Automatic carrier replacing equipment and product transferring method

Abstract

The invention relates to the technical field of automatic production, and particularly discloses automatic carrier replacement equipment and a product transfer method.In the automatic carrier replacement equipment, a mechanical arm can obtain a product from a first carrier on a first assembly line and place the product on a second carrier on a second assembly line; a limiting assembly in the supply mechanism is used for limiting a material frame to be fixed relative to a supply base, the material frame comprises a supporting frame body with a bearing groove and a locking piece movably arranged on the supporting frame body, the bearing groove is used for containing a second carrier, and the locking piece can limit the second carrier to move out of the bearing groove on the path where the second carrier moves out of the bearing groove. An unlocking part of the unlocking assembly can abut against the locking piece so that the locking piece can relieve limitation on the second carrier. The feeding streamline is arranged between the transmission assembly and the second streamline and is used for transferring the second carrier to the second streamline; the transferring mechanism is used for transferring the second carrier in the material frame to the feeding flow line. According to the arrangement, the success rate of transferring the product from the first carrier to the second carrier can be increased.

Description

Technical Field

[0001] The present invention relates to the field of automatic production technology, and in particular to an automatic carrier replacement device and a product transfer method. Background Art

[0002] In the SMT production process, different process sites need to use different carriers. After the previous process stage is completed, the product needs to be removed from the carrier and replaced with the carrier of the next process stage. Currently, many SMT production lines still maintain manual replacement, which is inefficient and has high labor costs. In order to improve efficiency and reduce costs, some production lines use a material-picking mechanism to supply carriers, that is, a material-picking mechanism is used to transfer the carrier from the material frame to the assembly line of the next process stage. Since the material frame is prone to deviations between the transfer process and the feeding mechanism, and the relative position of the carrier in the material frame and the material frame is also prone to deviations, it is impossible to accurately position the carrier when picking it up from the material frame, resulting in a failure to pick up, or a deviation in the picking position, resulting in damage to the carrier, and thus unable to complete the subsequent carrying work; at the same time, due to position deviation, the carrier is prone to fall off during the transfer, making it impossible for the carrier to move smoothly to the assembly line, resulting in a reduction in the success rate of product transfer.

[0003] To this end, it is urgent to study an automatic carrier replacement device and product transfer method to solve the problem of position deviation between the material frame and the feeding mechanism during the movement process, and position deviation between the carrier and the material frame during the movement process, resulting in the inability of the material picking mechanism to accurately position the carrier when picking up the carrier, thereby reducing the success rate of product transfer or even damaging the carrier. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic carrier replacement device and a product transfer method to solve the problem in the prior art that the position deviation between the material frame and the feeding mechanism during the movement process and the position deviation between the carrier and the material frame during the movement process lead to the inability to accurately position the carrier when the picking mechanism picks up the carrier, thereby reducing the product transfer success rate and even damaging the carrier.

[0005] To achieve the above object, the present invention adopts the following technical solutions on one hand:

[0006] First, an automatic carrier replacement device is provided, which is used to transfer a product from a first carrier to a second carrier. The automatic carrier replacement device includes:

[0007] frame;

[0008] A first assembly line, used for conveying a first carrier carrying a product;

[0009] A second assembly line, for transferring a second carrier;

[0010] a robot arm, disposed on the frame, the robot arm being configured to obtain a product from the first carrier and to place the product on a second carrier;

[0011] The supply mechanism comprises a supply base, a transmission assembly, a limit assembly, an unlocking assembly and a material frame, wherein the transmission assembly is arranged on the supply base and used to transmit the material frame, the limit assembly is used to limit the material frame to be fixed relative to the supply base, the material frame comprises a support frame body having a bearing slot and a locking member movably arranged on the support frame body, the bearing slot is used to hold the second carrier, the locking member can be on a path for the second carrier to move out of the bearing slot to limit the second carrier from moving out of the bearing slot, and the unlocking portion of the unlocking assembly is arranged to abut against the locking member to enable it to move to a path outside the path for the second carrier to move out of the bearing slot and release the restriction on the second carrier;

[0012] A feeding streamline, which is disposed between the transmission assembly and the second assembly line and is used to transfer the second carrier to the second assembly line;

[0013] The transfer mechanism is used to transfer the second carrier in the material frame to the material supply line.

[0014] As an optional technical solution for an automatic carrier replacement device, the locking member includes a locking portion and an abutment portion, the locking portion can be located on a path for the second carrier to move out of the loading slot, and the unlocking portion of the unlocking assembly is arranged to abut the abutment portion to drive the locking portion to move outside the path for the second carrier to move out of the loading slot.

[0015] As an optional technical solution for automatic carrier replacement equipment, the locking member includes a locking body which is elongated and extends in the vertical direction. The locking body is slidably arranged on the support frame along the vertical direction, and can move downward by its own gravity to move the locking portion to a path for the second carrier to move out of the loading slot. The locking body protrudes outward from the side wall away from the support frame to form an abutment block, and the bottom surface of the abutment block forms an abutment portion; the locking body protrudes toward the side wall of the loading slot to form a locking portion.

[0016] As an optional technical solution for the automatic carrier replacement device, the side wall of the support frame is provided with a sliding channel, the inner side of the sliding channel is communicated with the bearing groove, the outer side of the sliding channel is communicated with the outside, the locking body is slidably arranged inside the sliding channel along the vertical direction, and the locking part is partially located inside the support frame;

[0017] The material frame also includes a crimping plate, which is connected to the outer side of the support frame. A plurality of bearing members are protruding inwardly from the inside of the support frame. A bearing groove is formed between any two of the bearing members. The bearing members and the crimping plate are respectively arranged on the inner and outer sides of the locking body. The bearing members are provided with an avoidance groove to avoid the locking part located outside the path of the second carrier moving out of the bearing groove.

[0018] As an optional technical solution for automatically changing carrier equipment, the material frame also includes an elastic member, which is arranged between the locking member and the supporting frame and can apply elastic force to the locking member to move it to a path for the second carrier to move out of the carrying slot.

[0019] As an optional technical solution for automatically changing carrier equipment, the limiting assembly includes a bottom positioning piece arranged on the supply base, and the bottom positioning piece is used to limit the head end of the material frame. The limiting assembly also includes an entrance limiting mechanism arranged on the supply base, and the entrance limiting mechanism includes an entrance limiting driving piece arranged on the supply base and an entrance limiting piece arranged at the output end of the entrance limiting driving piece. The entrance limiting piece can be located on a path that limits the material frame from moving out of the supply base to limit the material frame from moving out of the supply base, and can be located outside the path that the material frame moves out of the supply base.

