Carrying interaction device of large board automation equipment and operation method of carrying interaction device

Abstract

The invention provides a carrying interaction device of large board automation equipment and an operation method of the carrying interaction device, and relates to the field of semiconductor processing. The carrying interaction device comprises a rack, a feeding trolley, a discharging trolley, a tray lifting carrying table, a tray transferring mechanism, a turnover mechanism and a carrying plate jacking mechanism. A large carrier plate in the feeding trolley is moved to the tray transferring mechanism through the corresponding tray lifting carrying table, the tray transferring mechanism moves the large carrier plate to the position over the carrier plate jacking mechanism, the carrier plate jacking mechanism moves upwards, the large carrier plate is separated from a tray, a fork of the overturning mechanism clamps the large carrier plate to overturn, and the large carrier plate is conveyed to the tray transferring mechanism through the tray lifting carrying table. And the tray transferring mechanism is used for moving the overturned large carrying plate into the discharging trolley through the corresponding tray lifting carrying platform. Rapid separation of the large carrier plate is achieved through the jacking stand column array, opening and closing are achieved through the fork type turnover arm, butt joint of the tray transferring mechanism turnover mechanism and the carrier plate jacking mechanism is achieved by inserting the fork type turnover arm into the jacking stand column array, the stability of the large carrier plate is improved, and the transportation convenience is further improved.

Description

Technical Field

[0001] The present invention relates to the field of semiconductor processing, and in particular to a transport interaction device of large-board automation equipment and an operation method thereof. Background Art

[0002] A carrier is a type of product that is usually placed on a pallet, with one carrier placed on each pallet, and printed circuits arranged in a matrix are distributed on the carrier. Generally speaking, carriers and pallets are transported by carts, and related production machines have corresponding docking ports. Large carriers are the larger type of carriers. In the production process related to large carriers, there is a need to turn over large carriers. In the absence of automation, the general way to flip large carriers is to do it manually, that is, manually take the pallet out of the cart, take the large carrier out of the pallet, turn it over, and put it back.

[0003] Due to the large size of the large carrier, this method has the problems of low efficiency and time consumption. At the same time, the safety factor of manual operation is low and the labor intensity is high. In addition, the manual operation method may cause unnecessary damage to the large carrier, thereby causing losses. At the same time, the general automated process is to take the large carrier out of the pallet by a suction cup, while the large carrier corresponding to the present invention has a large range of movement in the pallet, which makes the suction range narrow and is not suitable for the suction cup method. The present invention can automate the flipping of the large carrier while ensuring the accurate correspondence between the pallet and the large carrier, thereby improving work efficiency and shortening time. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide a transport interaction device for large-panel automation equipment and an operation method thereof.

[0005] A transport interaction device for large-plate automation equipment provided by the present invention comprises: a frame, a loading trolley, an unloading trolley, a pallet lifting platform, a pallet transfer mechanism, a flip mechanism and a plate lifting mechanism, wherein the pallet lifting platform, the pallet transfer mechanism, the flip mechanism and the plate lifting mechanism are respectively installed on the frame, pallet lifting platforms are respectively arranged at both ends of the pallet transfer mechanism, the bottoms of the two pallet lifting platforms are respectively connected to the loading trolley and the unloading trolley, a plate lifting mechanism is arranged at the middle bottom of the pallet transfer mechanism, the plate lifting mechanism is connected to the flip mechanism, and the flip mechanism is located directly behind the pallet transfer mechanism;

[0006] The large carrier plate in the loading trolley is moved to the pallet transferring mechanism through the corresponding pallet lifting platform. The pallet transferring mechanism moves the large carrier plate to the top of the carrier plate lifting mechanism. The carrier plate lifting mechanism moves upward to separate the large carrier plate and the pallet. The fork of the flipping mechanism clamps the large carrier plate to flip it. The pallet transferring mechanism moves the flipped large carrier plate to the unloading trolley through the corresponding pallet lifting platform.

[0007] Preferably, the pallet lifting platform comprises a main body large plate, a pallet aligning cylinder, a lifting drive, a code reader and a lifting arm, a plurality of pallet aligning cylinders and a plurality of code readers are respectively mounted on a frame and the front of the rear side plate of the main body large plate, a guide rail is provided on the front of the rear side plate of the main body large plate, a lifting arm adapted thereto is movably connected to the guide rail, the lifting arm is driven by a lifting drive, and the lifting drive is connected to the back of the rear side plate of the main body large plate;

[0008] The lifting drive drives the lifting arm to move up and down on the guide rail. When the lifting arm lifts the pallet loaded with the large carrier to a preset height, the entire column cylinder of the pallet limits it and reads the QR code information on the pallet and the large carrier through the code reader.

