Rectifying device and feeding and discharging equipment

Abstract

The application provides a regularizing device and a feeding and discharging equipment. The regularizing device comprises a rack, a rotating frame rotatably connected to the rack, a grabbing assembly connected to the rotating frame and moving synchronously with the rotating frame, and a turnover driving assembly for driving the rotating frame to rotate to drive the grabbing assembly to turn over to a first state or a second state. When the grabbing assembly turns over to the first state, the regularizing device and an external conveying device are allowed to transfer a carrier and sheet materials. When the grabbing assembly turns over to the second state, the sheet materials are poured under the action of gravity and simultaneously abut against the inner side of the carrier. Thus, the sheet materials can be changed from the original irregular stacking state to the regular stacking state, the sheet materials are guaranteed to be aligned in the vertical direction, the unevenness of the whole formed by the sheet materials is reduced, the adverse effects caused by the misalignment on the subsequent process are reduced, and the process efficiency and the yield are improved.

Description

Technical Field

[0001] This application relates to the field of battery cell production line technology, and in particular to a sizing device and loading / unloading equipment. Background Technology

[0002] Currently, semiconductor and photovoltaic materials are widely used in industries such as electronics and new energy. Semiconductor and photovoltaic materials typically require chemical processing before they can be applied to products, such as using ALD (Atomic Layer Deposition) technology to process sheet materials. In the production of solar cells, sheet materials are usually loaded onto specialized carriers, and loading / unloading equipment transports the carriers and raw materials to the processing equipment. The carriers are equipped with receiving spaces for the sheet materials, which can simultaneously hold multiple sheet materials, stacked on top of each other.

[0003] However, the internal storage space of the carrier is usually configured to be larger than the total volume of the stacked sheet materials, which creates gaps between the sides of the sheet materials and the carrier. This makes it difficult to align the multiple sheet materials in the vertical direction, affecting the subsequent processing of the sheet materials and reducing production efficiency. Summary of the Invention

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

[0005] The first aspect of this application provides a straightening device for straightening multiple sheet materials loaded on a carrier. The carrier has a receiving space, and the multiple sheet materials are disposed in the receiving space. The straightening device includes: a frame; a rotating frame rotatably connected to the frame; a gripping assembly connected to the rotating frame and moving synchronously with the rotating frame, the gripping assembly having a loading area for gripping the carrier located in the loading area; and a tilting drive assembly disposed on the frame and connected to the rotating frame, the tilting drive assembly for driving the rotating frame to rotate, thereby causing the gripping assembly to tilt to a first state or a second state. When the gripping assembly tilts to the first state, it allows the straightening device to transfer the carrier and sheet materials between itself and an external transport device. When the gripping assembly tilts 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 tilt under the action of gravity and simultaneously abut against the inner side of the carrier.

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

[0007] In some embodiments, the clamping module includes: a clamping drive member disposed on a carrier frame; a clamping block connected to the clamping drive member, the clamping block and the carrier frame being spaced apart in a first direction; the clamping block is used to move in the first direction under the drive of the clamping drive member; wherein the clamping block is capable of moving toward the carrier frame so that the clamping block and the carrier frame cooperate in the first direction to clamp the carrier located in the loading area; when the gripping assembly is in a first state, the first direction is parallel to the vertical direction.

[0008] In some embodiments, the support frame is provided with a first stop, which is located on one side of the loading area and is capable of abutting against the vehicle located in the loading area in a second direction; wherein, when the gripping component is flipped to the first state, the second direction is parallel to the horizontal direction; when the gripping component is flipped to the second state, the second direction is parallel to the vertical direction.

[0009] In some embodiments, the support frame is provided with a second stop, and the second stop and the first stop are distributed circumferentially along the loading area. The second stop is used to abut against the vehicle located in the loading area in a third direction. The third direction has an angle with the first direction and an angle with the second direction.

[0010] In some embodiments, the top of the carrier is provided with an opening for sheet material to enter and exit the receiving space; the straightening device also includes a top plate disposed on the rotating frame, the top plate and the support frame being 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 detaching from the opening during the flipping process.

[0011] In some embodiments, the straightening device further includes: an adjusting base fixed to the rotating frame; an adjusting slider slidably connected to the rotating frame, and a top plate fixed to the adjusting slider; and an adjusting screw rotatably connected to the adjusting base and threadedly connected to the adjusting slider. When the adjusting screw rotates, it drives the adjusting slider and the top plate to move, so that the top plate moves closer to or away from the support frame.

[0012] In some embodiments, the straightening device further includes a lifting drive, which is disposed on the rotating frame and connected to the gripping assembly; the lifting drive is used to drive the gripping assembly to reciprocate relative to the rotating frame in a first direction; when the gripping 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 for carrying a vehicle and driving the vehicle to rise and fall; a clearance opening is provided on one side of the support frame and extends through the upper and lower surfaces of the support frame, allowing the lifting mechanism to pass through; when the lifting mechanism carries the vehicle and passes through the clearance opening, the support frame can extend under the bottom of the vehicle to allow the support frame to rise and drive the vehicle to rise and disengage from the lifting mechanism.

[0014] In some embodiments, the frame is provided with a buffer member, the position of which passes through the flipping path of the rotating frame, the buffer member is used to abut against the flipped rotating frame and absorb kinetic energy; and / or, the frame is provided with a positioning detection member, the position of which passes through the flipping path of the rotating frame, the positioning detection member is used to detect the position of the flipped rotating frame; and / or, the frame is provided with a brake screw, the position of which passes through the flipping path of the rotating frame, the brake screw is threadedly connected to the frame, the brake screw is used to limit the flipping angle of the rotating frame by abutting against the rotating frame.

[0015] In some embodiments, the flip drive assembly includes: an eccentric rod, the first end of which is coaxially fixed with the rotation shaft of the rotating frame and rotatably connected to the frame; and a flip drive member, the second end of which is rotatably connected to the frame and the frame respectively, the flip drive member being 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 for carrying a vehicle and lifting the vehicle; the frame includes a base frame and a transverse base plate, a transfer area is provided above the base frame for docking with the lifting mechanism, the transverse base plate is slidably connected to the base frame, and the rotating frame, gripping assembly, and tilting drive assembly all move synchronously with the transverse base plate; the aligning device also includes a transverse drive assembly connected to the transverse base plate, which drives the transverse base plate to move, thereby moving the gripping assembly toward or away from the transfer area; when the gripping assembly moves away from the transfer area, the transport device is allowed to transport the vehicle to the transfer area; when the gripping assembly approaches the transfer area, the vehicle located in the transfer area can enter the loading area for the gripping assembly to grip.

[0017] In some embodiments, a clearance opening is provided on one side of the carrier frame, and the clearance opening extends through both the upper and lower surfaces of the carrier frame, allowing the lifting mechanism to pass through; when the lifting mechanism carries the vehicle and the gripping component approaches the transfer area, the carrier frame can extend under the bottom of the vehicle to allow the vehicle located in the transfer area to enter the loading area.

