material detection members, which are arranged in a distribution corresponding to the path of the carrier 200 moving through the transfer area 13. When the carrier 200 is raised or lowered under the drive of the lifting mechanism 500, the plurality of incoming material detection members can detect and provide feedback on the position of the carrier 200 to trigger corresponding actions. Exemplarily, the incoming material detection member can be a photoelectric sensor.

[0091] Figure 7 This is a schematic structural diagram of the rotating frame 20 and the grabbing assembly 30 provided in the present application.

[0092] like Figure 5 and Figure 7As shown, in some embodiments, the rotating frame 20 includes a support plate 21, a connecting block 22 and a rotating shaft 23. The carrier frame 40 and the top plate 90 are arranged at intervals on one side of the support plate 21, and the rotating shaft 23 is located on the other side of the support plate 21, and the rotating shaft 23 is arranged parallel to the horizontal direction. One end of the connecting block 22 is bolted and fixed to the support plate 21, and the other end of the connecting block 22 is fixedly connected to the rotating shaft 23.

[0093] In some embodiments, the number of the fixing seats 14 is 2, and the two fixing seats 14 are distributed at both ends of the rotating shaft 23, and the two ends of the rotating shaft 23 are respectively connected to the two fixing seats 14 through bearings. When the rotating shaft 23 rotates, the rotating shaft 23 drives the rotating frame 20 to flip through the connecting block 22, so that the rotating frame 20 can be rotatably fixed on the transverse bottom plate 12.

[0094] In the example of this embodiment, when the gripping assembly 30 is in the first state, the support plate 21 is arranged in a vertical direction, at which time the gripping assembly 30 is located at the lower part of the support plate 21, and the top plate 90 is located at the upper part of the support plate 21. When the gripping assembly 30 is in the second state, the support plate 21 is arranged in a horizontal direction.

[0095] like Figure 4 and Figure 5 As shown, in some embodiments, the gripping assembly 30 includes a carrier 40 and a clamping module 50, wherein the carrier 40 is connected to the rotating frame 20 and moves synchronously with the rotating frame 20. The loading area 31 is formed on a side of the carrier 40 facing the top plate 90, and the carrier 40 is used to carry the carrier 200 located in the loading area 31. The rotating frame 20 is connected to the flip driving assembly 60, and the rotating frame 20 is used to rotate in the vertical direction under the drive of the flip driving assembly 60.

[0096] The clamping module 50 is disposed on the carrier 40. The clamping module 50 moves and rotates with the carrier 40. The clamping module 50 is used to cooperate with the carrier 40 in the first direction (i.e. Figure 4 The first direction is parallel to the stacking direction of the plurality of sheet materials. It can be understood that the first direction is a direction based on the grabbing assembly 30, that is, the first direction may also change when the grabbing assembly 30 is turned over; in the example of this embodiment, when the grabbing assembly 30 is in the first state, the first direction is parallel to the vertical direction, and the vertical direction is the Z-axis direction in the figure.

[0097] In the example of this embodiment, when the carrier 40 is at a first angle, the gripping assembly 30 is in a first state, and the first angle may be 0°, that is, the carrier 40 is arranged in a horizontal direction, and a loading area 31 is formed above the carrier 40. When the carrier 40 is at a second angle, the gripping assembly 30 is in a second state, and the second angle may be 90°, that is, the carrier 40 is arranged in a vertical direction.

[0098] It is worth noting that the angle of the support frame 40 in the first state or the second state can be configured according to actual needs. For example, in other embodiments, the angle of the support frame 40 in the second state can also be 45°, as long as the effect of pouring the sheet material can be achieved.

[0099] When regularization is required, the carrier frame 40 can be placed at a first angle, and then the carrier 200 can be placed in the loading area 31 above the carrier frame 40 so that the carrier frame 40 carries the carrier 200, and the clamping module 50 clamps and fixes the carrier 200; then the flipping drive assembly 60 can drive the rotating frame 20 to rotate forward so that the carrier frame 40 is flipped to a second angle to regularize the multiple sheet materials in the carrier 200.

[0100] After the alignment is completed, the flip driving assembly 60 can drive the rotating frame 20 to rotate in the opposite direction, so that the carrier 40 flips to the first angle; then the clamping module 50 releases the carrier 200 to allow the carrier 200 to leave the carrier 40 .

[0101] Figure 8 This is a schematic structural diagram of the tidying device 100 provided in the present application from another perspective.

[0102] like Figure 7 and Figure 8 As shown, in some embodiments, the tidying device 100 further includes a lifting drive member 41, which is disposed on the rotating frame 20 and connected to the supporting frame 40, and the lifting drive member 41 is used to drive the supporting frame 40 to reciprocate in the first direction relative to the rotating frame 20. Exemplarily, the lifting drive member 41 is a cylinder, and the cylinder has a cylinder body and a piston rod, and the cylinder body of the lifting drive member 41 is bolted and fixed to the support plate 21, and the piston rod of the lifting drive member 41 is bolted and fixed to the supporting frame 40.