[0009] Preferably, the pallet transfer mechanism includes a transfer drive, a transfer arm and a clamping cylinder, a plurality of clamping cylinders are respectively connected to both sides of the bottom of the transfer arm, the transfer arm is movably connected to the transfer drive, the transfer drive is installed at the front end of the main body large plate, and the main body large plate is installed on the frame;

[0010] Several gripper cylinders remove the pallet from the pallet stack, and the transfer drive drives the transfer arm to move the pallet laterally to the desired position.

[0011] Preferably, the flipping mechanism includes a front-to-back moving mechanism and a flipping assembly, the front-to-back moving mechanism is equipped with the flipping assembly, and the front-to-back moving mechanism drives the flipping assembly to move forward and backward to achieve docking with the pallet transfer mechanism;

[0012] The flip assembly includes a flip arm, a flip drive, a rotary clamping cylinder and a rear centering cylinder. The flip drive is connected to the flip arm, and the rotary clamping cylinder and the rear centering cylinder are respectively installed on the flip arm;

[0013] The large carrier plate on the flip arm is positioned by the rear centering cylinder, the rotating clamping cylinder clamps the large carrier plate, and the flip drive drives the multiple flip arms to rotate as a whole.

[0014] Preferably, the flip arm comprises an upper arm and a lower arm, both of which are fork-shaped, and a rotary clamping cylinder and a rear centering cylinder are installed on the upper arm and the lower arm;

[0015] The upper arm and the lower arm are driven by a motor respectively, so that the upper arm and the lower arm rotate around their own axes respectively, thereby realizing the opening and closing of the flip arm.

[0016] Preferably, the carrier lifting mechanism is connected to the frame through a support group, the carrier lifting mechanism includes a lifting column array, a carrier centering mechanism and a lifting drive, guide shafts are respectively arranged around the bottom of the lifting column array, a plurality of guide shafts are connected to the lifting drive, a plurality of lifting drives are symmetrically connected to the support group, and a plurality of carrier centering mechanisms are located outside the four sides of the lifting column array;

[0017] The carrier plate centering mechanism centers the pallet carrying the large carrier plate, and the jacking drive drives the jacking column array to move up and down through the guide shaft. The jacking column array lifts the large carrier plate through the hollow part of the pallet, so that the arm of the rear flipping mechanism can be extended to achieve docking with the flipping mechanism.

[0018] Preferably, the upper part of the lifting column array is a vertical column arranged in an array, and the spacing between the multiple vertical columns is greater than the width of the flip arm;

[0019] A plurality of vertical columns lift up the large carrier plate through the hollow part of the tray, and a turning arm passes through the plurality of vertical columns, and the turning arm clamps the large carrier plate into the turning mechanism for turning.

[0020] Preferably, the carrier plate centering mechanism includes a short-distance drive and a tension spring, the two ends of the short-distance drive are respectively mounted on the support group and the frame, and the vertical shaft is mounted on the short-distance drive, the vertical shaft is reversely connected to the tension spring, the short-distance drive drives the vertical shaft to move forward, and the tension spring generates a backward pulling force to limit the forward movement of the vertical shaft;

[0021] The vertical axis is parallel to the vertical column, and the length of the vertical axis is greater than or equal to the bending of the vertical range of the large carrier plate in a horizontally placed state.

[0022] The present invention also provides an operation method of a transport interaction device of a large panel automation equipment, and the specific operation steps are as follows:

[0023] S1. Feeding: Push the loading trolley and unloading trolley into the corresponding docking ports of the frame for fixing. The movable bottom plate is located directly above the lifting arm. The lifting drive lifts the tray and the large carrier plate in the loading trolley upwards.