[0018] In some embodiments, the straightening device further includes a lifting drive, which is disposed on the rotating frame and connected to the gripping assembly. The support frame of the gripping assembly is used to lift to a first height or a second height under the drive of the lifting drive. When the support frame is at the first height, the support frame is located below the bottom of the vehicle in the transfer area. When the transverse base plate approaches the transfer area and the support frame is at the second height, the support frame supports the bottom of the vehicle to drive the vehicle to rise and disengage from the lifting mechanism.

[0019] In some embodiments, a communication port is provided on the side of the carrier; the straightening device further includes a pushing assembly, which includes: a pushing bracket; a pushing block disposed relative to the gripping assembly; when the gripping assembly is in a first state, the pushing block faces the carrier located in the loading area in the pushing direction, and the pushing direction has an angle with the stacking direction of the plurality of sheet materials; a pushing drive member disposed on the pushing bracket and connected to the pushing block, the pushing drive member being used to drive the pushing block to move in the pushing direction toward or away from the gripping assembly; when the pushing block faces the carrier located in the loading area and the pushing block moves toward the gripping assembly, the pushing block passes through the communication port and pushes the plurality of sheet materials toward the direction of approaching the inside of the carrier.

[0020] A second aspect of this application provides a loading and unloading device, including a transport device and a straightening device. The transport device is used to transport a carrier, and the straightening device is capable of docking with the transport device. The straightening device is used to straighten multiple sheet materials loaded on the carrier. The carrier has a receiving space, and the multiple sheet materials are disposed in the receiving space. The straightening device includes: a frame; a rotating frame rotatably connected to the frame; a gripping assembly connected to the rotating frame and moving synchronously with the rotating frame, the gripping assembly having a loading area, and the gripping assembly being used to grip the carrier located in the loading area; and a tilting drive assembly disposed on the frame and connected to the rotating frame, the tilting drive assembly being used to drive the rotating frame to rotate, thereby causing the gripping assembly to tilt to a first state or a second state. When the gripping assembly tilts to the first state, it allows the straightening device to transfer the carrier and sheet materials between itself and an external transport device. When the gripping assembly tilts 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 tilt under the action of gravity and simultaneously abut against the inner side of the carrier.

[0021] The aligning device and loading / unloading equipment provided in this application embodiment can grip the carrier through the gripping component. After the gripping component repeatedly flips through the first state, the second state, and the first state, multiple sheet materials are simultaneously tilted and held against the inner side of the carrier. As a result, the multiple sheet materials can be transformed from an uneven stacked state to an orderly stacked state, ensuring that the multiple sheet materials are aligned in the vertical direction. This reduces the unevenness of the overall structure formed by the multiple sheet materials, reduces the adverse effects on subsequent processes caused by misalignment, and improves process efficiency and yield. Attached Figure Description

[0022] Figure 1 A schematic diagram of the loading and unloading equipment provided in this application.

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

[0024] Figure 3 A schematic diagram showing the state of the transport device provided in this application when transporting a vehicle.

[0025] Figure 4 A schematic diagram of the structure of the conditioning device provided in this application.

[0026] Figure 5 A schematic diagram of the state when the gripping component provided in this application grips a vehicle and is in the first state.

[0027] Figure 6 A schematic diagram of the state when the gripping component provided in this application grips a vehicle and is in the second state.

[0028] Figure 7 This is a structural schematic diagram of the rotating frame and gripping assembly provided in this application.

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

[0030] Figure 9 An exploded view of the action of the gripping component provided in this application gripping a vehicle from a transport device.

[0031] Figure 10 A top view of the rotating frame and gripping assembly provided in this application.

[0032] Explanation of main component symbols 100. Organizing device; 200. Carrier; 201. Reception space; 202. Opening; 203. Connecting port; 204. Limiting post; 205. Chassis; 10. Frame; 11. Base frame; 111. First support frame; 112. Second support frame; 12. Transverse base 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. Position detection component; 18a. First position detection component; 18b. Second position detection component; 20. Rotating frame; 21. Support plate; 22. Connecting block; 23. Rotating shaft; 30. Gripping assembly; 31. Loading 40. Loading area; 41. Support frame; 42. Lifting drive component; 43. Clearing opening; 44. First stop block; 45. Second stop block; 50. Guide column; 51. Clamping module; 52. Pressing drive component; 60. Tilting drive assembly; 61. Eccentric rod; 62. Tilting drive component; 70. Lateral drive assembly; 80. Push assembly; 81. Push bracket; 82. Push block; 83. Push drive component; 90. Top plate; 91. Adjusting fixed seat; 92. Adjusting slider; 93. Adjusting screw; 300. Transport 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 Implementation

[0033] In the description of the embodiments of this application, when an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an element that is centrally located. When an element is considered to be "disposed" on another element, it can be directly disposed on the other element or there may be an element that is centrally located.

[0034] It should be understood that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0035] It should also be understood that the directional descriptions in this embodiment, such as "up", "down", "top", and "bottom", are all based on the direction of the product in the actual use scenario.

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

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

[0038] Currently, ALD (Atomic Layer Deposition) technology is widely used in the processing of semiconductor or photovoltaic materials. The industry already has a considerable amount of related equipment, allowing for the selection of appropriate equipment based on specific processing needs. In automated processing systems, automatic loading and unloading of sheet materials is required, and these materials are typically loaded using specialized carriers during this process.

[0039] The vehicle is equipped with a storage space for accommodating sheet materials. The storage space can accommodate multiple sheet materials at the same time, and the multiple sheet materials are stacked on the vehicle.

[0040] However, in order to avoid the problem of jamming when multiple sheet materials enter and exit the carrier, the space size of the internal receiving space of the carrier is usually configured to be larger than the total volume of the stacked sheet materials. This results in gaps between the sides of the sheet materials and the carrier, making it difficult to align multiple sheet materials in the vertical direction. This affects the subsequent processing of the sheet materials and reduces production efficiency.

[0041] For example, an automated processing system includes a conveyor belt, a material gripping device, and a processing unit. During automatic feeding, multiple sheet materials to be processed are stacked in a carrier. The conveyor belt transports the carrier along with the sheet materials to a designated workstation. The material gripping device then picks up the sheet materials from the carrier and transports them to the processing unit. Because the sheet materials are not properly aligned during their journey from the conveyor belt to the material gripping device, vertical alignment cannot be guaranteed. This can result in uneven surfaces on the sides of the sheet materials, affecting the gripping device's gripping action, increasing the risk of accidental damage during transport, and reducing production efficiency.

[0042] Therefore, this application provides a material straightening device and a loading / unloading equipment, which can realize the function of material straightening and ensure the normal execution of process operations.

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

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

[0045] The carrier 200 has a receiving space 201 for stacking multiple sheet materials. The sheet materials can be stacked without spacing or with spacing. Unspacing stacking involves directly stacking multiple sheet materials together, with adjacent layers fitting together. Spacing stacking involves inserting multiple sheet materials into the carrier, with a certain gap between adjacent layers.