[0103] When the grabbing assembly 30 is in the first state, the first direction is parallel to the vertical direction, so that the lifting driving member 41 can drive the lifting driving member 41 to move up and down.

[0104] like Figure 2 and Figure 5As shown, in the example of this embodiment, when the grab assembly 30 is in the first state, the carrier 40 and the top plate 90 are spaced apart in the vertical direction. By using the up and down lifting function of the carrier 40, the distance between the carrier 40 and the top plate 90 can be adjusted so that the top plate 90 can be close to the opening 202 of the carrier 200. At the same time, it can also meet the application scenarios of the carriers 200 of different heights.

[0105] Fig. 9 This is an exploded view of the grabbing assembly 30 provided in the present application grabbing the carrier 200 from the transport device 300 .

[0106] like Figure 1 and Fig. 9 As shown, in the example of this embodiment, the grabbing assembly 30 can also achieve docking with the transport device 300 through a lifting function.

[0107] Specifically, the carrier frame 40 of the grabbing assembly 30 is used to be lifted to a first height or a second height under the drive of the lifting driving member 41 .

[0108] When the carrier 40 is away from the transfer area 13, the transport device 300 is allowed to lift the carrier 200 to the transfer area 13. When the carrier 40 is at the docking position and the carrier 40 is at a first height, the carrier 40 extends under the bottom of the carrier 200 in the transfer area 13. When the carrier 40 is close to the transfer area 13 and the carrier 40 is at a second height, the carrier 40 supports the bottom of the carrier 200 to drive the carrier 200 to rise and leave the transport device 300.

[0109] It can be understood that the grabbing assembly 30 grabs the carrier 200 from the transport device 300 in the following manners: First, the assembly line mechanism 400 transports the carrier 200 to the bottom of the transfer area 13 , and the carrier 40 moves to the avoidance position.

[0110] Then, the lifting mechanism 500 lifts the carrier 200 to the transfer area 13 , and the carrier 200 is separated from the assembly line mechanism 400 .

[0111] Then, the carrier 40 is raised and lowered to the first height, the clamping module 50 is in a released state, the carrier 40 moves to the docking position to approach the transfer area 13, and the carrier 40 extends under the bottom of the carrier 200 located in the transfer area 13, after which the clamping module 50 can be switched to a clamping state.

[0112] Then, the carrier 40 is raised or lowered to a second height, and the carrier 40 drives the carrier 200 to rise and separate from the lifting mechanism 500 .

[0113] It can be understood that the grabbing assembly 30 can put the carrier 200 into the transport device 300 in the following manners: First, the carrier frame 40 is raised and lowered to a second height, the carrier 200 is placed on the lifting mechanism 500 , and the clamping module 50 is switched to a release state.

[0114] Then, the carrier 40 moves to the avoidance position to be away from the transfer area 13 , so that the lifting mechanism 500 can drive the carrier 200 to descend from the transfer area 13 to the assembly line mechanism 400 .

[0115] like Figure 7 As shown, in some embodiments, the carrier 40 is provided with a plurality of guide posts 45, which are bolted and fixed to a side of the carrier 40 facing the top plate 90, and the guide posts 45 are extended along the first direction. The support plate 21 is provided with a plurality of guide blocks corresponding to the guide posts 45, which are bolted and fixed to a side of the support plate 21 facing the carrier 40. The guide blocks are slidably connected to the corresponding guide posts 45 in the first direction.

[0116] When the carrier 40 slides in the first direction, the cooperation between the plurality of guide posts 45 and the plurality of guide blocks plays a guiding role, thereby preventing the carrier 40 from deviating from its position during the sliding process.

[0117] like Figure 7 and Fig. 9 As shown, in some embodiments, the carrier 40 is arranged perpendicular to the support plate 21, and a clearance opening 42 is arranged on one side of the carrier 40 away from the support plate 21, and the clearance opening 42 runs through the upper and lower sides of the carrier 40. The clearance opening 42 is used for the transport device 300 to pass through.

[0118] When the carrier 40 moves toward the direction approaching the lifting mechanism 500, the lifting mechanism 500 enters the clearance opening 42 from one side of the carrier 40; when the lifting platform 501 of the lifting mechanism 500 is rising or falling, the lifting platform 501 of the lifting mechanism 500 can pass through the clearance opening 42. When the lifting mechanism 500 carries the carrier 200 and the lifting mechanism 200 passes through the clearance opening 42, the carrier 40 can extend under the bottom of the carrier 200 to allow the carrier 200 to rise and leave the lifting mechanism 500 after the carrier 40 rises.

[0119] Specifically, when the support frame 40 removes the carrier 200 on the lifting mechanism 500, first, the support frame 40 can be at a first height and moved to a docking position so that the lifting mechanism 500 is passed through and accommodated in the clearance opening 42; then, the support frame 40 rises to a second height, and the support frame 40 receives the portion of the chassis 205 protruding from the side of the lifting platform 501 to drive the carrier 200 to rise and leave the lifting platform 501.