[0024] S2. Material transfer: After the pallet and the large carrier plate are lifted to a certain height, the transfer arm moves inward, the gripper cylinder takes out the pallet on the top layer, the pallet aligning cylinder centers the taken out pallet, and the QR code of the pallet and the large carrier plate is read by the barcode reader respectively;

[0025] Subsequently, the transfer arm carrying the large carrier is moved by the transfer drive to the top of the carrier lifting mechanism and in front of the flipping mechanism, and the carrier centering mechanism centers the pallet;

[0026] S3, flipping: the lifting column array lifts the large carrier plate from the pallet, the flip drive drives the flip assembly to move forward, the flip arm passes through the lifting column array, the lifting column array descends to place the large carrier plate on the flip arm below, and the flip arm closes to clamp and fix the large carrier plate;

[0027] The flip assembly moves to the rear side to flip. After the flip is completed, the flip assembly returns to the front side and sends the large carrier to its original position. The lifting column array ejects the large carrier from the flip arm. The flip assembly moves to the rear side, the flip arm descends, and the flipped large carrier falls back into the tray.

[0028] S4, unloading: The transfer arm carrying the flipped large carrier plate is moved to the top of the unloading trolley through the transfer drive, and the pallet lifting platform corresponding to the unloading trolley is lifted to a certain height. The transfer arm releases the pallet and the flipped large carrier plate into the unloading trolley, completing a flipping process.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] (1) The present invention uses a trolley to load and unload materials, which reduces the labor intensity of workers, improves the safety factor, and shortens working hours; the frame and the trolley are fixed by a positioning cylinder, and the stability is strong;

[0031] (2) The present invention utilizes the hollow area in the tray to design an array of vertical columns, which can quickly separate the large carrier from the tray, and cooperate with the use of the carrier centering mechanism to ensure the positioning and protection of the large carrier;

[0032] (3) The fork-shaped flip arm of the present invention can not only be opened and closed, but also inserted into the lifting column array, so as to realize the docking of the pallet transfer mechanism flip mechanism and the carrier lifting mechanism, which not only improves the stability of the large carrier, but also improves the convenience of transportation;

[0033] (4) The operation method of the present invention is intelligent and reasonable, and can ensure that the large carrier board is not damaged during the entire process, thereby further improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0035] Figure 1 It is a schematic diagram of the whole machine;

[0036] Figure 2 This is the internal schematic diagram of the whole machine (the frame is hidden);

[0037] Figure 3 This is the exploded view of the whole machine;

[0038] Figure 4 This is the structural view of the material transport trolley;

[0039] Figure 5 This is a structural view of the pallet lifting platform;

[0040] Figure 6 This is a structural view of the pallet transfer mechanism;

[0041] Figure 7 It is a structural view of the flipping mechanism;

[0042] Figure 8 This is a structural view of the carrier plate lifting mechanism;

[0043] Fig. 9 This is a schematic diagram of the beginning of the flipping operation in Example 4;

[0044] Fig.10 It is a structural schematic diagram of the carrier lifting mechanism in Example 4 lifting the large carrier out of the hollow part of the tray;

[0045] Fig.11 This is a schematic diagram of the structure in which the flip arm enters from the center of the column array in Example 4;

[0046] Fig.12 It is a structural schematic diagram of flipping the arm to extend the fork arm under the large carrier plate in Example 4;

[0047] Fig.13 This is a structural schematic diagram of the carrier lifting mechanism in Example 4 descending to allow the large carrier to fall onto the flip arm.

[0048] The figure shows: 1. frame; 2. loading trolley; 3. unloading trolley; 31. positioning pin hole; 32. movable bottom plate; 33. front baffle; 34. side baffles; 35. pallet baffle; 4. pallet lifting platform; 41. pallet aligning cylinder; 42. lifting drive; 43. code reader; 44. lifting arm; 5. pallet transfer mechanism; 51. transfer drive; 52. transfer arm; 53. clamping cylinder; 6. flipping mechanism; 61. flipping arm; 62. flipping drive; 63. front and rear moving mechanism; 64. rotating clamping cylinder; 65. rear centering cylinder; 7. carrier plate lifting mechanism; 71. lifting column array; 72. carrier plate centering mechanism; 73. lifting drive. DETAILED DESCRIPTION