[0020] As an optional technical solution for the automatic carrier replacement device, the supply mechanism further includes a feeding assembly and a receiving assembly, wherein the feeding assembly is used to deliver a material frame fully loaded with the second carrier to the supply base, and the receiving assembly is used to recover an empty material frame from the supply base; wherein,

[0021] The feeding assembly is located at the lower side of the receiving assembly; the supply mechanism also includes a feeding lifting assembly, the output end of which can reciprocate in the vertical direction and is transmission-connected to the supply base to drive the supply base to move up to dock with the receiving assembly, or move down to dock with the feeding assembly.

[0022] As an optional technical solution of the automatic carrier replacement device, the first assembly line extends along a first direction, the second assembly line extends along the first direction, the feed assembly line extends along a second direction and is arranged between the supply base and the second assembly line; and / or,

[0023] The mechanical arm is arranged between the first assembly line and the second assembly line.

[0024] As an optional technical solution for automatically changing carrier equipment, the transfer mechanism includes a transfer drive, a transfer lifting member and a transfer clamping assembly. The transfer drive is arranged on the frame, and its output end can reciprocate along the second direction. The transfer lifting member is movably arranged on the frame and is transmission-connected to the output end of the transfer drive. The transfer clamping assembly is arranged at the output end of the transfer lifting member and can clamp or release the second carrier. The transfer lifting member is used to drive the transfer clamping assembly to be located below the bearing surface of the feeding streamline to avoid the second carrier, or to be located above the bearing surface of the feeding streamline to transfer the second carrier from the material frame to the feeding streamline.

[0025] As an optional technical solution for automatically changing carrier equipment, the transfer clamping assembly includes a clamping drive and two clamping jaws. The two clamping jaws are respectively arranged at two output ends of the clamping drive and can approach or move away from each other.

[0026] As an optional technical solution for the automatic carrier replacement device, one of the two clamps is provided with a positioning pin, and when the two clamps are close to each other, the positioning pin can pass through the positioning hole of the second carrier.

[0027] As an optional technical solution for automatically changing carrier equipment, one of the two clamps is provided with an alignment piece, which is arranged on the side of the positioning pin close to the clamping drive member. When the two clamps are separated, the distance between the alignment piece and the other clamp is less than the thickness of the second carrier.

[0028] As an optional technical solution for the automatic carrier replacement device, a first camera and a first picking mechanism are provided at the end of the robot arm, wherein the first camera is used to photograph a second carrier and / or product on a second assembly line; the first picking mechanism is used to pick up or release the product; and / or,

[0029] The frame is provided with a second camera, which is located on the path of the first picking mechanism moving from the first assembly line to the second assembly line and is used to photograph the products on the first picking mechanism.

[0030] As an optional technical solution of the automatic carrier replacement device, the automatic carrier replacement device further includes a first recycling component, the first recycling component is used to recycle the first carrier on the first assembly line, and / or,

[0031] The automatic carrier replacement device further includes a second recovery component, which is used to collect ballast parts that are located on the first carrier and ballast the product.

[0032] To achieve this object, the present invention adopts the following technical solution on the other hand:

[0033] Secondly, a product transfer method is provided, which is applicable to the automatic carrier replacement device described in any of the above technical solutions, comprising the following steps:

[0034] S100, the first assembly line transports a first carrier carrying a product to a removal position;

[0035] S200, the robot arm takes out the product; the second carrier of the supply mechanism is moved to the second assembly line through the supply flow line; wherein, after the material frame in the supply mechanism is moved to the supply base, the limit component limits the material frame to be fixed relative to the supply base, and the unlocking component moves the locking member in the material frame to the path outside the second carrier moving out of the bearing slot; the transfer mechanism moves the second carrier to the supply flow line, and the supply flow line moves the second carrier to the second assembly line;

[0036] S300, the robot arm moves the product to the second carrier.

[0037] The beneficial effects of the present invention are:

[0038] The present invention provides an automatic carrier replacement device, which includes a frame and a first assembly line, a second assembly line, a robotic arm, a supply mechanism and a feeding assembly line arranged on the frame, wherein the first assembly line is used to transmit a first carrier carrying a product, a material frame in the supply mechanism carries a second carrier, and the second carrier can be transferred to the second assembly line through the feeding assembly line, and the robotic arm is used to transfer the product on the first carrier to the second carrier on the second assembly line; the limiting component in the supply mechanism can limit the material frame in the supply base, so that when the material frame moves to the supply base under the drive of the transmission component, it is relative to the supply base. The position accuracy of the seat is guaranteed, and the locking piece in the material frame can limit the second carrier in the support frame, so that during the movement of the material frame, the second carrier will not be displaced relative to the material frame, and can remain relatively fixed with the position of the material frame, and finally the position accuracy of the second carrier relative to the supply base can be guaranteed when the second carrier moves out of the material frame, and the transfer mechanism can complete the precise docking with the second carrier, improve the success rate of picking up, and at the same time, avoid damage to the second carrier; after the transfer mechanism and the second carrier are precisely docked, it is conducive to smoothly moving the second carrier to the supply line, and finally moving to the second assembly line, ensuring the success rate of product transfer to the second carrier.

[0039] The present invention provides a product transfer method. With the help of the above structure, the position of the second carrier is effectively controlled during the transfer process, wherein a material frame in a supply mechanism carries the second carrier, and when the material frame carries the second carrier and is transferred to a supply base, the material frame is limited by a limiting component in the supply mechanism, so that the position accuracy of the material frame relative to the supply base is guaranteed; at the same time, during the movement of the material frame carrying the second carrier, a locking member in the material frame can limit the second carrier in the support frame, so that during the movement of the material frame, the second carrier will not be positionally offset relative to the material frame, and can thus remain relatively fixed with the position of the material frame, and finally can ensure the position accuracy of the second carrier relative to the supply base when the second carrier moves out of the material frame, and the transfer mechanism can complete precise docking with the second carrier, thereby improving the success rate of picking up; at the same time, damage to the second carrier is avoided; after the transfer mechanism and the second carrier are precisely docked, it is conducive to smoothly moving the second carrier to the material supply line, and finally moving it to the second assembly line, thereby ensuring the success rate of product transfer to the second carrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of a first-viewing angle of an automatic carrier replacement device in an embodiment of the present invention;

[0041] Figure 2 Schematic diagram of the structure of the second viewing angle of the automatic carrier replacement device in an embodiment of the present invention;

[0042] Figure 3 It is a structural schematic diagram of the third viewing angle of the automatic carrier replacement device in an embodiment of the present invention;

[0043] Figure 4 for Figure 3 The enlarged view of point A in the middle;