[0120] like Figure 5 and Figure 7As shown, in some embodiments, the carrier 40 is provided with a first stopper 43, and the first stopper 43 is located on one side of the loading area 31. The first stopper 43 is used to Figure 7 The carrier 200 is supported in the X-axis direction in the middle, and an angle is formed between the second direction and the first direction.

[0121] When the carrier 200 is located in the loading area 31, the first stopper 43 can abut the carrier 200 in the second direction to position the carrier 200 and prevent it from deviating from the position. It can be understood that the second direction is a direction based on the grab assembly 30, that is, the second direction can also change when the grab assembly 30 is turned over; in the example of this embodiment, when the grab assembly 30 is in the first state, the second direction is parallel to the horizontal direction. When the grab assembly 30 is in the second state, the second direction is parallel to the vertical direction.

[0122] In some embodiments, the first stop block 43 is bolted and fixed to the side of the carrier frame 40 facing the top plate 90. The first stop block 43 is located at the end of the carrier frame 40 close to the support plate 21. In this way, a certain amount of clearance space can be reserved for the end of the carrier frame 40 away from the support plate 21 to allow the carrier 200 to enter the loading area 31.

[0123] In some embodiments, the second direction is perpendicular to the plane where the axis of the rotating shaft 23 is located. When the grab assembly 30 is flipped to the second state, the first stopper 43 is located below the carrier 200 in the loading area 31. In this way, the first stopper 43 can limit or support the carrier 200 below to prevent the flipped carrier 200 from falling from the carrier 40 under the action of gravity, thereby ensuring that the flipping action is completed.

[0124] In some embodiments, the number of the first stoppers 43 is greater than or equal to 2, and the plurality of first stoppers 43 are spaced apart corresponding to the edge shape of the carrier 200. Exemplarily, the number of the first stoppers 43 is 2. It can be understood that the plurality of first stoppers 43 can simultaneously play a supporting role and a positioning role, further preventing the carrier 200 from deviating from its position or falling off.

[0125] In some embodiments, the carrier 40 is further provided with a second stopper 44. The second stopper 44 is used to Figure 7 The carrier 200 is held against the third direction (in the Y-axis direction), and an angle is formed between the third direction and the first direction, and an angle is formed between the third direction and the second direction. It can be understood that the third direction is a direction based on the grabbing assembly 30, that is, the third direction may also change when the grabbing assembly 30 is turned over; in the example of this embodiment, the third direction is perpendicular to the second direction; when the grabbing assembly 30 is in the first state or the second state, the third direction is parallel to the horizontal direction.

[0126] Exemplarily, the second stopper 44 is bolted to the side of the carrier 40 facing the top plate 90, the second stopper 44 and the first stopper 43 are spaced around the loading area 31, and there is a distance between the second stopper 44 and the clearance opening 42. The third direction is parallel to the plane where the axis of the rotating shaft 23 is located.

[0127] It can be understood that when the carrier 200 is located in the loading area 31 , the first stopper 43 and the second stopper 44 can cooperate to hold the carrier 200 in the second direction and the third direction to position the carrier 200 and prevent it from deviating from its position.

[0128] In some embodiments, the number of the second stoppers 44 is greater than or equal to 2, and the plurality of second stoppers 44 are distributed on opposite sides of the carrier 40 in the third direction. Exemplarily, the number of the second stoppers 44 is 4, and two second stoppers 44 form a group. The two groups of second stoppers 44 are spaced apart in the third direction, and the two second stoppers 44 in the same group are spaced apart in the second direction. It can be understood that the plurality of second stoppers 44 can simultaneously play a positioning role on both sides of the carrier 200, thereby improving the positioning accuracy of the carrier 200.

[0129] In some embodiments, the number of the clamping modules 50 is greater than or equal to 2, and the clamping modules 50 are distributed on opposite sides of the carrier 40 in the third direction. It can be understood that multiple clamping modules 50 can simultaneously clamp and fix both sides of the carrier 200 in the third direction, thereby improving the fixing stability of the carrier 200.

[0130] In some embodiments, the clamping module 50 includes a clamping drive 51 and a clamping block 52, wherein the clamping drive 51 is disposed on the carrier 40. The clamping block 52 is connected to the clamping drive 51. The clamping block 52 and the carrier 40 are spaced apart in the first direction. The clamping block 52 is used to move in the first direction under the drive of the clamping drive 51 to approach or move away from the carrier 40. The clamping block 52 can move in the direction close to the carrier 40, so that the clamping block 52 cooperates with the carrier 40 in the first direction to clamp the carrier 200 located in the loading area 31.

[0131] When the pressing block 52 moves closer to the carrier 40, the pressing block 52 and the carrier 40 cooperate to clamp the carrier 200 in the first direction, and the clamping module 50 is in a clamping state. When the pressing block 52 moves away from the carrier 40, the pressing block 52 and the carrier 40 are released, and the clamping module 50 is in a released state to release the carrier 200 located in the loading area 31.

[0132] Furthermore, when the grab assembly 30 is in the first state and the clamping module 50 is in the released state, the carrier 40 is parallel to the horizontal direction, allowing the carrier 200 to move in and out of the loading area 31 in the horizontal direction.