[0049] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0050] Example 1

[0051] According to the present invention, a transport interaction device for large-scale panel automation equipment is provided, such as Figure 1-3 As shown, it includes: a frame 1, a loading trolley 2, an unloading trolley 3, a pallet lifting platform 4, a pallet transfer mechanism 5, a flip mechanism 6 and a carrier plate lifting mechanism 7. The pallet lifting platform 4, the pallet transfer mechanism 5, the flip mechanism 6 and the carrier plate lifting mechanism 7 are respectively installed on the frame 1, and pallet lifting platforms 4 are respectively provided at both ends of the pallet transfer mechanism 5. The bottom docking interfaces of the two pallet lifting platforms 4 are respectively docked with the loading trolley 2 and the unloading trolley 3. The pallet transfer mechanism 5 has a carrier plate lifting mechanism 7 at the bottom in the middle. The jacking mechanism 7 is docked with the flipping mechanism 6, and the flipping mechanism 6 is located directly behind the pallet transferring mechanism 5; the large carrier plate in the loading trolley 2 is moved to the pallet transferring mechanism 5 through the corresponding pallet lifting platform 4, and the pallet transferring mechanism 5 moves the large carrier plate to directly above the carrier plate jacking mechanism 7, and the carrier plate jacking mechanism 7 moves upward to separate the large carrier plate and the pallet, and the fork of the flipping mechanism 6 clamps the large carrier plate to flip it, and the pallet transferring mechanism 5 moves the flipped large carrier plate through the corresponding pallet lifting platform 4 to the unloading trolley 3.

[0052] like Figure 4 As shown, the loading trolley 2 and the unloading trolley 3 have the same structure, including a frame, a movable bottom plate 32, a front baffle 33, baffles 34 on both sides and a tray baffle 35. The frame plays a supporting role, and positioning pin holes 31 are respectively provided on both sides of the frame. The frame 1 is provided with a positioning cylinder, and the positioning cylinder is equipped with a pin shaft, which is adapted to connect with the positioning pin hole 31; when the loading trolley 2 and / or the unloading trolley 3 is pushed into the frame 1, the positioning cylinder pushes the pin shaft to be inserted into the positioning pin hole 31, so as to fix the loading trolley 2 and / or the unloading trolley 3 to the frame 1. The two docking ports and the two trolleys are exactly the same, and the trolley can be pulled out only after the positioning cylinder is retracted.

[0053] Two side baffles 34 are provided on both sides of the bottom of the frame, and a front baffle 33 is connected to the bottom of the frame. Both the side baffles and the front baffle are fixed on the frame and the ground. The front baffle 33 can play a buffering role when the trolley is pushed in, and the side baffles 34 can play a guiding role when the trolley is pushed in. The movable bottom plate 32 is slidably connected to the frame, and the frame includes a buffer spring and a guide rail, which can buffer the fall of the movable bottom plate 32. The movable bottom plate 32 is movably connected with pallet baffles 35 around it; the movable bottom plate 32 and the pallet baffles 35 form a silo, and a certain number of pallet stacks can be accommodated inside the silo, and a large carrier plate is placed in each pallet. The pallet baffle 35 can adjust its position so that the baffle spacing corresponds to the pallet, and the movable bottom plate 32 can move upward under the action of the pallet lifting platform 4.

[0054] More specifically, the action flow can be divided into four major actions: feeding, moving, turning, and unloading. Feeding: taking out the pallet with the large carrier from the material bin of the loading trolley 2; moving: moving the pallet with the large carrier into the turning mechanism 6; turning: taking out the large carrier from the pallet, turning it over and putting it back into the pallet; unloading: moving the pallet with the turned large carrier into the unloading trolley 3.

[0055] Example 2

[0056] This embodiment 2 is completed on the basis of embodiment 1. Figure 5-6 As shown, the pallet lifting platform 4 and the pallet transfer mechanism 5 are further described, specifically:

[0057] The pallet lifting platform 4 includes a main body large plate, a pallet aligning cylinder 41, a lifting drive 42, a code reader 43 and a lifting arm 44. A plurality of pallet aligning cylinders 41 are respectively installed on the frame 1 and the front of the rear side plate of the main body large plate. The plurality of pallet aligning cylinders 41 can ensure that the pallet is in the correct position when it is lifted to a certain height. A guide rail is provided on the front of the rear side plate of the main body large plate, and a lifting arm 44 adapted thereto is movably connected to the guide rail. The lifting arm 44 is driven by the lifting drive 42, and the lifting drive 42 is connected to the back of the rear side plate of the main body large plate. The motor corresponding to the lifting drive 42 is installed on the rear side plate. The motor drives the ball screw on the rear side to rotate, and drives the lifting arm 44 to move up and down through the guidance of the guide rail installed on the rear side plate. There are two code readers 43, which are installed on the frame 1 and the rear side plate respectively. The two can read the information of the two-dimensional code on the pallet and the large carrier plate respectively. The lifting arm 44 is provided with a floating centering unit, which can assist the entire row of cylinders 41 in positioning the pallet.

