Automated change carrier apparatus and product transfer method

Abstract

The application relates to the technical field of automatic production, and particularly discloses an automatic replacement carrier device and a product transfer method. In the automatic replacement carrier device, 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 a supply mechanism is used for limiting a material frame relative to a supply base; the material frame comprises a support frame body with a bearing groove and a locking piece movably arranged on the support frame body; the bearing groove is used for containing the second carrier; the locking piece can limit the second carrier from moving out of the bearing groove on a path of the second carrier moving out of the bearing groove; and an unlocking part of an unlocking assembly can abut against the locking piece to release the limitation of the second carrier. A supply assembly line is arranged between a transmission assembly and the second assembly line, and is used for transferring the second carrier to the second assembly line; and a transfer mechanism is used for transferring the second carrier in the material frame to the supply assembly line. The above-mentioned arrangement can improve the success rate of transferring the product from the first carrier to the second carrier.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic production, and in particular to an automatic carrier replacement device and a product transfer method. BACKGROUND

[0002] In the process of surface mount technology (SMT) production, different carriers need to be used at different process stations, and the product needs to be removed from the carrier after the end of the previous process stage and replaced into the carrier of the next process stage. At present, many SMT production lines still maintain the manual replacement mode, which is low in efficiency and high in labor cost. In order to improve the efficiency and reduce the cost, some production lines use a taking mechanism to supply the carrier, that is, the taking mechanism is used to transfer the carrier from the magazine to the assembly line of the next process stage. Since the magazine is prone to deviation between the transfer process and the taking mechanism, and the relative position of the carrier in the magazine and the magazine is also prone to deviation, the carrier cannot be accurately positioned when it is picked up from the magazine, which leads to picking failure, or the picking position deviates, which leads to damage of the carrier and thus cannot complete the subsequent carrying work. At the same time, due to the position deviation, the carrier is prone to falling off during the transfer, which makes the carrier unable to move smoothly to the assembly line, thereby affecting the success rate of product transfer.

[0003] Therefore, it is urgent to study an automatic carrier replacement device and a product transfer method to solve the problem that the position deviation of the magazine between the transfer process and the taking mechanism and the position deviation of the carrier between the transfer process and the magazine lead to inaccurate positioning of the carrier when it is picked up by the taking mechanism, thereby reducing the success rate of product transfer or even damaging the carrier. SUMMARY

[0004] The present application aims to provide an automatic carrier replacement device and a product transfer method to solve the problem that the position deviation of the magazine between the transfer process and the taking mechanism and the position deviation of the carrier between the transfer process and the magazine lead to inaccurate positioning of the carrier when it is picked up by the taking mechanism, thereby reducing the success rate of product transfer or even damaging the carrier.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions in one aspect:

[0006] Firstly, an automatic carrier replacement device is provided for transferring a product from a first carrier to a second carrier, the automatic carrier replacement device comprising:

[0007] a rack;

[0008] a first assembly line for conveying the first carrier carrying the product;

[0009] a second assembly line for conveying the second carrier;

[0010] A mechanical arm is arranged on the frame, and the mechanical arm is configured to obtain a product from the first carrier and place the product on a second carrier;

[0011] A supply mechanism includes a supply base, a transmission assembly, a limiting assembly, an unlocking assembly, and a material frame. The transmission assembly is arranged on the supply base and is used to transmit the material frame. The limiting assembly is used to limit the material frame from being fixed relative to the supply base. The material frame includes a support frame body having a bearing groove for containing the second carrier and a locking member movably arranged on the support frame body. The locking member can be on the path of the second carrier moving out of the bearing groove to limit the second carrier from moving out of the bearing groove. The unlocking part of the unlocking assembly is arranged to abut against the locking member to move the locking member out of the path of the second carrier moving out of the bearing groove and release the limitation on the second carrier.

[0012] A supply flow line is arranged between the transmission assembly and the second flow line to deliver the second carrier to the second flow line.

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

[0014] As an optional technical solution of the automatic carrier replacement device, the locking member includes a locking part and an abutting part. The locking part can be on the path of the second carrier moving out of the bearing groove. The unlocking part of the unlocking assembly is arranged to abut against the abutting part to drive the locking part to move out of the path of the second carrier moving out of the bearing groove.