[0133] Exemplarily, the clamping drive 51 is a cylinder having a cylinder body and a piston rod. The cylinder body of the clamping drive 51 is bolted and fixed to the carrier frame 40, one end of the clamping block 52 is bolted and fixed to the piston rod of the clamping drive 51, and the other end of the clamping block 52 extends toward the direction close to the loading area 31 to form a protrusion, and a gasket is provided on the side of the protrusion facing the carrier frame 40.

[0134] When it is necessary to perform trimming, the pressing block 52 can be moved away from the carrier 40 so that the carrier 200 can enter between the pressing block 52 and the carrier 40 in the second direction. Then, the pressing driving member 51 drives the pressing block 52 to approach the carrier 40 in the first direction so that the pressing block 52 abuts against the edge of the carrier 200 through the gasket, thereby clamping and fixing the carrier 200.

[0135] After the trimming is completed, the pressing drive 51 can drive the pressing block 52 away from the carrier 40 in the first direction, so as to move the pressing block 52 away from the carrier 200 , thereby releasing the carrier 200 and allowing the carrier 200 to rise in the first direction and leave the loading area 31 .

[0136] In the example of this embodiment, when the carrier 200 completely enters the loading area 31, the first stop block 43 and the second stop block 44 have a positioning effect on the carrier 200 in the second direction and the third direction, so that the clamping block 52 can be aligned with the carrier 200 in the first direction, thereby ensuring that the clamping block 52 clamps the carrier 200 in place and avoiding the risks caused by unstable clamping.

[0137] like Figure 5 and Figure 7 As shown, in some embodiments, the adjustment module includes an adjustment fixing seat 91, an adjustment slider 92 and an adjustment screw 93. The adjustment fixing seat 91 is fixed to the rotating frame 20. The adjustment slider 92 is slidably connected to the rotating frame 20, and the top plate 90 is fixed to the adjustment slider 92. The adjustment screw 93 is rotationally connected to the adjustment fixing seat 91, and the adjustment screw 93 is threadedly connected to the adjustment slider 92. When the adjustment screw 93 rotates, the adjustment screw 93 drives the adjustment slider 92 and the top plate 90 to move, so that the top plate 90 moves closer to or away from the support frame 40, thereby adjusting the distance between the top plate 90 and the support frame 40.

[0138] Exemplarily, the support plate 21 protrudes in a direction away from the carrier frame 40 to form a convex plate portion, and the adjustment fixing seat 91 is bolted and fixed to the end of the convex plate portion. A sliding groove is provided on the side of the convex plate portion facing the top plate 90, and the sliding groove passes through one end of the convex plate portion close to the adjustment fixing seat 91. The adjustment slider 92 is slidably connected to the sliding groove along a first direction, and the sliding groove has a limiting effect on the adjustment slider 92, and only allows the adjustment slider 92 to reciprocate in the first direction. The top plate 90 is bolted and fixed to the side of the adjustment slider 92 exposed in the sliding groove. The adjustment screw 93 is extended along the first direction, and the adjustment screw 93 is penetrated and rotatably connected to the adjustment fixing seat 91, and the adjustment screw 93 is threadedly connected to the adjustment slider 92 along the first direction.

[0139] When the adjusting slider 92 rotates forward, the adjusting slider 92 drives the adjusting slider 92 and the top plate 90 to move away from the carrier 40 through the threaded engagement with the adjusting slider 92. When the adjusting slider 92 rotates reversely, the adjusting slider 92 drives the adjusting slider 92 and the top plate 90 to move toward the carrier 40 through the threaded engagement with the adjusting slider 92. In this way, the distance between the top plate 90 and the carrier 40 is adjusted.

[0140] Fig.10 A top view of the rotating frame 20 and the grab assembly 30 provided for the present application.

[0141] like Figure 7 and Fig.10 As shown, in some embodiments, the fixed seat 14 is provided with a buffer 16, and the position of the buffer 16 passes through the flipping path of the rotating frame 20. The buffer 16 is used to resist the flipped rotating frame 20 and absorb kinetic energy. Exemplarily, the buffer 16 can be an oil pressure buffer, and the oil pressure buffer has an elastic end and a fixed end. The fixed end of the buffer 16 is fixed to the fixed seat 14, and the elastic end of the buffer 16 is set corresponding to the flipping path of the rotating frame 20.

[0142] It can be understood that during the reciprocating flipping of the rotating frame 20 , the buffer member 16 can reduce the impact on the rotating frame 20 and the sheet material, thereby increasing the life of the equipment and improving the yield rate.

[0143] In some embodiments, the number of the buffer members 16 is greater than or equal to 2, and the plurality of buffer members 16 include a first buffer member 16a and a second buffer member 16b. The first buffer member 16a corresponds to a flipping path setting when the rotating frame 20 drives the grabbing assembly 30 to flip from the first state to the second state, and the second buffer member 16b corresponds to a flipping path setting when the rotating frame 20 drives the grabbing assembly 30 to flip from the second state to the first state.