[0046] The sizing device 100 can dock with the transport device 300 for material transfer, and the sizing device 100 is also used to size multiple sheet materials loaded on the carrier 200.

[0047] The transport device 300 in this 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 made according to process requirements.

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

[0049] Figure 3 A schematic diagram of the state of the transport device 300 and the transport vehicle 200 provided in this application.

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

[0051] Then, the straightening device 100 removes the carrier 200 and straightens the multiple sheet materials loaded on the carrier 200, and then puts the carrier 200 back into the transport device 300.

[0052] Then, the transport device 300 removes the pre-formed sheet materials from the carrier 200 and transports them to the designated loading position to feed the sheet materials into the processing equipment, thus completing the loading action.

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

[0054] In this embodiment, the transport device 300 includes a conveyor system 400, a lifting mechanism 500, and a material handling mechanism 600. The conveyor system 400 is used to transport the carrier 200 in the horizontal direction.

[0055] The lifting mechanism 500 is used to support the carrier 200 and drive the carrier 200 to rise and fall. Specifically, the lifting mechanism 500 is used to lift the carrier 200 off the assembly line mechanism 400 when the assembly line mechanism 400 transports the carrier 200 to the designated position, so that the carrier 200 can be removed from the assembly line mechanism 400 for the straightening device 100 to take away; the lifting mechanism 500 is also used to receive the carrier 200 put in by the straightening device 100 and place the carrier 200 back into the assembly line mechanism 400 by lowering it, so that the assembly line mechanism 400 can continue to transport the carrier 200.

[0056] The material handling mechanism 600 is used to remove multiple pre-arranged sheet materials from the carrier 200 when the carrier 200 moves to the corresponding position.

[0057] For example, the assembly line mechanism 400 includes multiple sets of synchronous belt assemblies 401 arranged in parallel and spaced apart, with the two ends of the synchronous belt assembly 401 corresponding to the loading position and the unloading position, respectively.

[0058] For example, the lifting mechanism 500 includes a lifting platform 501 and a lifting drive assembly 502. The lifting platform 501 and the lifting drive assembly 502 are located between multiple sets of synchronous belt assemblies 401. The lifting platform 501 is connected to the lifting drive assembly 502, which 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, cylinders, motor screw mechanisms, etc.

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

[0060] When the timing belt assembly 401 transports the carrier 200 above the lifting platform 501, the timing belt assembly 401 can pause transport. 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 off the timing belt assembly 401 so that the carrier 200 can be removed from the timing belt assembly 401 for the straightening device 100 to remove the carrier 200 for straightening.

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

[0062] For example, the material gripping mechanism 600 includes a clamping assembly and a material gripping drive assembly. The clamping assembly is used to grip and remove sheet material from the carrier 200. The material gripping drive assembly is connected to the clamping assembly and is used to drive the clamping assembly to move so that the clamping assembly can move to the corresponding position to grip the sheet material. The material gripping drive assembly includes, but is not limited to, a gantry traverse module, a multi-axis robot, etc.

[0063] like Figure 2 and Figure 3As shown, in this embodiment, the sheet material is the raw material for solar cells, including but not limited to silicon wafers and silicon carbide wafers. The carrier 200 is a support structure suitable for loading the sheet material, including but not limited to a carrier tray and a material box. The top of the carrier 200 is provided with an opening 202, through which the sheet material can enter and exit the receiving space 201. The side of the carrier 200 is provided with a communication port 203, through which external structures of the carrier 200 can extend into the receiving space 201 to contact the sheet material.

[0064] For example, the sheet material is a silicon wafer, and the sheet material is generally rectangular. The upper side of the carrier 200 can support the sheet material. The carrier 200 includes a chassis 205 and a plurality of limiting posts 204. The limiting posts 204 are perpendicular to the chassis 205 and are bolted 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 outline 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 enclose a receiving space 201, and the spatial dimension of the receiving space 201 is larger than the total volume of the stacked plurality of sheet materials. The end of the plurality of limiting posts 204 away from the chassis 205 forms an opening 202, and the spacing between two adjacent limiting posts 204 on the chassis 205 forms a communication opening 203. It can be understood that the side of the plurality of limiting posts 204 facing the receiving space 201 forms the inner side of the carrier 200.

[0065] The carrier 200 loads multiple sheet materials in the following manner: the multiple sheet materials are stacked on the chassis 205, the length direction of the limiting posts 204 is parallel to the stacking direction of the multiple sheet materials, the multiple limiting posts 204 are distributed around the multiple sheet materials, and at least a portion of the side of each sheet material has a gap with the adjacent limiting post 204. When the assembly line mechanism 400 transports the carrier 200, the chassis 205 is arranged horizontally, and the stacking direction of the multiple sheet materials is parallel to the vertical direction.

[0066] Figure 4 A schematic diagram of the structure of the regularization device 100 provided in this application. Figure 5 A schematic diagram of the state when the gripping component 30 provided in this application grips the vehicle 200 and is in the first state. Figure 6 A schematic diagram of the state when the gripping component 30 provided in this application grips the carrier 200 and is in the second state.

[0067] like Figure 4 , Figure 5 and Figure 6 As shown, this application first provides a regularization device 100.

[0068] The straightening device 100 includes a frame 10, a rotating frame 20, a gripping assembly 30, and a tilting drive assembly 60. The rotating frame 20 is rotatably connected to the frame 10, and the gripping assembly 30 is connected to the frame 10 and moves synchronously with it, including synchronous rotation and synchronous movement. The axis of the rotating frame 20 is parallel to the horizontal direction. The gripping assembly 30 is provided with a loading area 31, which is used to grip 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 gripping assembly 30, and the loading area 31 moves as the gripping assembly 30 moves.

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

[0070] When the gripping assembly 30 is flipped to the first state, it allows the aligning device 100 to transfer the carrier 200 and the sheet material between the carrier 200 and the external transport device 300. When the gripping assembly 30 is flipped to the second state, the stacking direction of the multiple sheet materials forms an angle with the vertical direction, so that the multiple sheet materials tilt under the action of gravity and simultaneously abut against the inside of the carrier 200.

[0071] When the gripping component 30 is in the first state and gripping the carrier 200, the stacking direction of the multiple sheet materials is parallel to the vertical direction, so as to meet the transportation requirements of the transport device 300 for the carrier 200 and the sheet materials.

[0072] When the gripping component 30 is in the first state, the transfer of the carrier 200 and the sheet material includes the action of the straightening device 100 gripping the carrier 200 and the sheet material from the transport device 300, and also includes the action of the straightening device 100 loading the carrier 200 and the sheet material into the transport device 300.

[0073] For example, in the loading operation, the transport device 300 can transport the carrier 200 loaded with multiple sheet materials to be shaped to a designated position so that the carrier 200 can enter the loading area 31; then, the gripping component 30 in the first state grips the carrier 200 located in the loading area 31; then, the gripping component 30 is driven by the flipping drive component 60 to flip to the second state to shape the multiple sheet materials; then, the gripping component 30 is driven by the flipping drive component 60 to flip back to the first state; then, the gripping component 30 releases the carrier 200 located in the loading area 31 so that the carrier 200 loaded with the shaped 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 gripping component 30 is in the second state and gripping 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 post 204 located below it. This limiting post 204 forms a reference surface that smooths the sides of the multiple sheet materials, so that the multiple sheet materials are aligned along the length direction of the limiting post 204.