[0015] As an optional technical solution of the automatic carrier replacement device, the locking member includes a locking body in the shape of a long strip and extending in the vertical direction. The locking body is slidingly arranged on the support frame body in the vertical direction and can move downward by its own gravity to move the locking part on the path of the second carrier moving out of the bearing groove. The side wall of the locking body away from the support frame body is outwardly protruding to form an abutting block. The bottom surface of the abutting block forms an abutting part. The side wall of the locking body towards the bearing groove is outwardly protruding to form a locking part.

[0016] As an optional technical solution of the automatic carrier replacement device, the side wall of the support frame body is provided with a sliding channel. The inner side of the sliding channel is in communication with the bearing groove, and the outer side of the sliding channel is in communication with the outside. The locking body is slidingly arranged in the sliding channel in the vertical direction. The locking part is partially located in the interior of the support frame body.

[0017] The material frame further comprises a crimping plate connected to the outer side of the support frame body, the inner side of the support frame body is inwardly convexly provided with a plurality of bearing members, a bearing groove is formed between any two 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 avoiding 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 of the automatic carrier replacement device, the material frame further comprises an elastic member arranged between the locking member and the support frame body and capable of applying an elastic force to the locking member to move the locking member to the path of the second carrier moving out of the bearing groove.

[0019] As an optional technical solution of the automatic carrier replacement device, the limiting assembly comprises a bottom positioning member arranged at the bottom of the supply base and used for limiting the first end of the material frame, and an entrance limiting mechanism arranged at the supply base, the entrance limiting mechanism comprising an entrance limiting driving member arranged at the supply base and an entrance limiting member arranged at the output end of the entrance limiting driving member, the entrance limiting member being capable of being located on the path of the material frame moving out of the supply base to limit the material frame from moving out of the supply base and being capable of being located outside the path of the material frame moving out of the supply base.

[0020] As an optional technical solution of the automatic carrier replacement device, the supply mechanism further comprises a feeding assembly and a collecting assembly, the feeding assembly being used for feeding the material frame full of the second carriers to the supply base, and the collecting assembly being used for collecting the empty material frame from the supply base; wherein,

[0021] The feeding assembly is located below the collecting assembly; the supply mechanism further comprises a feeding lifting assembly, the output end of the feeding lifting assembly being capable of reciprocating vertically and being in transmission connection with the supply base to drive the supply base to move upward to be in butt joint with the collecting assembly or to move downward to be in butt joint with the feeding assembly.

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

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

[0024] As an optional technical solution of the automatic carrier replacement device, the transfer mechanism comprises a transfer drive, a transfer jacking member and a transfer clamping assembly, the transfer drive is arranged on the rack, and the output end thereof can reciprocate in the second direction, the transfer jacking member is movably arranged on the rack and is in transmission connection with the output end of the transfer drive, and the transfer clamping assembly is arranged on the output end of the transfer jacking member and can clamp or release the second carrier, and the transfer jacking member is used to drive the transfer clamping assembly to be located below the load bearing surface of the supply flow line to avoid the second carrier or to be located above the load bearing surface of the supply flow line to transfer the second carrier from the material frame to the supply flow line.

[0025] As an optional technical solution of the automatic carrier replacement device, the transfer clamping assembly comprises a clamping drive and two clamping jaws, and the two clamping jaws are arranged on the two output ends of the clamping drive and can approach or move away from each other.

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

[0027] As an optional technical solution of the automatic carrier replacement device, one of the two clamping jaws is provided with an alignment member, the alignment member is arranged on the side of the positioning pin close to the clamping drive, and when the two clamping jaws move away from each other, the distance between the alignment member and the other clamping jaw is less than the thickness of the second carrier.

[0028] As an optional technical solution of the automatic carrier replacement device, the end of the mechanical arm is provided with a first camera and a first picking mechanism, the first camera is used to shoot the second carrier and / or product located on the second flow line, the first picking mechanism is used to pick up or release the product, and / or,

[0029] A second camera is arranged on the rack, the second camera is located on the path of the first picking mechanism moving from the first flow line to the second flow line, and is used to shoot the product on the first picking mechanism.