[0044] Figure 5 for Figure 3 The enlarged view of point B in the middle;

[0045] Figure 6 It is a structural schematic diagram of the supply mechanism in the first perspective in an embodiment of the present invention;

[0046] Figure 7 for Figure 6 Enlarged view of point C in the middle;

[0047] Figure 8 It is a structural schematic diagram of the supply mechanism in the second viewing angle in an embodiment of the present invention;

[0048] Fig. 9 for Figure 8 The enlarged view of point D in the middle;

[0049] Fig.10 It is a schematic diagram of the structure of a part of the supply mechanism in an embodiment of the present invention;

[0050] Fig.11 It is a structural schematic diagram of the feeding flow line and the transfer mechanism in an embodiment of the present invention;

[0051] Fig.12 for Fig.11 Enlarged view of point E in the middle;

[0052] Fig.13 It is a schematic diagram of the layout structure of the feeding component and the receiving component in an embodiment of the present invention;

[0053] Fig.14 It is a structural schematic diagram of the push-pushing assembly in an embodiment of the present invention;

[0054] Fig.15 Schematic diagram of the structure of the robotic arm in an embodiment of the present invention.

[0055] In the figure:

[0056] 1000, product;

[0057] 2100, first carrier; 2110, ballast member; 2200, second carrier; 2210, steel sheet;

[0058] 100, frame; 110, second camera;

[0059] 210, first assembly line; 220, second assembly line;

[0060] 300, mechanical arm; 310, first camera; 320, first picking mechanism; 330, second picking mechanism; 331, annular bracket; 332, adsorption member;

[0061] 400, supply mechanism; 410, supply base; 420, transmission assembly; 430, limit assembly; 431, bottom positioning member; 432, entrance limit mechanism; 4321, entrance limit driving member; 4322, entrance limit member;

[0062] 440, unlocking assembly; 441, unlocking driving member; 442, unlocking moving member; 443, unlocking adjusting member; 4431, unlocking portion;

[0063] 450, material frame; 451, support frame; 4511, bearing groove; 4512, bearing member; 45121, avoidance groove; 45122, notch; 4513, sliding channel; 452, locking member; 4521, locking part; 4522, abutting part; 4523, locking body; 453, pressing plate; 454, elastic member;

[0064] 460, guide member; 461, lateral limit driving member; 462, lateral limit member; 463, first sensing member; 464, second sensing member;

[0065] 470, feeding lifting assembly;

[0066] 500, feeding flow line; 510, feeding bracket; 520, feeding transmission member; 530, toggle member;

[0067] 600, transfer mechanism; 610, transfer driving member; 620, transfer lifting member; 630, transfer clamping assembly; 631, clamping driving member; 632, clamping claw; 6321, positioning pin; 6322, alignment member; 6323, alignment hole;

[0068] 710, feeding assembly; 720, receiving assembly;

[0069] 810, first recovery component; 811, first recovery flow line; 812, push component; 8121, push driving member; 8122, push lifting member; 8123, push plate; 820, second recovery component; 821, second recovery flow line; 822, suction component; 8221, suction seat; 8222, first suction driving member; 8223, second suction driving member; 8224, suction member. DETAILED DESCRIPTION

[0070] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0071] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0072] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0073] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0074] like Figures 1 to 15 As shown, this embodiment provides an automatic carrier replacement device for transferring a product 1000 from a first carrier 2100 to a second carrier 2200. The automatic carrier replacement device includes a frame 100, a first assembly line 210, a second assembly line 220, a robot arm 300, a supply mechanism 400, a feeding line 500 and a transfer mechanism 600. Among them, the first assembly line 210 is used to transfer the first carrier 2100 carrying the product 1000; the second assembly line 220 is used to transfer the second carrier 2200; the robot arm 300 is arranged on the frame 100, and the robot arm 300 is configured to obtain the product 1000 from the first carrier 2100 and place the product 1000 on the second carrier 2200; the supply mechanism 400 includes a supply base 410, a transmission component 420, a limit component 430, an unlocking component 440 and a material frame 450, the transmission component 420 is arranged on the supply base 410, and is used to transfer the material frame 450, the limit component 430 is used to limit the material frame 450 to be fixed relative to the supply base 410, and the material frame 450 includes a support frame 451 with a bearing groove 4511 and a movably arranged The locking member 452 of the support frame 451 and the load-bearing groove 4511 are used to hold the second carrier 2200. The locking member 452 can be on the path of the second carrier 2200 moving out of the load-bearing groove 4511 to limit the second carrier 2200 from moving out of the load-bearing groove 4511. The unlocking portion 4431 of the unlocking component 440 is arranged to abut the locking member 452 to enable it to move outside the path of the second carrier 2200 moving out of the load-bearing groove 4511 and release the restriction on the second carrier 2200; the feeding streamline 500 is arranged between the transmission component 420 and the second assembly line 220, and is used to transfer the second carrier 2200 on the transmission component 420 to the second assembly line 220; the transfer mechanism 600 is used to transfer the second carrier 2200 in the material frame 450 to the feeding streamline 500.

[0075] With the help of the limiting component 430 in the supply mechanism 400, the material frame 450 in the supply base 410 can be limited, so that when the material frame 450 moves to the supply base 410 under the drive of the transmission component 420, the position accuracy relative to the supply base 410 is guaranteed, and the locking member 452 in the material frame 450 can limit the second carrier 2200 in the support frame 451, so that during the movement of the material frame 450, the second carrier 2200 will not be offset relative to the material frame 450, and can maintain the position of the material frame 450. It is relatively fixed, and can ultimately ensure the position accuracy of the second carrier 2200 relative to the supply base 410 when it moves out of the material frame 450. The transfer mechanism 600 can complete the precise docking with the second carrier 2200, improve the success rate of picking up, and at the same time, avoid damage to the second carrier 2200. After the transfer mechanism 600 and the second carrier 2200 are precisely docked, it is beneficial to smoothly move the second carrier 2200 to the supply line 500, and finally move it to the second assembly line 220, ensuring the success rate of transferring the product 1000 to the second carrier 2200.

[0076] In some embodiments, the locking member 452 includes a locking portion 4521 and an abutting portion 4522. The locking portion 4521 can be located on the path of the second carrier 2200 moving out of the bearing slot 4511. The unlocking portion 4431 of the unlocking assembly 440 is arranged to abut the abutting portion 4522 to drive the locking portion 4521 to move out of the path of the second carrier 2200 moving out of the bearing slot 4511. This arrangement enables the locking portion 4521 to be driven by the abutting portion 4522, thereby completing the unlocking under the drive of the unlocking assembly 440, avoiding the unlocking assembly 440 being arranged on the material frame 450, that is, the unlocking assembly 440 and the material frame 450 can be arranged separately, simplifying the structure of the material frame 450, and being able to achieve unlocking by abutting, which is simple to dock and convenient to operate; it also reduces the mass of the material frame 450, making it easy to carry and transfer.