[0075] After the gripping component 30 grips the carrier 200 and repeatedly flips through the first state, the second state, and the first state, multiple sheet materials are simultaneously tilted and held against the inside of the carrier 200. This allows the multiple sheet materials to change from an uneven stacked state to a regular stacked state, ensuring that the multiple sheet materials are aligned in the vertical direction. This reduces the unevenness of the overall structure formed by the multiple sheet materials, reduces the adverse effects on subsequent processes caused by misalignment, and improves process efficiency and yield.

[0076] like Figure 2 and Figure 5 As shown, in some embodiments, the straightening device 100 further includes a pushing component 80, which is disposed relative to the gripping component 30. When the gripping component 30 is in the first state and grips the carrier 200, the pushing component 80 is disposed directly opposite 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 multiple sheet materials, thereby pushing the multiple sheet materials to move in a direction closer to the inside of the carrier 200.

[0077] It is understandable that after the gripping component 30 grips the vehicle 200 but before it flips to the second state, the pushing component 80 can move in a direction closer to the inside of the vehicle 200 by pushing multiple sheet materials.

[0078] like Figure 2 and Figure 5 As shown, in some embodiments, the straightening device 100 further includes a top plate 90, which is disposed on the rotating frame 20. The top plate 90 and the gripping assembly 30 are spaced apart, and a loading area 31 is formed between the top plate 90 and the gripping 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 gripping component 30 is at the first angle, the gripping component 30 and the top plate 90 are vertically distributed relative to the rotating frame 20. When the gripping component 30 grips 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 detaching from the opening 202 under gravity during the flipping process. The width, length, and dimensions 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 the end of the top plate 90 away from the rotating frame 20 and the end of the gripping component 30 away from the rotating frame 20. Neither the gripping component 30 nor the top plate 90 obstructs the clearance space, so that the vehicle 200 can enter and exit the loading area 31.

[0081] In some embodiments, the leveling 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 gripping assembly 30 to meet the applicability requirements of the carrier 200 at different heights.

[0082] like Figure 1 and Figure 5 As shown, in some embodiments, the straightening device 100 further includes a lateral drive assembly 70 for driving the gripping assembly 30 to move horizontally. The gripping assembly 30, driven by the lateral drive assembly 70, can move towards or away from the lifting mechanism 500 of the transport device 300.

[0083] In some embodiments, the frame 10 includes a base frame 11 and a transverse base plate 12. A transfer area 13 is provided above the base frame 11. The transfer area 13 is used to dock with the lifting mechanism 500 of the transport device 300 for the transport device 300 to transfer the carrier 200 and sheet materials. 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 transverse base plate 12 is slidably connected to the base frame 11, the gripping assembly 30 is rotatably connected to the transverse base plate 12, and the flipping drive assembly 60 is disposed on the transverse base plate 12 so that both the gripping assembly 30 and the flipping drive assembly 60 move synchronously with the transverse base plate 12. The transverse drive assembly 70 is connected to the transverse base plate 12 and is used to drive the transverse base plate 12 to move, thereby causing the gripping assembly 30 to move towards or away from the transfer area 13. The transverse drive assembly 70 includes, but is not limited to, cylinders, motor screw mechanisms, gear and rack mechanisms, etc.

[0085] For example, when the gripping component 30 is away from the transfer area 13, the gripping component 30 is in a clearance position. When the gripping component 30 is close to the transfer area 13, the gripping component 30 is in a docking position.

[0086] When the gripping component 30 moves to the avoidance position, the transport device 300 is allowed to transport the vehicle 200 to the transfer area 13. Specifically, when the gripping component 30 is in the avoidance position, both the gripping component 30 and the lateral sliding base plate 12 are far from the transfer area 13 to prevent the gripping component 30 or the lateral sliding base plate 12 from interfering with the transport device 300's transport of the vehicle 200, allowing the lifting mechanism 500 of the transport device 300 to lift the vehicle 200 to the transfer area 13.

[0087] When the gripping component 30 moves to the docking position, the loading area 31 overlaps with the transfer area 13, allowing the carrier 200 located in the transfer area 13 to enter the loading area 31 for the gripping component 30 to grip. Specifically, when the gripping component 30 is in the docking position, the loading area 31 of the gripping component 30 overlaps with the transfer area 13 of the base frame 11, allowing the gripping component 30 to grip the carrier 200 loaded with multiple sheet materials to be shaped, and simultaneously allowing the gripping component 30 to release the carrier 200 loaded with multiple shaped sheet materials, so that the transport device 300 can remove the shaped sheet materials.

[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. The first support frame 111 and the second support frame are arranged side by side with intervals, so that a transport space is formed between the first support frame 111 and the second support frame 112. The transport space is used to accommodate the transport device 300. For example, the assembly line mechanism 400 and the lifting mechanism 500 of the transport device 300 are both disposed in the transport space, and the assembly line mechanism 400 can drive the carrier 200 to move through the transport space.

[0089] In this example embodiment, the transfer area 13 is located above the lifting mechanism 500 and is used to dock with the lifting mechanism 500. Specifically, when the timing belt assembly 401 transports the carrier 200 to below the transfer area 13, the carrier 200 arrives above the lifting platform 501. The lifting platform 501 can lift the carrier 200 away from the timing belt assembly 401, allowing the carrier 200 to enter the transfer area 13 for the gripping assembly 30 to pick up. After the gripping 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 timing belt assembly 401, whereby the timing belt assembly 401 continues to transport the carrier 200.

[0090] In some embodiments, the base frame 11 is further provided with a plurality of incoming material detection elements, which are distributed according to the path through which the carrier 200 moves 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 elements can detect and provide feedback on the position of the carrier 200 to trigger corresponding actions. For example, the incoming material detection elements can be photoelectric sensors.

[0091] Figure 7 This is a schematic diagram of the structure of the rotating frame 20 and the gripping component 30 provided in this 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 support frame 40 and the top plate 90 are spaced apart on one side of the support plate 21, and the rotating shaft 23 is located on the other side of the support plate 21, parallel to the horizontal direction. One end of the connecting block 22 is bolted 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 fixed seats 14 is two, and the two fixed seats 14 are distributed at both ends of the rotating shaft 23. The two ends of the rotating shaft 23 are respectively connected to the two fixed 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 is rotatably fixed on the transverse base plate 12.

[0094] In this embodiment, when the gripping component 30 is in the first state, the support plate 21 is arranged vertically, and the gripping component 30 is located at the lower part of the support plate 21, while the top plate 90 is located at the upper part of the support plate 21. When the gripping component 30 is in the second state, the support plate 21 is arranged horizontally.