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

[0031] The automatic carrier replacement device further comprises a second recycling assembly, and the second recycling assembly is used to collect the ballast on the first carrier.

[0032] To achieve this purpose, another aspect of the present application adopts the following technical solutions:

[0033] Secondly, a product transfer method is provided, which is suitable for the automatic replacement carrier device of any of the above technical solutions, and comprises the following steps:

[0034] S100, the first carrier carrying the product is moved to the first flow line by the first flow line;

[0035] S200, the product is taken out by the mechanical arm; the second carrier of the supply mechanism is moved to the second flow line by the supply flow line; wherein, the material frame in the supply mechanism is limited by the limiting assembly after being moved to the supply base, the locking part in the material frame is moved by the unlocking assembly to the outside of the path of the second carrier moving out of the carrying groove; the second carrier is moved to the supply flow line by the transfer mechanism, and the supply flow line moves the second carrier to the second flow line;

[0036] S300, the product is moved to the second carrier by the mechanical arm.

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

[0038] The present application provides an automatic replacement carrier device, which comprises a rack, a first flow line, a second flow line, a mechanical arm, a supply mechanism and a supply flow line arranged on the rack, wherein the first flow line is used for conveying the first carrier carrying the product, the material frame in the supply mechanism carries the second carrier, and the second carrier can be transferred to the second flow line through the supply flow line, the mechanical arm is used for transferring the product on the first carrier to the second carrier on the second flow line; the limiting assembly in the supply mechanism can limit the material frame in the supply base, so that the position accuracy of the material frame relative to the supply base is ensured when the material frame is moved to the supply base under the driving of the transmission assembly, the locking part in the material frame can limit the second carrier in the support frame, so that the second carrier does not deviate from the position of the material frame during the movement of the material frame, and the position of the second carrier relative to the material frame is kept relatively fixed, thereby ensuring the position accuracy of the second carrier relative to the supply base when the second carrier moves out of the material frame, the transfer mechanism can complete the precise docking with the second carrier, improve the success rate of picking, and avoid damage to the second carrier; after the precise docking of the transfer mechanism and the second carrier, the second carrier can be smoothly moved to the supply flow line and finally to the second flow line, thereby ensuring the success rate of transferring the product to the second carrier.

[0039] The application provides a product transfer method, which is characterized by the above structure, and the position of the second carrier is effectively controlled during the transfer process, wherein the material frame in the supply mechanism carries the second carrier, and the position accuracy of the material frame relative to the supply base is ensured when the material frame carrying the second carrier is transferred to the supply base and is limited by the limiting assembly in the supply mechanism; meanwhile, the locking part in the material frame can limit the second carrier in the support frame during the movement of the material frame carrying the second carrier, so that the position of the second carrier does not deviate from the material frame during the movement of the material frame, and the position of the second carrier relative to the material frame is kept relatively fixed, and finally the position accuracy of the second carrier relative to the supply base when the second carrier moves out of the material frame is ensured, the transfer mechanism can accurately dock with the second carrier, the pickup success rate is improved, and the second carrier is prevented from being damaged; after the accurate docking of the transfer mechanism and the second carrier, the second carrier can be smoothly moved to the supply flow line and finally moved to the second flow line, and the success rate of transferring the product to the second carrier is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is a structural schematic view of the automatic carrier replacement equipment from the first perspective in the embodiment of the application.

[0041] Figure 2 It is a structural schematic view of the automatic carrier replacement equipment from the second perspective in the embodiment of the application.

[0042] Figure 3 It is a structural schematic view of the automatic carrier replacement equipment from the third perspective in the embodiment of the application.

[0043] Figure 4 It is an enlarged view of A in FIG. 1. Figure 3

[0044] Figure 5 It is an enlarged view of B in FIG. 1. Figure 3

[0045] Figure 6 It is a structural schematic view of the supply mechanism from the first perspective in the embodiment of the application.