[0077] Regarding the specific structure of the locking member 452, the locking member 452 includes a locking body 4523 that is long and extends in the vertical direction. The locking body 4523 is slidably disposed on the support frame 451 in the vertical direction, and can move downward by its own gravity to move the locking portion 4521 to the path where the second carrier 2200 moves out of the bearing slot 4511. The locking body 4523 protrudes outward from the side wall away from the support frame 451 to form an abutment block, and the bottom surface of the abutment block forms the abutment portion 4522; the locking body 4523 protrudes toward the side wall of the bearing slot 4511 to form the locking portion 4521. The above arrangement can omit the driving structure of the locking member 452, reduce costs and energy consumption; at the same time, in the natural state, the locking portion 4521 is always on the path where the second carrier 2200 moves out of the bearing slot 4511, which can ensure the limiting effect on the second carrier 2200.

[0078] During the transmission or handling of the material frame 450, there may be bumps or tipping. During the transmission or handling, in order to prevent the locking member 452 from moving up, causing the second carrier 2200 to lose its limit and slide off the material frame 450, in this embodiment, the material frame 450 also includes an elastic member 454, which is arranged between the locking member 452 and the support frame 451, and can apply elastic force to the locking member 452 to move it to the path where the second carrier 2200 moves out of the bearing groove 4511. The elastic force generated by the elastic member 454 assists in ballast the locking member 452, so that the locking member 452 will not move up when facing bumpy road conditions or tipping. Among them, the elastic force of the elastic member 454 can be greater than the gravity of the locking member 452 and less than twice the gravity of the locking member 452. The elastic force setting can not only meet the requirement of unlocking the locking member 452 after the material frame 450 is bumped or tipped over, but also reduce the force required for unlocking as much as possible, thereby reducing energy consumption.

[0079] When in use, multiple second carriers 2200 are stored in each material frame 450 to improve work efficiency. Specifically, the locking member 452 includes a plurality of locking portions 4521, and the plurality of locking portions 4521 are arranged at intervals along the vertical direction. The support frame 451 is provided with a plurality of bearing grooves 4511 arranged at intervals along the vertical direction, and the plurality of locking portions 4521 and the plurality of bearing grooves 4511 correspond one to one.

[0080] Combination Figure 7 and Fig. 9As shown, a sliding channel 4513 is provided on the side wall of the support frame 451, the inner side of the sliding channel 4513 is connected to the bearing groove 4511, and the outer side of the sliding channel 4513 is connected to the outside, and the locking body 4523 is slidably arranged inside the sliding channel 4513 along the vertical direction, and the locking portion 4521 is partially located inside the support frame 451; the material frame 450 also includes a crimping plate 453, which is connected to the outer side of the support frame 451, and a plurality of bearing members 4512 are protruding inwardly from the inside of the support frame 451, and a bearing groove 4511 is formed between any two bearing members 4512, and the bearing members 4512 and the crimping plate 453 are respectively arranged on the inner and outer sides of the locking body 4523, and the bearing members 4512 are provided with an avoidance groove 45121 to avoid the locking portion 4521 located outside the path of the second carrier 2200 moving out of the bearing groove 4511. On the one hand, the bearing member 4512 forms an inner limit portion of the locking body 4523 to prevent the locking body 4523 from entering the interior of the support frame 451; on the other hand, the bottom of the avoidance groove 45121 forms an upper limit portion to complete the limit of the upward movement of the locking portion 4521. In addition, the side wall of the support frame 451 is provided with a sliding channel 4513 for the sliding cooperation of the locking body 4523, which is conducive to reducing the size of the material frame 450. It should be noted that among the several bearing members 4512, at least one crosses the sliding channel 4513, and the rest are provided with a notch 45122 at the sliding channel 4513 to communicate with the sliding channel 4513, which meets the load-bearing requirements while reducing the mass.

[0081] Among them, the supporting member 4512 is provided with an avoidance groove 45121 at the position crossing the sliding channel 4513, the avoidance groove 45121 is opened downward, and the depth of the avoidance groove 45121 is greater than or equal to the size of the locking portion 4521, so that the locking portion 4521 can be completely embedded in the avoidance groove 45121 to avoid affecting the second carrier 2200 from entering and exiting the supporting groove 4511 when unlocking.

[0082] The unlocking assembly 440 includes an unlocking drive member 441, an unlocking moving member 442 and an unlocking adjusting member 443. The unlocking drive member 441 is arranged on the supply base 410, and its output shaft can reciprocate along its own axis and is in transmission connection with the unlocking moving member 442. The top of the unlocking adjusting member 443 forms an unlocking portion 4431. The unlocking adjusting member 443 is movably arranged on the unlocking moving member 442 so that the unlocking portion 4431 can be close to or away from the abutting portion 4522, so as to adapt to the abutting portion 4522 of different initial positions, and also to the different initial positions of the abutting portion 4522 caused by the material frame 450 of different models. The unlocking adjusting member 443 is a screw, which is screwed to the unlocking moving member 442. It should be noted that when the locking portion 4521 is located on the path of the second carrier 2200 moving out of the bearing slot 4511, the abutting portion 4522 is located at the initial position.

[0083] Combination Fig.10 As shown, after the material frame 450 enters the supply base 410, in order to limit its relative position with the supply base 410, in this embodiment, the limiting assembly 430 includes a bottom positioning member 431 provided on the supply base 410, and the bottom positioning member 431 is used to limit the head end of the material frame 450. The limiting assembly 430 also includes an entrance limiting mechanism 432 provided on the supply base 410 for limiting the end of the material frame 450. The entrance limiting mechanism 432 includes an entrance limiting driving member 4321 provided on the supply base 410 and an entrance limiting member 4322 provided at the output end of the entrance limiting driving member 4321. The entrance limiting member 4322 can be located on a path that limits the material frame 450 from moving out of the supply base 410 to limit the material frame 450 from moving out of the supply base 410, and can be located outside the path that the material frame 450 moves out of the supply base 410.

[0084] Specifically, the inlet limit drive 4321 is a rotating drive, the inlet limit drive 4322 is rod-shaped, and one end is connected to the output end of the rotating drive, and the other end can swing on and outside the inlet path of the material frame 450 entering the transmission assembly 420 under the drive of the rotating drive.