[0058] The pallet transfer mechanism 5 includes a transfer drive 51, a transfer arm 52 and a clamping cylinder 53. The transfer drive 51 is installed at the front end of the main large plate, and the main large plate is installed on the frame 1. The transfer arm 52 is movably connected to the transfer drive 51, and the transfer drive 51 drives the transfer arm 52 to move horizontally, thereby moving the pallet to a predetermined position. The two arms of the transfer arm 52 are driven by the rear cylinder, and the pallet can be clamped after the pallet reaches a specified height. A plurality of clamping cylinders 53 are respectively installed on the transfer arm 52, and the pallet can be taken out from the pallet stack.

[0059] Example 3

[0060] This embodiment 3 is completed on the basis of embodiment 1 or embodiment 2. Figure 7-8 As shown, the turning mechanism 6 and the carrier lifting mechanism 7 are further described, specifically:

[0061] The flip mechanism 6 includes a front-to-back moving mechanism 63 and a flip assembly. The front-to-back moving mechanism 63 is equipped with a flip assembly. The front-to-back moving mechanism 63 drives the flip assembly to move forward and backward to achieve docking with the pallet transfer mechanism 5. The flip assembly includes a flip arm 61, a flip drive 62, a rotary clamping cylinder 64, and a rear centering cylinder 65. The flip drive 62 is at the rear side of the flip assembly, and the flip arm 61 is at the front side of the flip assembly. The flip drive 62 can drive the overall rotation, and the flip arm 61 can fix the position of the large carrier.

[0062] The flip arm 61 includes an upper arm and a lower arm, which have the same structure and are both fork-shaped. The upper arm and the lower arm are driven by a motor respectively, so that the upper arm and the lower arm rotate around their respective axes to realize the opening and closing of the flip arm 61. The upper arm and the lower arm are both equipped with a rotating clamping cylinder 64 and a rear centering cylinder 65; the rear centering cylinder 65 ensures the accuracy of the position of the large carrier plate, and the rotating clamping cylinder 64 can fix the large carrier plate during the flipping process.

[0063] The carrier lifting mechanism 7 is integrally loaded on a support group composed of several supports, and the support group is installed on the frame 1. The carrier lifting mechanism 7 includes a lifting column array 71, a carrier centering mechanism 72 and a lifting drive 73. The lifting column array 71 is driven by two synchronous lifting drives 73. The two lifting drives 73 are symmetrically placed and installed on different supports. Guide shafts are respectively arranged around the bottom of the lifting column array 71. Multiple guide shafts are connected to the lifting drive 73. The lifting drive 73 drives the lifting column array 71 to move upward through four guide shafts. The upper part of the lifting column array 71 is an array of vertical columns, and the spacing between the multiple vertical columns is greater than the width of the flip arm 61; the multiple vertical columns lift the large carrier through the hollow part of the tray, so that the flip arm 61 of the rear flip mechanism 6 can be inserted, and the flip arm 61 passes through the multiple vertical columns. The flip arm 61 clamps the large carrier to the flip mechanism 6 for flipping. Multiple carrier plate centering mechanisms 72 are located outside the four sides of the jacking column array 71. There are four carrier plate centering mechanisms 72, located at the front, rear, left and right respectively. Each carrier plate centering mechanism 72 includes a short-distance drive and a tension spring. The two ends of the short-distance drive are respectively installed on the support group and the frame 1, and the vertical axis is installed on the short-distance drive. The vertical axis is reversely connected to the tension spring. The short-distance drive drives the vertical axis to move forward, and the tension spring generates a backward pulling force to limit the forward movement of the vertical axis. The vertical axis is parallel to the vertical column, and the length of the vertical axis is greater than or equal to the bending of the vertical range of the large carrier plate in the horizontal placement state, that is, the space from the uppermost horizontal plane to the lowermost horizontal plane in the warping range of the large carrier plate. The short-distance drive is equipped with a vertical axis to cope with the warping deformation of the large carrier plate, and the tension spring can provide buffering during centering to prevent damage to the large carrier plate.