[0046] Figure 7 It is an enlarged view of C in FIG. 2. Figure 6

[0047] It is a structural schematic view of the supply mechanism from the second perspective in the embodiment of the application. Figure 8

[0048] Figure 9 It is an enlarged view of D in FIG. 2. Figure 8

[0049] It is a structural schematic view of the supply mechanism from the second perspective in the embodiment of the application. Figure 10

[0050] ​​​​Figure 11 A schematic structural view of a feeding flow line and a transfer mechanism in an embodiment of the present application;

[0051] Figure 12 A schematic structural view of a feeding flow line and a transfer mechanism in an embodiment of the present application; Figure 11 An enlarged view at E in the middle;

[0052] Figure 13 A schematic structural view of a feeding flow line and a transfer mechanism in an embodiment of the present application;

[0053] Figure 14 A schematic structural view of a feeding flow line and a transfer mechanism in an embodiment of the present application;

[0054] Figure 15 A schematic structural view of a feeding flow line and a transfer mechanism in an embodiment of the present application;

[0055] In the figure:

[0056] 1000, product;

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

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

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

[0060] 300, mechanical arm; 310, first camera; 320, first pickup mechanism; 330, second pickup mechanism; 331, annular support; 332, suction accessory;

[0061] 400, supply mechanism; 410, supply base; 420, transmission assembly; 430, limiting assembly; 431, bottom positioning piece; 432, inlet limiting mechanism; 4321, inlet limiting driving piece; 4322, inlet limiting piece;

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

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

[0064] 460, guide piece; 461, transverse limiting driving piece; 462, transverse limiting piece; 463, first sensing piece; 464, second sensing piece;

[0065] 470, feeding lifting assembly;

[0066] 500, feeding flow line; 510, feeding support; 520, feeding transmission; 530, actuator;

[0067] 600, transfer mechanism; 610, transfer drive; 620, transfer jacking; 630, transfer clamping assembly; 631, clamping drive; 632, clamping jaw; 6321, positioning pin; 6322, alignment; 6323, alignment hole;

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

[0069] 810, first recycling assembly; 811, first recycling flow line; 812, pushing assembly; 8121, pushing drive; 8122, pushing jacking; 8123, pushing plate; 820, second recycling assembly; 821, second recycling flow line; 822, sucking assembly; 8221, sucking seat; 8222, first sucking drive; 8223, second sucking drive; 8224, sucking member. DETAILED DESCRIPTION

[0070] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0071] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", etc. are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and moreover, the "above", "over" and "on" of the first feature to the second feature include the "directly above" and "obliquely above" of the first feature to the second feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature include the "directly below" and "obliquely below" of the first feature to the second feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0072] In the description of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "mounting", "connected", "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0073] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0074] As shown in Figures 1 to 15 The present embodiment provides an automatic replacement carrier device for transferring products 1000 from a first carrier 2100 to a second carrier 2200, which comprises a rack 100, a first assembly line 210, a second assembly line 220, a mechanical arm 300, a supply mechanism 400, a feeding flow line 500 and a transfer mechanism 600. The first assembly line 210 is used to transport the first carrier 2100 carrying the products 1000; the second assembly line 220 is used to transport the second carrier 2200; the mechanical arm 300 is arranged on the rack 100, and is configured to obtain the products 1000 from the first carrier 2100 and place the products 1000 on the second carrier 2200; the supply mechanism 400 comprises a supply base 410, a transmission assembly 420, a limiting assembly 430, an unlocking assembly 440 and a material frame 450. The transmission assembly 420 is arranged on the supply base 410 and is used to transport the material frame 450; the limiting assembly 430 is used to limit the material frame 450 relative to the supply base 410; the material frame 450 comprises a support frame body 451 with a carrying groove 4511 and a locking piece 452 movably arranged on the support frame body 451, the carrying groove 4511 is used to hold the second carrier 2200, and the locking piece 452 can limit the second carrier 2200 from moving out of the carrying groove 4511 on the path of the second carrier 2200 moving out of the carrying groove 4511; the unlocking part 4431 of the unlocking assembly 440 is arranged to abut against the locking piece 452 to move it out of the path of the second carrier 2200 moving out of the carrying groove 4511 and release the limitation of the second carrier 2200; the feeding flow line 500 is arranged between the transmission assembly 420 and the second assembly line 220, and is used to transfer the second carrier 2200 on the transmission assembly 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 flow line 500.