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

[0096] The clamping module 50 is disposed on the support frame 40. The clamping module 50 moves and rotates with the support frame 40. The clamping module 50 is used to cooperate with the support frame 40 in the first direction (i.e. Figure 4 The carrier 200 located in the loading area 31 is clamped and fixed along the Z-axis direction. The first direction is parallel to the stacking direction of the multiple sheet materials. It can be understood that the first direction is the direction based on the gripping component 30, that is, the first direction can also change when the gripping component 30 is flipped; in the example of this embodiment, when the gripping component 30 is in the first state, the first direction is parallel to the vertical direction, which is the Z-axis direction shown in the figure.

[0097] In this embodiment, when the support frame 40 is at a first angle, the gripping component 30 is in a first state. The first angle can be 0°, meaning the support frame 40 is horizontally positioned, and a loading area 31 is formed above the support frame 40. When the support frame 40 is at a second angle, the gripping component 30 is in a second state. The second angle can be 90°, meaning the support frame 40 is vertically positioned.

[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 tilting the sheet material can be achieved.

[0099] When straightening is required, the carrier frame 40 can be positioned 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 flip drive assembly 60 can drive the rotating frame 20 to rotate forward so that the carrier frame 40 flips to a second angle to straighten the multiple sheet materials in the carrier 200.

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

[0101] Figure 8 Another structural schematic diagram of the regularization device 100 provided in this application.

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

[0103] When the gripping component 30 is in the first state, the first direction is parallel to the vertical direction, so that the lifting drive component 41 can be driven to move up and down.

[0104] like Figure 2 and Figure 5As shown in this embodiment, when the gripping component 30 is in the first state, the support frame 40 and the top plate 90 are spaced apart in the vertical direction. The distance between the support frame 40 and the top plate 90 can be adjusted using the vertical lifting function of the support frame 40, so that the top plate 90 can be close to the opening 202 of the carrier 200. This also satisfies application scenarios for carriers 200 of different heights.

[0105] Figure 9 An exploded view of the action of the gripping component 30 provided in this application gripping the vehicle 200 from the transport device 300.

[0106] like Figure 1 and Figure 9 As shown in the example of this embodiment, the gripping component 30 can also dock with the transport device 300 through the lifting function.

[0107] Specifically, the support frame 40 of the gripping component 30 is used to be raised or lowered to a first height or a second height under the drive of the lifting drive 41.

[0108] When the carrier frame 40 moves away from the transfer area 13, the transport device 300 is allowed to lift the vehicle 200 to the transfer area 13. When the carrier frame 40 is in the docking position and at a first height, the carrier frame 40 extends under the bottom of the vehicle 200 located in the transfer area 13. When the carrier frame 40 approaches the transfer area 13 and at a second height, the carrier frame 40 supports the bottom of the vehicle 200 to lift the vehicle 200 and detach it from the transport device 300.

[0109] It can be understood that the grabbing component 30 can grab the vehicle 200 from the transport device 300 in the following ways: First, the assembly line mechanism 400 transports the vehicle 200 to below the transfer area 13, and the support frame 40 moves to a clearance position.

[0110] Then, the lifting mechanism 500 lifts the vehicle 200 to the transfer area 13, and the vehicle 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 the released state, the carrier 40 moves to the docking position to approach the transfer area 13, the carrier 40 extends under the bottom of the vehicle 200 located in the transfer area 13, and then the clamping module 50 can be switched to the clamping state.

[0112] Then, the support frame 40 is raised and lowered to the second height, and the support frame 40 drives the carrier 200 to rise and disengage from the lifting mechanism 500.

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

[0114] Then, the support frame 40 moves to a clearance position away from the transfer area 13 so that the lifting mechanism 500 can drive the carrier 200 down from the transfer area 13 to the assembly line mechanism 400.

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

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

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

[0118] When the support frame 40 moves toward the lifting mechanism 500, the lifting mechanism 500 enters the clearance opening 42 from one side of the support frame 40; when the lifting platform 501 of the lifting mechanism 500 is raised or lowered, 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 support frame 40 can extend under the bottom of the carrier 200 to allow the support frame 40 to rise and drive the carrier 200 to rise and disengage from the lifting mechanism 500.

[0119] Specifically, when the support frame 40 removes the vehicle 200 from the lifting mechanism 500, firstly, the support frame 40 can be at a first height and moved to a docking position so that the lifting mechanism 500 passes through and is received in the clearance opening 42; then, the support frame 40 rises to a second height, and the support frame 40 supports the part of the chassis 205 that protrudes from the side of the lifting platform 501 so as to drive the vehicle 200 to rise and detach from the lifting platform 501.

[0120] like Figure 5 and Figure 7As shown, in some embodiments, the support frame 40 is provided with a first stop 43, which is located on one side of the loading area 31. The first stop 43 is used in a second direction (i.e., Figure 7 The second direction (in the X-axis direction) abuts against the carrier 200, and there is an angle between the second direction and the first direction.

[0121] When the carrier 200 is located in the loading area 31, the first stop 43 can abut against the carrier 200 in a second direction to position the carrier 200 and prevent it from deviating from its position. It can be understood that the second direction is a direction based on the gripping component 30, meaning that the second direction can also change when the gripping component 30 is flipped. In this embodiment, when the gripping component 30 is in the first state, the second direction is parallel to the horizontal direction. When the gripping component 30 is in the second state, the second direction is parallel to the vertical direction.

[0122] In some embodiments, the first stop 43 is bolted to the side of the support frame 40 facing the top plate 90. The first stop 43 is located at one end of the support frame 40 close to the support plate 21, so that a certain clearance space can be left at the end of the support frame 40 away from the support plate 21 for the vehicle 200 to enter the loading area 31.

[0123] In some embodiments, the second direction is perpendicular to the plane containing the axis of rotation shaft 23. When the gripping assembly 30 is flipped to the second state, the first stop 43 is located below the carrier 200 in the loading area 31. Thus, the first stop 43 can limit or support the carrier 200 from falling off the support frame 40 under gravity after the flipping, ensuring that the flipping action is completed.

[0124] In some embodiments, the number of first blocks 43 is greater than or equal to two, and the multiple first blocks 43 are distributed at intervals corresponding to the edge shape of the vehicle 200. For example, the number of first blocks 43 is two. It can be understood that the multiple first blocks 43 can simultaneously play a supporting and positioning role, further preventing the vehicle 200 from deviating from its position or falling off.

[0125] In some embodiments, the support frame 40 is further provided with a second stop 44. The second stop 44 is used to stop in a third direction (i.e. Figure 7 The gripper abuts against the carrier 200 along the Y-axis direction. The third direction forms an angle with the first direction and with the second direction. It can be understood that the third direction is the direction based on the gripping component 30; that is, the third direction can change when the gripping component 30 is flipped. In this example, the third direction is perpendicular to the second direction. When the gripping component 30 is in the first or second state, the third direction is parallel to the horizontal direction.

[0126] For example, the second stop 44 is bolted to the side of the support frame 40 facing the top plate 90, the second stop 44 and the first stop 43 are distributed at intervals around the loading area 31, and there is a gap between the second stop 44 and the clearance opening 42. The third direction is parallel to the plane containing the axis of the rotation shaft 23.