[0144] Exemplarily, the fixed seat 14 is provided with a first brake frame 15 and a second brake frame (not shown in the figure), wherein the first brake frame 15 is located at a side of the fixed seat 14 away from the rotating frame 20 in the first state, and the two ends of the first brake frame 15 are respectively bolted and fixed to the two fixed seats 14. The first buffer 16a is fixed to the middle of the first brake frame 15. The second brake frame is located at one end of the fixed seat 14 away from the rotating frame 20 in the second state, and the two ends of the second brake frame are respectively bolted and fixed to the two fixed seats 14. The second buffer 16b is fixed to the middle of the second brake frame.

[0145] When the rotating frame 20 drives the grab assembly 30 to flip from the first state to the second state, the first buffer 16a prevents the rotating frame 20 from continuing to rotate and absorbs kinetic energy by abutting against the rotating frame 20. When the rotating frame 20 drives the grab assembly 30 to flip from the second state to the first state, the second buffer 16b prevents the rotating frame 20 from continuing to rotate and absorbs kinetic energy by abutting against the rotating frame 20.

[0146] In some embodiments, the fixing base 14 is provided with a brake screw 17, the position of the brake screw 17 passes through the flipping path of the rotating frame 20, the brake screw 17 is threadedly connected to the fixing base 14, and the brake screw 17 is used to limit the flipping angle of the rotating frame 20 by abutting against the rotating frame 20. In this way, the brake screw 17 can prevent the rotating frame 20 from rotating excessively, so as to position the rotating frame 20 after flipping at a specified flipping angle.

[0147] On the other hand, by rotating the brake screw 17 , the length of the brake screw 17 protruding from the fixing seat 14 can be adjusted, thereby adjusting the flip angle range of the rotating frame 20 , thereby realizing the function of the adjustable angle of the rotating frame 20 .

[0148] In some embodiments, the number of the braking screws 17 is greater than or equal to 2, and the plurality of braking screws 17 include a first braking screw 17a and a second braking screw 17b. The first braking screw 17a corresponds to the turning path setting of the rotating frame 20 driving the grabbing assembly 30 to turn from the first state to the second state, and the second braking screw 17b corresponds to the turning path setting of the rotating frame 20 driving the grabbing assembly 30 to turn from the second state to the first state.

[0149] Exemplarily, the first brake frame 15 is provided with a first threaded hole, one end of the first brake screw 17a is threadedly connected to the first brake screw 17a, and the other end of the first brake screw 17a protrudes from the first brake frame 15. The second brake frame is provided with a second threaded hole, the second brake screw 17b is threadedly connected to the second threaded hole, and the other end of the second brake screw 17b protrudes from the second brake frame.

[0150] When the rotating frame 20 drives the grab assembly 30 to flip from the first state to the second state, the first brake screw 17a prevents the rotating frame 20 from further rotating by abutting against the rotating frame 20, thereby positioning the rotating frame 20 in the second state at a specified flip angle. When the rotating frame 20 drives the grab assembly 30 to flip from the second state to the first state, the second brake screw 17b prevents the rotating frame 20 from further rotating by abutting against the rotating frame 20, thereby positioning the rotating frame 20 in the first state at a specified flip angle.

[0151] In some embodiments, the fixed seat 14 is provided with a position detection member 18, the position of the position detection member 18 passes through the flipping path of the rotating frame 20, and the position detection member 18 is used to detect the position of the rotating frame 20 after flipping. In this way, when the rotating frame 20 is flipped into position, the position detection member 18 can detect the position of the rotating frame 20 in time and provide feedback. Exemplarily, the position detection member 18 is a contact sensor, and the contact sensor has a contact end. The position detection member 18 detects the position of the rotating frame 20 by contacting the rotating frame 20 through the contact end.

[0152] In some embodiments, the number of the in-place detection members 18 is greater than or equal to 2, and the plurality of in-place detection members 18 include a first in-place detection member 18a and a second in-place detection member 18b. The first in-place detection member 18a corresponds to the turning path setting of the rotating frame 20 driving the grabbing assembly 30 to turn from the first state to the second state, and the second in-place detection member 18b corresponds to the turning path setting of the rotating frame 20 driving the grabbing assembly 30 to turn from the second state to the first state.

[0153] When the rotating frame 20 drives the grab assembly 30 to flip from the first state to the second state, the first in-position detection member 18a contacts the rotating frame 20 to determine that the rotating frame 20 is rotated to the in-position. When the rotating frame 20 drives the grab assembly 30 to flip from the second state to the first state, the second in-position detection member 18b contacts the rotating frame 20 to determine that the rotating frame 20 is rotated to the in-position.

[0154] like Figure 4 and Figure 7 As shown, in some embodiments, the flip driving assembly 60 includes an eccentric rod 61 and a flip driving member 62, wherein the first end of the eccentric rod 61 is coaxially fixed with the rotating shaft 23 of the rotating frame 20, and the eccentric rod 61 is rotatably connected to the fixing seat 14. The second end of the eccentric rod 61 and the frame 10 are rotatably connected to the flip driving member 62. The flip driving member 62 is used to change the distance between the second end of the eccentric rod 61 and the frame 10, so as to drive the eccentric rod 61 to rotate, thereby driving the rotating shaft 23 to rotate.