[0085] Among them, the bottom positioning member 431 and the entrance limiting member 4322 are arranged at intervals along the left and right directions, which can realize the limitation of the relative position of the material frame 450 and the supply base 410 in the left and right directions. In order to realize the limitation of the material frame 450 and the supply base 410 in the front and rear directions, in some embodiments, the supply mechanism 400 includes two strip-shaped guide members 460 arranged on the supply base 410 and arranged on both sides of the material frame 450. The material frame 450 can move in the two guide members 460. The supply mechanism 400 also includes a transverse limiting driving member 461 and a transverse limiting member 462. The transverse limiting driving member 461 is arranged on the supply base 410, and its output end can reciprocate along the front and rear directions, and is transmission-connected with the transverse limiting member 462 to drive the transverse limiting member 462 to abut the material frame 450 and abut the material frame 450 against the side wall of the guide member 460 away from the transverse limiting member 462, thereby realizing the limitation of the front and rear material frames 450 in the front and rear directions.

[0086] To ensure that the material frame 450 enters the supply mechanism 400 , the first sensor 463 and the second sensor 464 are both disposed on the supply base 410 and spaced apart in the left-right direction. The first sensor 463 is used to sense the head end of the material frame 450 , and the second sensor 464 is used to sense the tail end of the material frame 450 .

[0087] During the transfer, the transfer mechanism 600 is required to take the second carrier 2200 out of the material frame 450 and transfer it to the feeding line 500, wherein the feeding line 500 includes a feeding bracket 510 and a feeding transmission member 520 disposed on the feeding bracket 510, and the feeding transmission member 520 is used to transfer the second carrier 2200. The feeding transmission member 520 is a conveyor belt, which is driven by a motor to realize rotation.

[0088] Combination Fig.11 and Fig.12 As shown, the transfer mechanism 600 includes a transfer drive member 610, a transfer lifting member 620 and a transfer clamping assembly 630. The transfer drive member 610 is arranged on the frame 100, and its output end can reciprocate in the left and right directions. The transfer lifting member 620 is movably arranged on the frame 100 and is transmission-connected to the output end of the transfer drive member 610. The transfer clamping assembly 630 is arranged at the output end of the transfer lifting member 620 and can clamp or release the second carrier 2200. The transfer lifting member 620 is used to drive the transfer clamping assembly 630 to be located below the bearing surface of the feeding transmission member 520 to avoid the second carrier 2200, or to be located above the bearing surface of the feeding transmission member 520 to transfer the second carrier 2200 from the material frame 450 to the second assembly line 220. The transfer drive member 610 includes a drive motor, a transfer block and a transmission belt. The drive motor drives the transmission belt to move through a driving wheel and a driven wheel that are arranged at intervals. The transfer block and the straight part of the transmission belt are fixed and connected to the transfer lifting member 620.

[0089] When the transfer mechanism 600 is working, the transfer lifting member 620 drives the transfer clamping assembly 630 to descend to the bottom of the bearing surface, and the transfer driving member 610 moves to the left to move the transfer lifting member 620 and the transfer clamping assembly 630, so that the clamping end of the transfer clamping assembly 630 can approach and clamp the second carrier 2200, and then the transfer driving member 610 moves to the right to move the second carrier 2200 to the top of the feeding streamline 500, and the transfer lifting member 620 is actuated to place the second carrier 2200 on the bearing surface of the feeding transmission member 520. The feeding streamline 500 also includes a toggle member 530, which is used to toggle the second carrier 2200 from the feeding transmission member 520 to the second assembly line 220.

[0090] Specifically, the transfer clamping assembly 630 includes a clamping driving member 631 and two clamping jaws 632. The two clamping jaws 632 are respectively disposed at two output ends of the clamping driving member 631 and can move closer to or farther from each other. When the two clamping jaws 632 are closer to each other, they can clamp the second carrier 2200.

[0091] Since the second carrier 2200 needs to be dragged out of the bearing slot 4511 in the left-right direction, in order to prevent it from slipping during the dragging process, in some embodiments, one of the two clamping jaws 632 is provided with a positioning pin 6321, and when the two clamping jaws 632 are close to each other, the positioning pin 6321 can pass through the positioning hole of the second carrier 2200. The extending direction of the positioning pin 6321 is perpendicular to the extending direction of the bearing slot 4511. In other words, the positioning pin 6321 extends in the vertical direction.

[0092] Furthermore, the length of the positioning pin 6321 is greater than the thickness of the second carrier 2200, and its end can abut against another clamping jaw 632 to prevent the second carrier 2200 from being clamped and deformed or even damaged. This arrangement allows the two clamping jaws 632 to be limited by the positioning pin 6321 when they are close to each other, so that the distance between the two clamping jaws 632 is greater than the thickness of the second carrier 2200.

[0093] In order to ensure that the positioning pin 6321 and the positioning hole are precisely connected, one of the two clamping jaws 632 is provided with an alignment piece 6322, which is arranged on the side of the positioning pin 6321 close to the clamping driving member 631, that is, the alignment piece 6322 is arranged on the side of the positioning pin 6321 away from the second carrier 2200. The alignment piece 6322 is in a long strip shape and extends along the direction of the two clamping jaws 632 approaching or moving away, that is, extends along the thickness direction of the second carrier 2200. When the two clamping jaws 632 are separated, the distance between the alignment piece 6322 and the other clamping jaw 632 is less than the thickness of the second carrier 2200. The thickness of the second carrier 2200 is the size of the second carrier 2200 in the up and down direction. This arrangement allows the two clamps 632 to separate when the second carrier 2200 is about to be grasped, so that the distance between the two clamps 632 is smaller than the thickness of the second carrier 2200. Then, driven by the transfer drive 610, the two clamps 632 extend into the material frame 450 and are respectively located on the upper and lower sides of the second carrier 2200. Under the continuous drive of the transfer drive 610, the clamping drive 631 continues to approach the second carrier 2200, and the alignment member 6322 abuts against the side wall of the second carrier 2200 close to the clamping drive 631, so that the second carrier 2200 abuts against the end limit portion in the supporting groove 4511, thereby ensuring the position accuracy of the second carrier 2200 relative to the material frame 450 in the left and right directions.

[0094] In some embodiments, the alignment member 6322 is disposed on one of the clamping jaws 632, and the other clamping jaw 632 is provided with an alignment hole 6323. When the two clamping jaws 632 are close to each other, part of the alignment member 6322 is inserted into the alignment hole 6323. This arrangement can ensure that the length of the alignment member 6322 is guaranteed without affecting the close movement of the two clamping jaws 632. In some embodiments, when the two clamping jaws 632 are away from each other, part of the alignment member 6322 is inserted into the alignment hole 6323, which helps to improve the force when abutting against the second carrier 2200 and reduce the probability of the alignment member 6322 being bent.