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

[0128] In some embodiments, the number of second stops 44 is greater than or equal to two, and the multiple second stops 44 are distributed on opposite sides of the support frame 40 in a third direction. For example, the number of second stops 44 is four, with two second stops 44 forming a group, and two groups of second stops 44 spaced apart in a third direction, and two second stops 44 in the same group spaced apart in a second direction. It can be understood that the multiple second stops 44 can simultaneously provide positioning for both sides of the vehicle 200, improving the positioning accuracy of the vehicle 200.

[0129] In some embodiments, the number of clamping modules 50 is greater than or equal to two, and the clamping modules 50 are distributed on opposite sides of the carrier frame 40 in the third direction. It can be understood that multiple clamping modules 50 can simultaneously clamp and fix the carrier 200 on both sides in the third direction, thereby improving the fixation 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 support frame 40. The clamping block 52 is connected to the clamping drive 51. The clamping block 52 and the support frame 40 are spaced apart in a 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 support frame 40. The clamping block 52 is capable of moving towards the support frame 40 so that the clamping block 52 and the support frame 40 cooperate in the first direction to clamp the carrier 200 located in the loading area 31.

[0131] Specifically, when the clamping block 52 moves close to the support frame 40, the clamping block 52 and the support frame 40 cooperate in the first direction to clamp the carrier 200, at which time the clamping module 50 is in a clamping state. When the clamping block 52 moves away from the support frame 40, the clamping block 52 and the support frame 40 are released, at which time the clamping module 50 is in a released state to release the carrier 200 located in the loading area 31.

[0132] Furthermore, when the gripping component 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] For example, the clamping drive 51 is a cylinder, which has a cylinder body and a piston rod. The cylinder body of the clamping drive 51 is bolted to the support frame 40. One end of the clamping block 52 is bolted to the piston rod of the clamping drive 51. The other end of the clamping block 52 extends toward the loading area 31 to form a protrusion, and a gasket is provided on the side of the protrusion facing the support frame 40.

[0134] When alignment is required, the clamping block 52 can be moved away from the support frame 40 so that the carrier 200 can enter between the clamping block 52 and the support frame 40 in the second direction. Then, the clamping drive member 51 drives the clamping block 52 to approach the support frame 40 in the first direction, so that the clamping block 52 abuts against the edge of the carrier 200 through the gasket, thereby clamping and fixing the carrier 200.

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

[0136] In this example, when the vehicle 200 is fully inside the loading area 31, the first stop 43 and the second stop 44 position the vehicle 200 in both the second and third directions, so that the clamping block 52 can be aligned with the vehicle 200 in the first direction, thereby ensuring that the clamping block 52 clamps the vehicle 200 in place and avoids the risk of unstable clamping.

[0137] like Figure 5 and Figure 7 As shown, in some embodiments, the adjustment module includes an adjustment base 91, an adjustment slider 92, and an adjustment screw 93. The adjustment base 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 rotatably connected to the adjustment base 91 and threadedly connected to the adjustment slider 92. When the adjustment screw 93 rotates, it drives the adjustment slider 92 and the top plate 90 to move, causing the top plate 90 to move closer to or further away from the support frame 40, thereby adjusting the distance between the top plate 90 and the support frame 40.

[0138] For example, the support plate 21 protrudes in a direction away from the support frame 40, forming a convex plate portion. The adjusting fixing seat 91 is bolted 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 near the adjusting fixing seat 91. The adjusting slider 92 is slidably connected to the sliding groove in a first direction. The sliding groove has a limiting effect on the adjusting slider 92, allowing the adjusting slider 92 to reciprocate only in the first direction. The top plate 90 is bolted to the side of the adjusting slider 92 exposed in the sliding groove. An adjusting screw 93 extends in the first direction, passes through and is rotatably connected to the adjusting fixing seat 91, and is threaded to the adjusting slider 92 in the first direction.

[0139] When the adjusting slider 92 rotates forward, the threaded engagement between the adjusting slider 92 and the top plate 90 causes them to move away from the support frame 40. When the adjusting slider 92 rotates in the reverse direction, the threaded engagement between the adjusting slider 92 and the top plate 90 causes them to move closer to the support frame 40. This allows for adjustment of the distance between the top plate 90 and the support frame 40.

[0140] Figure 10 A top view of the rotating frame 20 and gripping assembly 30 provided in this application.

[0141] like Figure 7 and Figure 10 As shown, in some embodiments, the fixed base 14 is provided with a buffer 16, the position of which passes through the flipping path of the rotating frame 20. The buffer 16 is used to support the rotating frame 20 after flipping and absorb kinetic energy. For example, the buffer 16 can be a hydraulic buffer, which has an elastic end and a fixed end. The fixed end of the buffer 16 is fixed to the fixed base 14, and the elastic end of the buffer 16 is set corresponding to the flipping path of the rotating frame 20.

[0142] It is understandable that during the reciprocating rotation of the rotating frame 20, the buffer 16 can reduce the impact of the impact on the rotating frame 20 and the sheet material, increase the equipment life, and improve the yield.

[0143] In some embodiments, the number of buffers 16 is greater than or equal to 2, and the plurality of buffers 16 includes a first buffer 16a and a second buffer 16b. The first buffer 16a corresponds to the flipping path of the rotating frame 20 driving the gripping assembly 30 to flip from a first state to a second state, and the second buffer 16b corresponds to the flipping path of the rotating frame 20 driving the gripping assembly 30 to flip from a second state to a first state.

[0144] For example, the fixed base 14 is provided with a first brake frame 15 and a second brake frame (not shown in the figure). The first brake frame 15 is located on the side of the fixed base 14 away from the rotating frame 20 in the first state, and both ends of the first brake frame 15 are bolted to the two fixed bases 14 respectively. A first buffer member 16a is fixed to the middle of the first brake frame 15. The second brake frame is located at the end of the fixed base 14 away from the rotating frame 20 in the second state, and both ends of the second brake frame are bolted to the two fixed bases 14 respectively. A second buffer member 16b is fixed to the middle of the second brake frame.

[0145] When the rotating frame 20 drives the gripping 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 gripping 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 fixed base 14 is provided with a brake screw 17, which is positioned along the flipping path of the rotating frame 20. The brake screw 17 is threadedly connected to the fixed base 14 and is used to limit the flipping angle of the rotating frame 20 by abutting against it. In this way, the brake screw 17 can prevent the rotating frame 20 from over-rotating, so as to position the flipped rotating frame 20 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 fixed seat 14 can be adjusted, thereby adjusting the rotation angle range of the rotating frame 20 and realizing the function of adjustable angle of the rotating frame 20.

[0148] In some embodiments, the number of brake screws 17 is greater than or equal to 2, and the plurality of brake screws 17 includes a first brake screw 17a and a second brake screw 17b. The first brake screw 17a corresponds to the flipping path setting of the rotating frame 20 driving the gripping component 30 to flip from a first state to a second state, and the second brake screw 17b corresponds to the flipping path setting of the rotating frame 20 driving the gripping component 30 to flip from a second state to a first state.