[0155] Exemplarily, one end of the rotating shaft 23 passes through the fixing seat 14 and is coaxially fixed with the first end of the eccentric rod 61. The flip driving member 62 is a cylinder having a cylinder body and a piston rod. The cylinder body of the flip driving member 62 is rotatably connected to the transverse bottom plate 12, and the piston rod of the flip driving member 62 is rotatably connected to the second end of the eccentric rod 61 through a fisheye bearing. By controlling the extension and retraction of the piston rod of the flip driving member 62, the distance between the second end of the eccentric rod 61 and the transverse bottom plate 12 can be changed, thereby driving the eccentric rod 61 and the rotating shaft 23 to rotate.

[0156] like Figure 2 , Figure 4 and Figure 5 As shown, in some embodiments, the pushing assembly 80 includes a pushing bracket 81 , a pushing block 82 and a pushing driving member 83 , wherein the pushing bracket 81 is disposed at one end of the base frame 11 .

[0157] The push block 82 is arranged relative to the gripping assembly 30, and the push block 82 and the gripping assembly 30 are spaced apart in the propulsion direction (i.e., the X-axis direction in the figure). The propulsion direction in this embodiment is the horizontal direction. When the gripping assembly 30 is in the first state, the push block 82 is directly opposite to the carrier 200 located in the loading area 31 in the propulsion direction, and there is an angle between the propulsion direction and the stacking direction of the plurality of sheet materials. The shape of the push block 82 is adapted to the shape of the connecting port 203 of the carrier 200, and the size of the push block 82 corresponds to the stacking height of the plurality of sheet materials, so that the push block 82 can pass through the connecting port 203 and can contact the plurality of sheet materials, and the sheet materials are pushed to one side of the carrier 200 by the push block 82, so as to roughly regularize the sheet materials, and avoid the plurality of sheet materials from tipping over under the action of gravity when the gripping assembly 30 is flipped to the second state due to the large distance between the sheet materials and the inner side of the carrier 200, causing the silicon wafers to hit the inner side of the carrier 200 and cause damage to the silicon wafers.

[0158] The push driving member 83 is disposed on the push bracket 81, and the push driving member 83 is connected to the push block 82. The push driving member 83 is used to drive the push block 82 to move in the push direction to approach or move away from the grab assembly 30. Exemplarily, the push driving member 83 is a cylinder, and the cylinder has a cylinder body and a piston rod. The cylinder body of the push driving member 83 is bolted and fixed to the push bracket 81, and the piston rod of the push driving member 83 is bolted and fixed to the push block 82. When the push block 82 is facing the carrier 200 located in the loading area 31, and the push block 82 moves close to the grab assembly 30, the push block 82 passes through the communication port 203, and pushes the plurality of sheet materials to move in the direction close to the inner side of the carrier 200.

[0159] When the gripping assembly 30 is in the first state and grips the carrier 200, the push block 82 is disposed opposite to the communication port 203 of the carrier 200. At this time, the push block 82 is driven by the push driving member 83 to extend into the interior of the carrier 200 through the communication port 203 and push the plurality of sheet materials to move toward the inner side of the carrier 200. After the push block 82 moves a specified distance and determines that the plurality of sheet materials are close to the position, the push block 82 is driven by the push driving member 83 to move away from the carrier 200 to allow the gripping assembly 30 to flip to the second state.

[0160] It is worth noting that the pushing block 82 in this embodiment is configured to push each sheet material close to the inner side of the carrier 200. In other embodiments, the pushing block 82 can also be configured to push each sheet material to lightly touch the inner side of the carrier 200. This application does not limit this.

[0161] like Figure 1 and Figure 5 As shown, the present application also provides a loading and unloading device 1000 .

[0162] The loading and unloading equipment 1000 includes a transport device 300 and a tidying device 100 , wherein the transport device 300 is used to transport the carrier 200 , and the tidying device 100 is used to tidy a plurality of sheet materials loaded on the carrier 200 .

[0163] In some embodiments, the transport device 300 includes an assembly line mechanism 400, a lifting mechanism 500 and a material grabbing mechanism 600. The assembly line mechanism 400 passes through the bottom of the base frame 11, and the assembly line mechanism 400 is used to transport the carrier 200 in a horizontal direction. The lifting mechanism 500 is located below the transfer area 13. The material grabbing mechanism 600 is located above the transfer area 13.

[0164] like Figure 1 , Figure 5 , Figure 6 and Fig. 9 As shown, the loading and unloading equipment 1000 provided by the present invention can perform material loading and material sorting, and the working mode of the loading and unloading equipment 1000 can include: First, the grab assembly 30 moves to the avoidance position to be away from the transfer area 13 , and the assembly line mechanism 400 transports the carrier 200 to the bottom of the transfer area 13 .

[0165] Then, the lifting mechanism 500 lifts the carrier 200 so that the carrier 200 is separated from the assembly line mechanism 400 and rises to the transfer area 13 .