[0095] There are two transfer clamping assemblies 630, and the two transfer clamping assemblies 630 are arranged at intervals along the front-to-back direction. In this embodiment, the alignment member 6322 is cylindrical, and the alignment hole 6323 is a circular hole.

[0096] It should be noted that both ends of the bearing slot 4511 in the left-right direction are limited by the locking member 452, wherein the locking portion 4521 of one locking member 452 forms the end limiting portion. In other words, the material frame 450 has two locking members 452 arranged at intervals to limit the two ends of the second carrier 2200 respectively, wherein the locking portion 4521 of one locking member 452 is close to the clamping drive member 631 to form the end limiting portion.

[0097] Combination Fig.13 As shown, in some embodiments, the supply mechanism 400 further includes a feeding assembly 710 and a receiving assembly 720, wherein the feeding assembly 710 is used to convey the material frame 450 fully loaded with the second carrier 2200 to the supply base 410, and the receiving assembly 720 is used to recover the empty material frame 450 from the supply base 410; wherein the feeding assembly 710 is located at the lower side of the receiving assembly 720; the supply mechanism 400 further includes a feeding lifting assembly 470, wherein the output end of the feeding lifting assembly 470 can reciprocate in the vertical direction, and is transmission-connected with the supply base 410 to drive the supply base 410 to move up to dock with the receiving assembly 720, or move down to dock with the feeding assembly 710. The feeding lifting assembly 470 is arranged on the frame 100. This arrangement makes the material frame 450 fully loaded with the second carrier 2200 at a low position, which is consistent with the carrying height of the staff, is convenient for the staff to place, and reduces the labor intensity.

[0098] To save floor space, in some embodiments, the first assembly line 210 extends along the first direction, the second assembly line 220 extends along the first direction, and the feeding assembly line 500 extends along the second direction and is disposed between the supply base 410 and the second assembly line 220. The robot arm 300 is disposed between the first assembly line 210 and the second assembly line 220. The first direction is the front-to-back direction, the second direction is the left-to-right direction, and the vertical direction is the up-down direction.

[0099] To improve the degree of automation, in some embodiments, the automatic carrier replacement device further includes a first recovery component 810, which is used to recover the first carrier 2100 of the first assembly line 210. The structure of the first recovery component 810 can be set with reference to the supply mechanism 400. A first recovery flow line 811 is provided between the first recovery component 810 and the first assembly line 210, and the first recovery flow line 811 extends in the left and right directions, and can receive the first carrier 2100 on the first assembly line 210, and can transmit the first carrier 2100 to the direction of the first recovery component 810. A push component 812 is provided in the first recovery flow line 811 to push the first carrier 2100 into the material frame 450 in the first recovery component 810. The push assembly 812 may be set with reference to the transfer mechanism 600. In some embodiments, the transfer clamping assembly 630 in the transfer mechanism 600 may be replaced with a push plate 8123. In other words, the output end of the push assembly 812 is the push plate 8123, which can move in the left and right directions and in the vertical direction, thereby achieving a push and avoidance action on the first carrier 2100. Fig.14 As shown, the push assembly 812 includes a push driving member 8121, a push lifting member 8122 and a push plate 8123. The push driving member 8121 is arranged on the frame 100, and its output end can reciprocate along the left and right directions and is transmission connected to the push lifting member 8122. The output end of the push lifting member 8122 can reciprocate along the up and down directions and is transmission connected to the push plate 8123.

[0100] Similarly, in some embodiments, the first recycling component 810 is used in conjunction with the feeding component 710 and the receiving component 720 to realize the automatic supply of the empty material frame 450 and the automatic storage of the fully loaded material frame 450. The positions of the feeding component 710 and the receiving component 720 in this embodiment are different from those of the feeding component 710 and the receiving component 720 used in conjunction with the supply mechanism 400. In the feeding component 710 and the receiving component 720 used in conjunction with the first recycling component 810, the feeding component 710 is located above the receiving component 720, the feeding component 710 is used to transport the empty material frame 450, and the receiving component 720 is used to store the fully loaded material frame 450.

[0101] In order to ensure the safety of the product 1000 during the transmission process, a ballast member 2110 is provided on the first carrier 2100 to ballast the product 1000. Therefore, before taking the product 1000 out of the first carrier 2100, the ballast member 2110 needs to be taken out first. In order to automatically collect the ballast member 2110, in this embodiment, a second recovery component 820 is further provided to collect the ballast member 2110. The second recovery component 820 and the first recovery component 810 may have the same structure.

[0102] In order to smoothly move the ballast member 2110 to the second recovery assembly 820, a second recovery streamline 821 is provided between the second recovery assembly 820 and the first assembly line 210. The second recovery streamline 821 extends in the left-right direction and can receive the ballast member 2110 on the first assembly line 210 and can transmit the ballast member 2110 toward the second recovery assembly 820. A push assembly 812 is provided in the second recovery streamline 821 to push the ballast member 2110 into the material frame 450 in the second recovery assembly 820. The bearing slot 4511 of the material frame 450 can reasonably adjust the size according to the workpiece to be carried.

[0103] In this embodiment, the suction assembly 822 is disposed on the frame 100, and is used to transfer the ballast member 2110 on the first assembly line 210 to the second recovery assembly line 821. Figure 4 As shown, the suction assembly 822 includes a suction seat 8221, a first suction drive member 8222, a second suction drive member 8223 and a suction member 8224, wherein the suction seat 8221 is arranged on the frame 100, the first suction drive member 8222 is arranged on the suction seat 8221, and its output end can reciprocate along the left and right directions, and is transmission connected to the second suction drive member 8223, the output end of the second suction drive member 8223 can reciprocate along the vertical direction, and is transmission connected to the suction member 8224, and the suction member 8224 can adsorb or release the ballast member 2110.

[0104] In order to ensure that the position of the product 1000 on the second carrier 2200 remains unchanged, a steel sheet 2210 needs to be added to pressurize the product 1000 after the product 1000 is placed on the second carrier 2200. The steel sheet 2210 moves to the second assembly line 220 with the second carrier 2200. Before the product 1000 is placed on the second carrier 2200, the steel sheet 2210 is first removed. After the product 1000 is placed on the second carrier 2200, the steel sheet 2210 is placed on the product 1000 on the second carrier 2200.