[0149] For example, 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 out of 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 out of the second brake frame.

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

[0151] In some embodiments, the fixed base 14 is provided with a positioning detection element 18. The position of the positioning detection element 18 passes through the flipping path of the rotating frame 20, and the positioning detection element 18 is used to detect the position of the rotating frame 20 after flipping. Thus, when the rotating frame 20 is flipped into position, the positioning detection element 18 can detect the position of the rotating frame 20 in a timely manner and provide feedback. For example, the positioning detection element 18 is a contact sensor with a contact end. The positioning detection element 18 detects the position of the rotating frame 20 by contacting the contact end with the rotating frame 20.

[0152] In some embodiments, the number of positioning detection elements 18 is greater than or equal to 2, and the plurality of positioning detection elements 18 includes a first positioning detection element 18a and a second positioning detection element 18b. The first positioning detection element 18a corresponds to the flipping path setting of the rotating frame 20 driving the gripping component 30 to flip from a first state to a second state, and the second positioning detection element 18b corresponds to the flipping path setting of the rotating frame 20 driving the gripping component 30 to flip from a second state to a first state.

[0153] When the rotating frame 20 drives the gripping assembly 30 to flip from the first state to the second state, the first positioning detection element 18a contacts the rotating frame 20 to confirm that the rotating frame 20 has rotated into position. When the rotating frame 20 drives the gripping assembly 30 to flip from the second state to the first state, the second positioning detection element 18b contacts the rotating frame 20 to confirm that the rotating frame 20 has rotated into position.

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

[0155] For example, one end of the rotating shaft 23 passes through the fixed seat 14 and is coaxially fixed to the first end of the eccentric rod 61. The tilting drive 62 is a cylinder, which has a cylinder body and a piston rod. The cylinder body of the tilting drive 62 is rotatably connected to the transverse base plate 12, and the piston rod of the tilting drive 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 tilting drive 62, the distance between the second end of the eccentric rod 61 and the transverse base 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 component 80 includes a pushing bracket 81, a pushing block 82, and a pushing drive 83, wherein the pushing bracket 81 is disposed at one end of the base frame 11.

[0157] The push block 82 is positioned relative to the gripping component 30, and the push block 82 and the gripping component 30 are spaced apart in the pushing direction (i.e., the X-axis direction in the figure). In this embodiment, the pushing direction is horizontal. When the gripping component 30 is in the first state, the push block 82 is directly facing the carrier 200 located in the loading area 31 in the pushing direction, and there is an angle between the pushing direction and the stacking direction of the multiple sheet materials. The shape of the push block 82 is adapted to the shape of the communication port 203 of the carrier 200, and the size of the push block 82 corresponds to the stacking height of the multiple sheet materials, so that the push block 82 can pass through the communication port 203 and contact the multiple sheet materials. The push block 82 pushes the sheet materials to one side of the carrier 200, thereby coarsely straightening the sheet materials and avoiding damage to the silicon wafers caused by the large distance between the sheet materials and the inner side of the carrier 200, which would result in the multiple sheet materials tipping over under gravity when the gripping component 30 is flipped to the second state.

[0158] A push drive 83 is disposed on a push bracket 81 and connected to a push block 82. The push drive 83 is used to drive the push block 82 to move in the pushing direction toward or away from the gripping assembly 30. For example, the push drive 83 is a cylinder having a cylinder body and a piston rod. The cylinder body of the push drive 83 is bolted to the push bracket 81, and the piston rod of the push drive 83 is bolted 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 toward the gripping assembly 30, the push block 82 passes through the communication port 203 and pushes multiple sheet materials toward the inner side of the carrier 200.

[0159] With the gripping assembly 30 in the first state and gripping the carrier 200, the push block 82 is positioned directly opposite the communication port 203 of the carrier 200. Driven by the push drive member 83, the push block 82 extends into the interior of the carrier 200 through the communication port 203 and pushes multiple sheet materials toward the interior of the carrier 200. After the push block 82 has moved a specified distance, confirming that the multiple sheet materials are in close contact, the push block 82 moves away from the carrier 200 under the drive of the push drive member 83, allowing the gripping assembly 30 to flip to the second state.

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

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

[0162] The loading and unloading equipment 1000 includes a conveying device 300 and a straightening device 100. The conveying device 300 is used to transport the carrier 200, and the straightening device 100 is used to straighten multiple sheet materials loaded on the carrier 200.

[0163] In some embodiments, the transport device 300 includes a conveyor system 400, a lifting mechanism 500, and a gripping mechanism 600. The conveyor system 400 passes under the base frame 11 and is used to transport the carrier 200 horizontally. The lifting mechanism 500 is located below the transfer area 13. The gripping mechanism 600 is located above the transfer area 13.

[0164] like Figure 1 , Figure 5 , Figure 6 and Figure 9 As shown, the loading and unloading equipment 1000 provided in this application can perform material loading and material sorting. The working mode of the loading and unloading equipment 1000 may include: First, the grabbing component 30 moves to a clearance position away from the transfer area 13, and the assembly line mechanism 400 transports the vehicle 200 below the transfer area 13.

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

[0166] Then, the grabbing component 30 moves to the docking position to approach the transfer area 13.

[0167] Then, the straightening device 100 grabs the carrier 200 located in the transfer area 13 and straightens the multiple sheet materials in the carrier 200. After the multiple sheet materials have been straightened, the grabbing component 30 moves to the docking position to approach the transfer area 13.

[0168] Then, the grabbing component 30 releases the vehicle 200 so that the lifting mechanism 500 can take over the vehicle 200.

[0169] Then, the grabbing component 30 moves to an avoidance position to move away from the transfer area 13.

[0170] Then, the material handling mechanism 600 removes multiple sheet materials from the carrier 200.

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

[0172] It is understood that the implementation principle and beneficial effects of the loading and unloading equipment 1000 provided in this application embodiment can be seen in the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A regularization device, characterized in that, For organizing multiple sheet materials loaded in a carrier having a receiving space, the multiple sheet materials being stacked in the receiving space, the organizing device comprising: The frame includes a base frame and a transverse base plate, with a transfer area provided above the base frame, and the transverse base plate slidably connected to the base frame; A rotating frame is rotatably connected to the machine frame; A gripping assembly is connected to and moves synchronously with the rotating frame. The gripping assembly has a loading area and is used to grip the vehicle located in the loading area. The gripping assembly includes a support frame and a clamping module. The support frame is connected to and moves synchronously with the rotating frame and is used to support the vehicle located in the loading area. The clamping module is disposed on the support frame and is used to cooperate with the support frame to clamp the vehicle located in the loading area in a first direction. A flip drive assembly is disposed on the frame and connected to the rotating frame. The flip drive assembly is used to drive the rotating frame to rotate, thereby causing the gripping assembly to flip to a first state or a second state. The rotating frame, the gripping assembly, and the flip drive assembly all move synchronously with the transverse base plate. When the gripping component is flipped to the first state, it allows the sizing device to transfer the carrier and the sheet material between itself and an external transport device; the transport device includes a lifting mechanism for carrying the carrier and lifting it up and down; the transfer area is used to dock with the lifting mechanism. When the gripping component is flipped to the second state, the stacking direction of the plurality of sheet materials has an angle with the vertical direction, so that the plurality of sheet materials tilt under the action of gravity and simultaneously abut against the inner side of the carrier; The straightening device also includes a lateral movement drive assembly connected to the lateral movement base plate. The lateral movement drive assembly is used to drive the lateral movement base plate to move, thereby causing the gripping assembly to move in a direction closer to or further away from the transfer area. When the grasping component moves away from the transfer area, the transport device is permitted to transport the vehicle to the transfer area; When the grasping component approaches the transfer area, the vehicle located in the transfer area can enter the loading area for the grasping component to grasp.