[0166] Then, the grab assembly 30 moves to the docking position to approach the staging area 13 .

[0167] Then, the arranging device 100 grabs the carrier 200 located in the transfer area 13 and arranges the multiple sheet materials in the carrier 200 . After the multiple sheet materials have been arranged, the grabbing assembly 30 moves to the docking position to approach the transfer area 13 .

[0168] Then, the grab assembly 30 releases the carrier 200 so that the lifting mechanism 500 receives the carrier 200 .

[0169] Then, the grab assembly 30 moves to the avoidance position to be away from the transfer area 13 .

[0170] Then, the material grabbing mechanism 600 removes the plurality of sheet materials from the carrier 200 .

[0171] Then, the lifting mechanism 500 drives the carrier 200 to separate from the grabbing assembly 30 and places the carrier 200 on the assembly line mechanism 400 .

[0172] It can be understood that the implementation principle and beneficial effects of the loading and unloading equipment 1000 provided in the embodiment of the present application can be seen from the relevant descriptions in the aforementioned embodiments, and the present application will not repeat them here.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A regularization device, It is characterized in that Used to organize a plurality of sheet materials loaded on a carrier, the carrier having a receiving space, a plurality of the sheet materials being stacked in the receiving space, the organizing device comprising: frame; A rotating frame, rotatably connected to the frame; A grabbing assembly connected to the rotating frame and moving synchronously with the rotating frame, the grabbing assembly is provided with a loading area, and the grabbing assembly is used to grab the carrier located in the loading area; A flip driving assembly, disposed on the frame and connected to the rotating frame, the flip driving assembly is used to drive the rotating frame to rotate, so as to drive the grabbing group to flip to the first state or the second state; When the gripping assembly is flipped to the first state, the carrier and the sheet material are allowed to be transferred between the arranging device and an external transport device; When the grabbing assembly is flipped to the second state, an angle is formed between the stacking direction of the plurality of sheet materials and the vertical direction, so that the plurality of sheet materials fall down under the action of gravity and simultaneously abut against the inner side of the carrier.

2. The tidying device according to claim 1, It is characterized in that The grabbing component comprises: A carrier frame connected to the rotating frame and moving synchronously with the rotating frame, the carrier frame being used to carry the carrier located in the loading area; A clamping module is disposed on the carrier, and is used to cooperate with the carrier to clamp the carrier located in the loading area in a first direction.

3. The tidying device according to claim 2, It is characterized in that The clamping module comprises: A pressing driving member, arranged on the supporting frame; A pressing block connected to the pressing driving member, wherein the pressing block and the carrier are spaced apart in the first direction; the pressing block is used to move in the first direction under the drive of the pressing driving member; Wherein, the clamping block can move toward the direction approaching the carrier so that the clamping block and the carrier cooperate with each other in the first direction to clamp the carrier located in the loading area; when the grabbing assembly is in the first state, the first direction is parallel to the vertical direction.

4. The tidying device according to claim 2, It is characterized in that The carrier is provided with a first stopper, the first stopper is located at one side of the loading area, and the first stopper can abut against the carrier located in the loading area in the second direction; Wherein, when the grabbing assembly is flipped to the first state, the second direction is parallel to the horizontal direction; when the grabbing assembly is flipped to the second state, the second direction is parallel to the vertical direction.

5. The tidying device according to claim 4, It is characterized in that The carrier frame is provided with a second stopper, and the second stopper and the first stopper are distributed at intervals along the circumference of the loading area. The second stopper is used to support the carrier located in the loading area in a third direction, and there is an angle between the third direction and the first direction, and there is an angle between the third direction and the second direction.

6. The tidying device according to claim 2, It is characterized in that The top of the carrier is provided with an opening for the sheet material to enter and exit the receiving space; The tidying device further comprises a top plate, which is arranged on the rotating frame, and the top plate is spaced apart from the bearing frame to form the loading area; The top plate is used to cover the opening of the carrier located in the loading area to prevent the sheet material from escaping from the opening during the turning process.

7. The tidying device according to claim 6, It is characterized in that The tidying device also includes: An adjustable fixed seat fixed to the rotating frame; An adjusting slider is slidably connected to the rotating frame, and the top plate is fixed to the adjusting slider; The adjusting screw is rotatably connected to the adjusting fixing seat and is threadedly connected to the adjusting slider; when the adjusting screw rotates, the adjusting screw drives the adjusting slider and the top plate to move so that the top plate moves closer to or away from the supporting frame.

8. The tidying device according to claim 2, It is characterized in that The tidying device further comprises a lifting drive member, which is disposed on the rotating frame and connected to the grabbing assembly; The lifting drive member is used to drive the grabbing assembly to reciprocate in a first direction relative to the rotating frame; When the grab assembly is in the first state, the first direction is parallel to the vertical direction.

9. The tidying device according to claim 8, It is characterized in that The transport device includes a lifting mechanism, and the lifting mechanism is used to carry the carrier and drive the carrier to rise and fall; A clearance opening is provided on one side of the carrier frame, and the clearance opening passes through the upper and lower surfaces of the carrier frame, and the jacking mechanism passes through the clearance opening; When the lifting mechanism carries the carrier and passes through the clearance opening, the support frame can extend below the bottom of the carrier to allow the support frame to rise and drive the carrier to rise and leave the lifting mechanism.