[0064] Example 4

[0065] The present invention also provides an operation method of the transport interaction device of the large panel automation equipment in embodiment 1 or embodiment 2 or embodiment 3, such as Figure 9-13 As shown in the figure, the operation steps are as follows:

[0066] S1. Feeding: This machine pushes the loading trolley 2 and the unloading trolley 3 into the docking port of the main machine. A positioning cylinder is installed at the corresponding position of the frame 1. The cylinder is equipped with a pin shaft that can be inserted into the positioning pin hole 31 of the loading trolley 2 and the unloading trolley 3. After the trolley is pushed in, the positioning cylinder extends out and inserts the pin shaft into the positioning pin hole 31 of the trolley, so as to fix the loading trolley 2 and the unloading trolley 3, thereby completing the feeding and unloading;

[0067] When the loading trolley 2 and the unloading trolley 3 are pushed in, the movable bottom plate 32 will be located directly above the lifting arm 44, and then the lifting drive 42 can lift the tray and the large carrier plate in the trolley upward;

[0068] S2, material transfer: After the pallet and the large carrier plate are lifted to a certain height, the transfer arm 52 of the pallet transfer mechanism 5 moves inward, and the uppermost pallet is taken out through the gap between the outer edges of each pallet in the pallet stack by using the gripper cylinder 53;

[0069] After that, the pallet alignment cylinder 41 will center the pallet taken out to ensure that the pallet is in the correct position. At the same time, the two code readers 43 installed on the rack will read the QR codes of the pallet and the large carrier respectively to determine the information of both.

[0070] Subsequently, the transfer arm 52 carrying the large carrier is moved to the middle position of the entire machine, that is, directly above the carrier lifting mechanism 7, that is, directly in front of the flip mechanism 6, through the transfer drive 51. At the same time, the carrier centering mechanism 72 centers the pallet to ensure that the pallet is located at the correct position.

[0071] S3, flipping: Since the structure of the pallet is hollow, the lifting column array 71 of the carrier lifting mechanism 7 can lift the large carrier from the pallet upward through the hollow part of the pallet; when it is lifted to a level higher than the flipping plane, the flipping drive 63 drives the flipping mechanism to move forward. Since the two arms of the flipping arm 61 in the flipping mechanism 6 are fork structures, the claws of the fork can pass through the space between each column of the lifting column array 71; after the claws reach the position aligned with the large carrier, the lifting column array 71 descends, and the large carrier is placed on the flipping arm 61 below;

[0072] Then the two flipping arms 61 are closed to clamp and fix the large carrier plate; then the entire flipping mechanism 6 is moved to the rear side to flip;

[0073] After the flipping is completed, the entire flipping mechanism 6 returns to the front side, and the large carrier plate is sent to the original position. Then, the lifting column array 71 pushes the large carrier plate out of the flipping arm 61 of the flipping mechanism. Then, the flipping mechanism 6 moves to the rear side, and the lifting column array 71 descends, and the flipped large carrier plate falls back into the tray.

[0074] S4, unloading: the transfer arm 52 carrying the flipped large carrier plate is moved to the top of the unloading trolley 3 through the transfer drive 51. At this time, the pallet lifting platform 4 corresponding to the unloading trolley 3 is lifted to a certain height to facilitate the transfer arm 52 to release the large carrier plate; finally, the transfer arm 52 releases the pallet and the flipped large carrier plate into the unloading trolley;

[0075] S5, and then repeat the above operation, and now the flipping process is finished.

[0076] More specifically, Fig. 9 The figure shows the state where the flipping operation starts. At this time, the tray transfer mechanism 4 has moved the tray with the large carrier plate to the top of the carrier plate lifting mechanism 7. The carrier plate lifting mechanism is equipped with a 4*4 column array. The range of the column array part is slightly smaller than the size of the hollow part of the tray, so that the large carrier plate can be lifted out of the hollow part of the tray. Fig.10 As shown in FIG. 11 , the flip arm 61 of the flip assembly is divided into three forks, which can enter the bottom of the lifted large carrier from both sides and the middle of the column array, as shown in the inner circle of FIG. 11 , the forks on both sides enter from the outside of the column array, and the middle fork enters from the center of the column array, as shown in FIG. Fig.11 After the large carrier plate reaches the same height as the flip mechanism, the flip mechanism moves forward and extends the fork arm under the large carrier plate, as shown in FIG. Fig.12 Then the carrier lifting mechanism descends, and the large carrier falls onto the flip arm, and then the subsequent flipping operation is carried out, as shown in FIG. Fig.13 shown.