[0075] The limiting assembly 430 in the supply mechanism 400 can limit the material frame 450 in the supply base 410, so that when the material frame 450 is driven by the transmission assembly 420 to move to the supply base 410, the positional accuracy of the material frame 450 relative to the supply base 410 is ensured. The locking part 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 deviate in position relative to the material frame 450, and thus can be relatively fixed with the position of the material frame 450, so as to finally ensure the positional accuracy of the second carrier 2200 relative to the supply base 410 when the second carrier 2200 moves out of the material frame 450. The transfer mechanism 600 can complete accurate docking with the second carrier 2200, improve the pickup success rate, and at the same time, avoid damage to the second carrier 2200. After the transfer mechanism 600 and the second carrier 2200 are accurately docked, it is beneficial to smoothly move the second carrier 2200 to the supply flow line 500, and finally to the second flow line 220, so as to ensure the success rate of transferring the product 1000 to the second carrier 2200.

[0076] In some embodiments, the locking part 452 includes a locking portion 4521 and an abutting portion 4522. The locking portion 4521 can be in the path of the second carrier 2200 moving out of the bearing groove 4511. 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 out of the path of the second carrier 2200 moving out of the bearing groove 4511. This arrangement enables the locking portion 4521 to be driven by the abutting portion 4522, thereby completing unlocking under the drive of the unlocking assembly 440. The unlocking assembly 440 can be arranged separately from the material frame 450, simplifying the structure of the material frame 450, and enabling unlocking by abutting, which is simple and convenient to operate. It also reduces the weight of the material frame 450, facilitating handling and transfer.

[0077] Regarding the specific structure of the locking part 452, the locking part 452 includes a locking body 4523 in the shape of a long strip extending in the vertical direction. The locking body 4523 is slidingly arranged in the vertical direction on the support frame 451 and can move downward by its own gravity to move the locking portion 4521 to the path of the second carrier 2200 moving out of the bearing groove 4511. The side wall of the locking body 4523 away from the support frame 451 is outwardly convex to form an abutting block, and the bottom surface of the abutting block forms the abutting portion 4522. The side wall of the locking body 4523 facing the bearing groove 4511 is convex to form the locking portion 4521. The above arrangement can omit the drive structure of the locking part 452, reducing cost and energy consumption. At the same time, in the natural state, the locking portion 4521 is always in the path of the second carrier 2200 moving out of the bearing groove 4511, which can ensure the limiting effect on the second carrier 2200.

[0078] During the conveying or carrying of the material frame 450, there may be a situation of bumping or dumping. In order to avoid the locking member 452 moving upward and causing the second carrier 2200 to lose the limit and slide off from the material frame 450, in the embodiment, the material frame 450 further comprises an elastic member 454, which is arranged between the locking member 452 and the support frame body 451 and can apply an elastic force to the locking member 452 to move it to the path of the second carrier 2200 moving out of the bearing groove 4511. The elastic force generated by the elastic member 454 assists the weight of the locking member 452, so that the locking member 452 will not move upward when facing the bumping road condition or dumping. Wherein, 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 above elastic force setting can not only meet the unlocking of the locking member 452 after the material frame 450 bumps or dumps, but also can reduce the force required for unlocking as much as possible and reduce the energy consumption.

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

[0080] In combination with Figure 7 and Figure 9As shown, the side wall of the support frame body 451 is provided with a sliding channel 4513, the inner side of the sliding channel 4513 is in communication with the bearing groove 4511, the outer side of the sliding channel 4513 is in communication with the outside, the locking body 4523 is vertically slidably arranged in the sliding channel 4513, and the locking portion 4521 is partially located in the interior of the support frame body 451; the material frame 450 further comprises a crimping plate 453, the crimping plate 453 is connected to the outer side of the support frame body 451, the interior of the support frame body 451 is inwardly protrudingly provided with a plurality of bearing members 4512, any two bearing members 4512 form a bearing groove 4511, the bearing member 4512 and the crimping plate 453 are separately arranged on the inner and outer sides of the locking body 4523, the bearing member 4512 is provided with an avoiding 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 side limiting portion of the locking body 4523 to prevent the locking body 4523 from entering the interior of the support frame body 451; on the other hand, the groove bottom of the avoiding groove 45121 forms an upper side limiting portion to limit the upward movement of the locking portion 4521. In addition, the support frame body 451 is provided with a sliding channel 4513 for sliding cooperation of the locking body 4523, which is beneficial to reduce the size of the material frame 450. It should be noted that at least one of the plurality of bearing members 4512 traverses the sliding channel 4513, and the rest is provided with an opening 45122 at the sliding channel 4513 to communicate with the sliding channel 4513, which meets the bearing requirement while reducing the quality.