[0105] Combination Figure 2 and Fig.15As shown, in order to ensure the accuracy of the transfer of the product 1000, in some embodiments, a first camera 310 and a first picking mechanism 320 are provided at the end of the robot arm 300. The first camera 310 is used to photograph the second carrier 2200 and / or the product 1000 located on the second assembly line 220; the first picking mechanism 320 is used to pick up or release the product 1000. A second camera 110 is provided on the frame 100. The second camera 110 is located on the path of the first picking mechanism 320 moving from the first assembly line 210 to the second assembly line 220, and is used to photograph the product 1000 on the first picking mechanism 320. When in use, the first picking mechanism 320 picks up the product 1000 on the first carrier 2100, and then passes through the second camera 110 during the process of moving to the second carrier 2200. The second camera 110 photographs the position of the product 1000 relative to the first picking mechanism 320, and then continues to move to the second carrier 2200. The first camera 310 photographs the position of the second carrier 2200, and according to the comparison results of the two photographed positions, the product 1000 is placed on the second carrier 2200. After the product 1000 is placed on the second carrier 2200, the first camera 310 photographs the product 1000 on the second carrier 2200, so as to determine whether the placement position of the product 1000 is accurate.

[0106] Combination Figure 5 As shown, in the embodiment with the steel sheet 2210, the end of the robot arm 300 is further provided with a second picking mechanism 330, and the second picking mechanism 330 is used to pick up or release the steel sheet 2210. Specifically, the second picking mechanism 330 includes an annular bracket 331 and a plurality of adsorbents 332 arranged at intervals on the annular bracket 331, and the adsorbents 332 are used to adsorb the annular steel sheet 2210. The first camera 310 is arranged above the annular bracket 331, and it can shoot the second carrier 2200 downward through the internal channel of the annular bracket 331.

[0107] This embodiment further provides a product transfer method, which is applicable to the automatic carrier replacement device in any of the above embodiments. The product transfer method includes the following steps:

[0108] S100 , the first assembly line 210 transports the first carrier 2100 carrying the product 1000 to a removal position.

[0109] S200, the robot arm 300 takes out the product 1000 from the first carrier 2100 at the removal position; the second carrier 2200 on the supply mechanism 400 is moved to the second assembly line 220 through the feeding line 500; wherein, after the material frame 450 in the supply mechanism 400 is moved to the supply base 410, the limiting component 430 limits the material frame 450 to be fixed relative to the supply base 410, and the unlocking component 440 moves the locking member 452 in the material frame 450 to the outside of the path of the second carrier 2200 moving out of the carrying slot 4511; the transfer mechanism 600 moves the second carrier 2200 to the feeding line 500, and the feeding line 500 moves the second carrier 2200 to the second assembly line 220.

[0110] S300 , the robot arm 300 moves the product 1000 to the second carrier 2200 .

[0111] With the help of the above method, during the movement of the material frame 450, the second carrier 2200 will not be displaced relative to the material frame 450, and can remain relatively fixed with the position of the material frame 450, ultimately ensuring the position accuracy of the second carrier 2200 relative to the supply base 410 when moving out of the material frame 450, and the transfer mechanism 600 can complete the precise docking with the second carrier 2200, thereby improving the success rate of picking up, and after precise docking, it is beneficial to smoothly move the second carrier 2200 to the supply line 500, and finally move it to the second assembly line 220, thereby ensuring the success rate of transferring the product 1000 to the second carrier 2200.

[0112] In the embodiment with the ballast member 2110, the ballast member 2110 is first taken out by the suction assembly 822, and then the product 1000 on the first carrier 2100 is taken out by the robot arm 300. In the embodiment with the steel sheet 2210, the steel sheet 2210 on the second carrier 2200 is first taken out by the second picking mechanism 330, and then the product 1000 is placed on the second carrier 2200, and finally the steel sheet 2210 is placed on the second carrier 2200 and the product 1000 is ballasted.

[0113] When the product 1000 is transferred to the second assembly line 220 , the second camera 110 is used to photograph the product 1000 for positioning; before the product 1000 is placed on the second carrier 2200 , the first camera 310 is used to photograph the second carrier 2200 for positioning.

[0114] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An automatic carrier changing device for transferring a product (1000) from a first carrier (2100) to a second carrier (2200), characterized in that: The automatic carrier replacement device comprises: Rack(100); A first assembly line (210) for transporting a first carrier (2100) carrying a product (1000); A second assembly line (220), used for transmitting a second carrier (2200); a robotic arm (300), disposed on the frame (100), the robotic arm (300) being configured to obtain a product (1000) from the first carrier (2100) and to place the product (1000) on a second carrier (2200); A supply mechanism (400) comprises a supply base (410), a transmission assembly (420), a limit assembly (430), an unlocking assembly (440) and a material frame (450), wherein the transmission assembly (420) is arranged on the supply base (410) and is used to transmit the material frame (450), the limit assembly (430) is used to limit the material frame (450) to be fixed relative to the supply base (410), and the material frame (450) comprises a support frame (451) having a bearing groove (4511) and a locking member movably arranged on the support frame (451) (452), the carrying slot (4511) is used to hold the second carrier (2200), the locking member (452) can be on the path of the second carrier (2200) moving out of the carrying slot (4511) to restrict the second carrier (2200) from moving out of the carrying slot (4511), and the unlocking portion (4431) of the unlocking assembly (440) is arranged to abut against the locking member (452) to move it to the outside of the path of the second carrier (2200) moving out of the carrying slot (4511) and release the restriction on the second carrier (2200); a feeding flow line (500), the feeding flow line (500) being arranged between the transmission assembly (420) and the second assembly line (220), and being used for transferring the second carrier (2200) to the second assembly line (220); The transfer mechanism (600) is used to transfer the second carrier (2200) in the material frame (450) to the material supply line (500).

2. The automatic carrier replacement device according to claim 1, characterized in that: The locking member (452) includes a locking portion (4521) and an abutting portion (4522), wherein the locking portion (4521) can be located on a path for the second carrier (2200) to move out of the loading slot (4511), and the unlocking portion (4431) of the unlocking assembly (440) is arranged to abut against the abutting portion (4522) to drive the locking portion (4521) to move outside the path for the second carrier (2200) to move out of the loading slot (4511).

3. The automatic carrier replacement device according to claim 2, characterized in that: The locking member (452) includes a locking body (4523) which is in the shape of an elongated strip and extends in the vertical direction. The locking body (4523) is slidably arranged on the support frame (451) in the vertical direction and can move downward by its own gravity so that the locking portion (4521) moves to a path for the second carrier (2200) to move out of the bearing slot (4511). The side wall of the locking body (4523) protrudes outwardly away from the support frame (451) to form an abutment block, and the bottom surface of the abutment block forms the abutment portion (4522); the locking body (4523) protrudes toward the side wall of the bearing slot (4511) to form the locking portion (4521).