[0077] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0078] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A transport interaction device for large-scale panel automation equipment, characterized in that: include: A frame (1), a loading trolley (2), a unloading trolley (3), a pallet lifting platform (4), a pallet transfer mechanism (5), a flipping mechanism (6) and a carrier plate lifting mechanism (7); the pallet lifting platform (4), the pallet transfer mechanism (5), the flipping mechanism (6) and the carrier plate lifting mechanism (7) are respectively installed on the frame (1); the pallet lifting platforms (4) are respectively arranged at both ends of the pallet transfer mechanism (5); the bottoms of the two pallet lifting platforms (4) are respectively connected to the loading trolley (2) and the unloading trolley (3); the carrier plate lifting mechanism (7) is arranged at the middle bottom of the pallet transfer mechanism (5); the carrier plate lifting mechanism (7) is connected to the flipping mechanism (6); and the flipping mechanism (6) is located directly behind the pallet transfer mechanism (5); The large carrier plate in the loading trolley (2) is moved to the pallet transfer mechanism (5) via the corresponding pallet lifting platform (4); the pallet transfer mechanism (5) moves the large carrier plate to the top of the carrier plate lifting mechanism (7); the carrier plate lifting mechanism (7) moves upward to separate the large carrier plate from the pallet; the fork of the flipping mechanism (6) clamps the large carrier plate to flip it; the pallet transfer mechanism (5) moves the flipped large carrier plate to the unloading trolley (3) via the corresponding pallet lifting platform (4).

2. The transport interaction device of large panel automation equipment according to claim 1 is characterized in that: The pallet lifting platform (4) comprises a main body large plate, a pallet aligning cylinder (41), a lifting drive (42), a code reader (43) and a lifting arm (44), wherein a plurality of the pallet aligning cylinders (41) and a plurality of the code readers (43) are respectively mounted on the frame (1) and the front side of the rear side plate of the main body large plate, a guide rail is provided on the front side of the rear side plate of the main body large plate, and a lifting arm (44) adapted thereto is movably connected to the guide rail, and the lifting arm (44) is driven by the lifting drive (42), and the lifting drive (42) is connected to the back side of the rear side plate of the main body large plate; The lifting drive (42) drives the lifting arm (44) to move up and down on the guide rail. When the lifting arm (44) lifts the pallet loaded with the large carrier plate to a preset height, the pallet aligning cylinder (41) limits it and reads the two-dimensional code information on the pallet and the large carrier plate through the code reader (43).

3. The transport interaction device of large panel automation equipment according to claim 1 is characterized in that: The pallet transfer mechanism (5) comprises a transfer drive (51), a transfer arm (52) and a clamping cylinder (53), wherein a plurality of the clamping cylinders (53) are respectively connected to two sides of the bottom of the transfer arm (52), the transfer arm (52) is movably connected to the transfer drive (51), the transfer drive (51) is installed at the front end of the main body large plate, and the main body large plate is installed on the frame (1); The plurality of gripper cylinders (53) take out a pallet from a pallet stack, and the transfer drive (51) drives the transfer arm (52) to move laterally, thereby moving the pallet to a predetermined position.

4. The transport interaction device of large panel automation equipment according to claim 1, characterized in that: The flipping mechanism (6) comprises a front-to-back moving mechanism (63) and a flipping assembly, the flipping assembly being mounted on the front-to-back moving mechanism (63), and the front-to-back moving mechanism (63) driving the flipping assembly to move forward and backward to achieve docking with the tray transfer mechanism (5); The flip assembly comprises a flip arm (61), a flip drive (62), a rotary clamping cylinder (64) and a rear centering cylinder (65); the flip drive (62) is connected to the flip arm (61), and the rotary clamping cylinder (64) and the rear centering cylinder (65) are respectively installed on the flip arm (61); The large carrier plate on the flip arm (61) is positioned by the rear centering cylinder (65), the rotating clamping cylinder (64) clamps the large carrier plate, and the flip drive (62) drives the plurality of flip arms (61) to rotate as a whole.