2. The regularization device according to claim 1, characterized in that, The clamping module includes: A clamping drive component is disposed on the support frame; A clamping block is connected to the clamping drive member, and the clamping block and the support frame are spaced apart in the first direction; the clamping block is used to move in the first direction under the drive of the clamping drive member; The clamping block can move toward the support frame so that the clamping block and the support frame cooperate in the first direction to clamp the vehicle located in the loading area; when the gripping component is in the first state, the first direction is parallel to the vertical direction.

3. The regularization device according to claim 1, characterized in that, The support frame is provided with a first stop block, which is located on one side of the loading area and can abut against the vehicle located in the loading area in a second direction. When the grasping component is flipped to the first state, the second direction is parallel to the horizontal direction; when the grasping component is flipped to the second state, the second direction is parallel to the vertical direction.

4. The regularization device according to claim 3, characterized in that, The support frame is provided with a second stop, and the second stop and the first stop are distributed circumferentially along the loading area. The second stop is used to abut the vehicle located in the loading area in a third direction. The third direction has an angle with the first direction and an angle with the second direction.

5. The regularization device according to claim 1, 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 straightening device also includes a top plate, which is disposed on the rotating frame, and the top plate and the bearing frame are spaced apart to form the loading area; The top plate is used to cover the opening of the vehicle located in the loading area to prevent the sheet material from detaching from the opening during the flipping process.

6. The regularization device according to claim 5, characterized in that, The regularization device also includes: Adjust the fixing base and fix it to the rotating frame; An adjusting slider is slidably connected to the rotating frame, and the top plate is fixed to the adjusting slider; An adjusting screw is rotatably connected to the adjusting fixed base and threadedly connected to the adjusting slider; when the adjusting screw is rotated, 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 support frame.

7. The regularization device according to claim 1, characterized in that, The straightening device also includes a lifting drive component, which is disposed on the rotating frame and connected to the gripping assembly; The lifting drive component is used to drive the gripping assembly to reciprocate relative to the rotating frame in a first direction; When the grasping component is in the first state, the first direction is parallel to the vertical direction.

8. The regularization device according to claim 7, characterized in that, A clearance opening is provided on one side of the support frame, and the clearance opening extends through the upper and lower surfaces of the support frame, allowing the lifting mechanism to pass through. When the lifting mechanism carries the vehicle and passes through the clearance opening, the support frame can extend below the bottom of the vehicle to allow the support frame to rise and drive the vehicle to rise and disengage from the lifting mechanism.

9. The regularization device according to claim 1, characterized in that, The frame is equipped with a buffer element, the buffer element being positioned along the flipping path of the rotating frame. The buffer element serves to abut against the flipped rotating frame and absorb kinetic energy; and / or, The frame is equipped with a positioning detection element, the position of which passes through the flipping path of the rotating frame, and the positioning detection element is used to detect the position of the rotating frame after flipping; and / or, The frame is provided with a brake screw, the position of which passes through the flipping path of the rotating frame. The brake screw is threadedly connected to the frame and is used to limit the flipping angle of the rotating frame by abutting against it.

10. The regularizing device according to claim 1, characterized in that, The flip drive component includes: An eccentric rod, the first end of which is coaxially fixed with the rotation shaft of the rotating frame and rotatably connected to the frame; A flipping drive is provided, wherein the second end of the eccentric rod and the frame are rotatably connected to the flipping drive, and the flipping drive is used to change the distance between the second end of the eccentric rod and the frame so as to drive the eccentric rod to rotate.

11. The regularization device according to claim 1, characterized in that, A clearance opening is provided on one side of the support frame, and the clearance opening extends through the upper and lower surfaces of the support frame, allowing the lifting mechanism to pass through. When the lifting mechanism carries the vehicle and the gripping assembly approaches the transfer area, the support frame can extend under the bottom of the vehicle to allow the vehicle located in the transfer area to enter the loading area.

12. The straightening device according to claim 11, characterized in that, The straightening device further includes a lifting drive component, which is disposed on the rotating frame and connected to the gripping assembly. The support frame of the gripping assembly is used to lift to a first height or a second height under the drive of the lifting drive component. When the support frame is at the first height, the support frame is located below the bottom of the vehicle in the transfer area; When the transverse base plate approaches the transfer area and the support frame is at the second height, the support frame supports the bottom of the vehicle to drive the vehicle to rise and disengage from the lifting mechanism.

13. The regularization device according to claim 1, characterized in that, The vehicle has a communication port on its side; The straightening device further includes a pushing component, which includes: Push the stent; A push block is disposed relative to the gripping component; when the gripping component is in the first state, the push block is directly facing the carrier located in the loading area in the pushing direction, and the pushing direction has an angle with the stacking direction of the plurality of sheet materials; A push drive component is disposed on the push bracket and connected to the push block. The push drive component is used to drive the push block to move in the push direction toward or away from the gripping component. When the push block is facing the vehicle located in the loading area and the push block moves close to the gripping assembly, the push block passes through the communication port and pushes the plurality of sheet materials toward the inside of the vehicle.

14. A loading and unloading device, characterized in that, The device includes a transport device and a straightening device as described in any one of claims 1 to 13, the transport device being used to transport a vehicle, the straightening device being capable of docking with the transport device, the straightening device being used to straighten a plurality of sheet materials loaded on the vehicle, the vehicle having a receiving space in which the plurality of sheet materials are disposed; The regulating device includes: frame; A rotating frame is rotatably connected to the machine frame; A gripping assembly is connected to the rotating frame and moves synchronously with the rotating frame. The gripping assembly is provided with a loading area and is used to grip the vehicle located in the loading area. A flip drive assembly is disposed on the frame and connected to the rotating frame. The flip drive assembly is used to drive the rotating frame to rotate so as to flip the gripping assembly to a first state or a second state. When the gripping component is flipped to the first state, it allows the sizing device to transfer the carrier and the sheet material between the external transport device; When the gripping component is flipped to the second state, the stacking direction of the plurality of sheet materials has an angle with the vertical direction, so that the plurality of sheet materials tilt under the action of gravity and simultaneously abut against the inner side of the carrier.

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