4. The automatic carrier replacement device according to claim 3, characterized in that: The side wall of the support frame (451) is provided with a sliding channel (4513), the inner side of the sliding channel (4513) is connected to the bearing groove (4511), and the outer side of the sliding channel (4513) is connected to the outside, the locking body (4523) is slidably arranged inside the sliding channel (4513) along the vertical direction, and the locking portion (4521) is partially located inside the support frame (451); The material frame (450) also includes a crimping plate (453), which is connected to the outer side of the support frame (451), and a plurality of bearing members (4512) are protruding inward from the inside of the support frame (451), and a bearing groove (4511) is formed between any two of the bearing members (4512), and the bearing members (4512) and the crimping plate (453) are respectively arranged on the inner and outer sides of the locking body (4523), and the bearing member (4512) is provided with an avoidance groove (45121) to avoid the locking part (4521) located outside the path of the second carrier (2200) moving out of the bearing groove (4511).

5. The automatic carrier replacement device according to claim 2, characterized in that: The material frame (450) further includes an elastic member (454), which is disposed between the locking member (452) and the support frame (451) and is capable of applying an elastic force to the locking member (452) to move the locking member (452) to a path for the second carrier (2200) to move out of the supporting slot (4511).

6. The automatic carrier replacement device according to claim 1, characterized in that: The limiting assembly (430) comprises a bottom positioning member (431) arranged on the supply base (410), and the bottom positioning member (431) is used to limit the head end of the material frame (450). The limiting assembly (430) also comprises an inlet limiting mechanism (432) arranged on the supply base (410), and the inlet limiting mechanism (432) comprises an inlet limiting driving member (4321) arranged on the supply base (410) and an inlet limiting member (4322) arranged at the output end of the inlet limiting driving member (4321). The inlet limiting member (4322) can be located on a path for limiting the material frame (450) from moving out of the supply base (410) so as to limit the material frame (450) from moving out of the supply base (410), and can be located outside the path for the material frame (450) to move out of the supply base (410).

7. The automatic carrier replacement device according to claim 1, characterized in that: The supply mechanism (400) further comprises a material feeding component (710) and a material receiving component (720), wherein the material feeding component (710) is used to deliver a material frame (450) fully loaded with the second carrier (2200) to the supply base (410), and the material receiving component (720) is used to recover an empty material frame (450) from the supply base (410); wherein: The feeding assembly (710) is located at the lower side of the receiving assembly (720); the supply mechanism (400) further includes a feeding lifting assembly (470), the output end of which can reciprocate in the vertical direction and is transmission-connected to the supply base (410) to drive the supply base (410) to move upward to dock with the receiving assembly (720), or move downward to dock with the feeding assembly (710).

8. The automatic carrier replacement device according to claim 1, characterized in that: The first assembly line (210) extends along a first direction, the second assembly line (220) extends along the first direction, the feed assembly line (500) extends along a second direction and is disposed between the supply base (410) and the second assembly line (220); and / or, The mechanical arm (300) is arranged between the first assembly line (210) and the second assembly line (220).

9. The automatic carrier replacement device according to any one of claims 1 to 8, characterized in that: The transfer mechanism (600) comprises a transfer driving member (610), a transfer lifting member (620) and a transfer clamping assembly (630). The transfer driving member (610) is arranged on the frame (100), and its output end can reciprocate along the second direction. The transfer lifting member (620) is movably arranged on the frame (100) and is drivingly connected to the output end of the transfer driving member (610). The transfer clamping assembly (630) is arranged at the output end of the transfer lifting member (620) and can clamp or release the second carrier (2200). The transfer lifting member (620) is used to drive the transfer clamping assembly (630) to be located below the bearing surface of the feeding streamline (500) to avoid the second carrier (2200), or to be located above the bearing surface of the feeding streamline (500) to transfer the second carrier (2200) from the material frame (450) to the feeding streamline (500).

10. The automatic carrier changing device according to claim 9, characterized in that: The transfer clamping assembly (630) comprises a clamping driving member (631) and two clamping jaws (632). The two clamping jaws (632) are respectively arranged at two output ends of the clamping driving member (631) and can move closer to or farther away from each other.

11. The automatic carrier replacement device according to claim 10, characterized in that: One of the two clamping jaws (632) is provided with a positioning pin (6321), and when the two clamping jaws (632) are close to each other, the positioning pin (6321) can pass through the positioning hole of the second carrier (2200).

12. The automatic carrier replacement device according to claim 11, characterized in that: One of the two clamping jaws (632) is provided with an alignment member (6322), and the alignment member (6322) is arranged on a side of the positioning pin (6321) close to the clamping drive member (631). When the two clamping jaws (632) are separated, the distance between the alignment member (6322) and the other clamping jaw (632) is less than the thickness of the second carrier (2200).

13. The automatic carrier replacement device according to any one of claims 1 to 8, characterized in that: A first camera (310) and a first picking mechanism (320) are provided at the end of the robot arm (300); the first camera (310) is used to photograph the second carrier (2200) and / or the product (1000) on the second assembly line (220); the first picking mechanism (320) is used to pick up or release the product (1000); and / or, The frame (100) is provided with a second camera (110), the second camera (110) is located on a path of the first picking mechanism (320) moving from the first assembly line (210) to the second assembly line (220), and is used to photograph the product (1000) on the first picking mechanism (320).

14. The automatic carrier changing device according to claim 1, characterized in that: The automatic carrier replacement device further comprises a first recovery component (810), wherein the first recovery component (810) is used to recover the first carrier (2100) on the first assembly line (210), and / or, The automatic carrier replacement device further includes a second recovery component (820), wherein the second recovery component (820) is used to collect the ballast part (2110) located on the first carrier (2100) and ballasting the product (1000).

15. A product transfer method, applicable to the automatic carrier replacement device according to any one of claims 1 to 14, characterized in that: The following steps are involved: S100, the first assembly line (210) transports a first carrier (2100) carrying a product (1000) to a removal position; S200, the robot arm (300) takes out the product (1000); the second carrier (2200) of the supply mechanism (400) is moved to the second assembly line (220) through the supply assembly line (500); wherein, after the material frame (450) in the supply mechanism (400) is moved to the supply base (410), the limiting component (430) limits the material frame (450) to be fixed relative to the supply base (410), and the unlocking component (440) moves the locking member (452) in the material frame (450) to the path outside the second carrier (2200) moving out of the carrying slot (4511); the transfer mechanism (600) moves the second carrier (2200) to the supply assembly line (500), and the supply assembly line (500) moves the second carrier (2200) to the second assembly line (220); S300, the robot arm (300) moves the product (1000) to the second carrier (2200).

Images