10. The tidying device according to claim 1, It is characterized in that The frame is provided with a buffer, the position of the buffer passes through the turning path of the rotating frame, and the buffer is used to resist the turning frame after turning and absorb kinetic energy; and / or, The frame is provided with an in-position detection member, the position of the in-position detection member passes through the flipping path of the rotating frame, and the in-position detection member is used to detect the position of the rotating frame after flipping; and / or, The frame is provided with a braking screw, the position of the braking screw passes through the turning path of the rotating frame, the braking screw is threadedly connected to the frame, and the braking screw is used to limit the turning angle of the rotating frame by abutting against the rotating frame.

11. The tidying device according to claim 1, It is characterized in that The flip drive assembly comprises: An eccentric rod, a first end of which is coaxially fixed to the rotating shaft of the rotating frame and is rotatably connected to the frame; A flip driving member, wherein the second end of the eccentric rod and the frame are respectively rotatably connected to the flip driving member, and the flip driving member is used to change the distance between the second end of the eccentric rod and the frame to drive the eccentric rod to rotate.

12. The tidying device according to claim 2, It is characterized in that The transport device includes a lifting mechanism, and the lifting mechanism is used to carry the carrier and drive the carrier to rise and fall; The frame includes a base frame and a transverse bottom plate, a transfer area is arranged above the base frame, the transfer area is used to dock with the jacking mechanism, the transverse bottom plate is slidably connected to the base frame, and the rotating frame, the grabbing assembly and the flipping drive assembly all move synchronously with the transverse bottom plate; The tidying device further comprises a transverse driving assembly, wherein the transverse driving assembly is connected to the transverse bottom plate, and the transverse driving assembly is used to drive the transverse bottom plate to move, so as to drive the grabbing assembly to move toward or away from the transfer area; When the grabbing assembly is away from the transfer area, allowing the transport device to transport the carrier to the transfer area; When the grabbing assembly approaches the transfer area, the carrier located in the transfer area can enter the loading area to be grabbed by the grabbing assembly.

13. The tidying device according to claim 12, It is characterized in that A clearance opening is provided on one side of the carrier frame, and the clearance opening passes through the upper and lower surfaces of the carrier frame, and the jacking mechanism passes through the clearance opening; When the lifting mechanism carries the carrier and the grab assembly approaches the transfer area, the carrier frame can extend under the bottom of the carrier to allow the carrier located in the transfer area to enter the loading area.

14. The tidying device according to claim 13, It is characterized in that The tidying device further comprises a lifting driving member, wherein the lifting driving member is arranged on the rotating frame and connected to the grabbing assembly, and the supporting frame of the grabbing assembly is used to be lifted to a first height or a second height under the drive of the lifting driving member; When the carrier is at the first height, the carrier is located below the bottom of the carrier in the transfer area; When the transverse bottom plate approaches the transfer area and the support frame is located at the second height, the support frame supports the bottom of the carrier to drive the carrier to rise and separate from the lifting mechanism.

15. The tidying device according to claim 1, It is characterized in that A communication port is provided on the side of the carrier; The tidying device further comprises a pushing component, and the pushing component comprises: Push the bracket; a pushing block, arranged relative to the grabbing assembly; when the grabbing assembly is in the first state, the pushing block faces the carrier located in the loading area in a pushing direction, and an angle is formed between the pushing direction and a stacking direction of the plurality of sheet materials; A push driving member, disposed on the push bracket and connected to the push block, the push driving member being used to drive the push block to move closer to or away from the grabbing assembly in the push direction; When the pushing block faces the carrier located in the loading area and moves close to the grab assembly, the pushing block passes through the communication port and pushes the plurality of sheet materials to move toward the inner side of the carrier.

16. A loading and unloading device, It is characterized in that It comprises a transport device and a tidying device, wherein the transport device is used for transporting a carrier, the tidying device can be docked with the transport device, and the tidying device is used for tidying a plurality of sheet materials loaded on the carrier, the carrier has a receiving space, and a plurality of the sheet materials are arranged in the receiving space; The regularization device comprises: frame; A rotating frame, rotatably connected to the frame; A grabbing assembly connected to the rotating frame and moving synchronously with the rotating frame, the grabbing assembly is provided with a loading area, and the grabbing assembly is used to grab the carrier located in the loading area; A flip driving assembly, disposed on the frame and connected to the rotating frame, the flip driving assembly is used to drive the rotating frame to rotate, so as to drive the grabbing assembly to flip to the first state or the second state; When the gripping assembly is flipped to the first state, the carrier and the sheet material are allowed to be transferred between the arranging device and an external transport device; When the grabbing assembly is flipped to the second state, an angle is formed between the stacking direction of the plurality of sheet materials and the vertical direction, so that the plurality of sheet materials fall down under the action of gravity and simultaneously abut against the inner side of the carrier.

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