5. The transport interaction device of large panel automation equipment according to claim 4 is characterized in that: The flip arm (61) comprises an upper arm and a lower arm, the upper arm and the lower arm are both fork-shaped, and the rotary clamping cylinder (64) and the rear centering cylinder (65) are installed on the upper arm and the lower arm; The upper arm and the lower arm are driven by a motor respectively, so that the upper arm and the lower arm rotate around their respective axes respectively, thereby realizing the opening and closing of the flip arm (61).

6. The transport interaction device of large panel automation equipment according to claim 4, characterized in that: The carrier lifting mechanism (7) is connected to the frame (1) via a support group, and the carrier lifting mechanism (7) comprises a lifting column array (71), a carrier centering mechanism (72) and a lifting drive (73). Guide shafts are respectively arranged around the bottom of the lifting column array (71), and a plurality of the guide shafts are connected to the lifting drive (73). A plurality of the lifting drives (73) are symmetrically connected to the support group, and a plurality of the carrier centering mechanisms (72) are located outside the lifting column array (71). The carrier plate centering mechanism (72) centers the pallet carrying the large carrier plate, and the lifting drive (73) drives the lifting column array (71) to move up and down through the guide shaft. The lifting column array (71) lifts the large carrier plate through the hollow part of the pallet, so that the flip arm (61) can extend into it to achieve docking with the flip mechanism (6).

7. The transport interaction device of large panel automation equipment according to claim 6, characterized in that: The upper part of the lifting column array (71) is a vertical column arranged in an array, and the spacing between the plurality of vertical columns is greater than the width of the flip arm (61); The plurality of vertical columns lift up the large carrier plate through the hollow part of the tray, and the flipping arm (61) passes through the plurality of vertical columns. The flipping arm (61) clamps the large carrier plate into the flipping mechanism (6) for flipping.

8. The transport interaction device of large panel automation equipment according to claim 6, characterized in that: The carrier plate centering mechanism (72) comprises a short-distance drive and a tension spring, the two ends of the short-distance drive are respectively mounted on the support group and the frame (1), and the vertical shaft is mounted on the short-distance drive, the vertical shaft is reversely connected to the tension spring, the short-distance drive drives the vertical shaft to move forward, and the tension spring generates a backward pulling force to limit the forward movement of the vertical shaft; The vertical axis is parallel to the vertical column, and the length of the vertical axis is greater than or equal to the bending range of the large carrier plate in a horizontally placed state.

9. An operating method of a transport interaction device of a large panel automation equipment according to any one of claims 1 to 8, characterized in that: The specific steps are as follows: S1, feeding: the loading trolley (2) and the unloading trolley (3) are respectively pushed into the corresponding docking ports of the frame (1) for fixing, the movable bottom plate (32) is located directly above the lifting arm (44), and the lifting drive (42) lifts the tray and the large carrier plate in the loading trolley (2) upwards; S2, material transfer: after the pallet and the large carrier plate are lifted to a certain height, the transfer arm (52) moves inward, the gripper cylinder (53) takes out the pallet on the top layer, the pallet alignment cylinder (41) centers the taken-out pallet, and the QR code of the pallet and the large carrier plate is read by the code reader (43) respectively; Subsequently, the transfer arm (52) carrying the large carrier plate is moved to the top of the carrier plate lifting mechanism (7) and in front of the flip mechanism (6) through the transfer drive (51), and the carrier plate centering mechanism (72) centers the pallet; S3, flipping: the lifting column array (71) lifts the large carrier plate from the pallet, the flip drive (63) drives the flip assembly to move forward, the flip arm (61) passes through the lifting column array (71), the lifting column array (71) descends to place the large carrier plate on the flip arm (61) below, and the flip arm (61) clamps and fixes the large carrier plate after closing; The flip assembly moves to the rear side to flip, and after the flip is completed, the flip assembly returns to the front side, and the large carrier plate is sent to the original position, and the lifting column array (71) ejects the large carrier plate from the flip arm (61), and the flip assembly moves to the rear side, and the flip arm (61) descends, and the flipped large carrier plate falls back into the tray; S4, unloading: the transfer arm (52) carrying the flipped large carrier plate is moved to the top of the unloading trolley (3) through the transfer drive (51), the pallet lifting platform (4) corresponding to the unloading trolley (3) is lifted to a certain height, and the transfer arm (52) releases the pallet and the flipped large carrier plate into the unloading trolley (3), completing a flipping process.

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