[0081] Among them, the bearing member 4512 is provided with an avoiding groove 45121 at the position traversing the sliding channel 4513, the avoiding groove 45121 opens downward, and the depth of the avoiding 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 avoiding groove 45121, avoiding affecting the second carrier 2200 entering and leaving the bearing groove 4511 when unlocking.

[0082] Among them, the unlocking assembly 440 comprises an unlocking driving member 441, an unlocking moving member 442 and an unlocking adjusting member 443, the unlocking driving member 441 is arranged on the supply base 410, and the output shaft thereof can reciprocate along the axis thereof and is in transmission connection with the unlocking moving member 442, the top end of the unlocking adjusting member 443 forms an unlocking portion 4431, and 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, thereby adapting to the abutting portion 4522 with different initial positions, and also adapting to the initial positions of the abutting portion 4522 caused by different models of the material frame 450. Among them, the unlocking adjusting member 443 is a screw which is screwed on 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 groove 4511, the abutting portion 4522 is located at the initial position.

[0083] Combining Figure 10 As shown in the drawings, in order to limit the relative position of the material frame 450 and the supply base 410, in the embodiment, the limiting assembly 430 includes a bottom positioning member 431 arranged on the bottom of the supply base 410, which is used to limit the leading end of the material frame 450, and the limiting assembly 430 also includes an entrance limiting mechanism 432 arranged on the supply base 410 and used to limit the trailing end of the material frame 450, the entrance limiting mechanism 432 includes an entrance limiting driving member 4321 arranged on the supply base 410 and an entrance limiting member 4322 arranged on the output end of the entrance limiting driving member 4321, the entrance limiting member 4322 can be in the path of the material frame 450 moving out of the supply base 410 to limit the material frame 450 moving out of the supply base 410, and can be out of the path of the material frame 450 moving out of the supply base 410.

[0084] Specifically, the entrance limiting driving member 4321 is a rotary driving member, and the entrance limiting member 4322 is a rod-shaped, one end of which is connected with the output end of the rotary driving member, and the other end can swing in and out of the entrance path of the material frame 450 entering the transmission assembly 420 under the driving of the rotary driving member.

[0085] Among them, the bottom positioning member 431 and the entrance limiting member 4322 are arranged along the left-right direction, which can limit the relative position of the material frame 450 and the supply base 410 in the left-right direction, in order to limit the material frame 450 and the supply base 410 in the front-back direction, in some embodiments, the supply mechanism 400 includes two strip-shaped guide members 460 arranged on the supply base 410 and 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 the output end thereof can reciprocate along the front-back direction and is in transmission connection with the transverse limiting member 462 to drive the transverse limiting member 462 to abut against the material frame 450 and abut the side wall of the guide member 460 away from the transverse limiting member 462, thereby limiting the material frame 450 in the front-back direction.

[0086] In order to ensure that the material frame 450 enters the supply mechanism 400, the first sensing member 463 and the second sensing member 464 are arranged on the supply base 410 and are spaced apart along the left-right direction, the first sensing member 463 is used to sense the leading end of the material frame 450, and the second sensing member 464 is used to sense the trailing end of the material frame 450.

[0087] The transfer mechanism 600 is used to take the second carrier 2200 out of the magazine 450 and transfer it to the feeding flow line 500, wherein the feeding flow line 500 comprises a feeding support 510 and a feeding transmission member 520 arranged on the feeding support 510, and the feeding transmission member 520 is used to transmit the second carrier 2200. The feeding transmission member 520 is a conveyor belt driven by a motor to rotate.

[0088] In combination Figure 11 and Figure 12 As shown in the figures, the transfer mechanism 600 comprises a transfer drive member 610, a transfer jacking member 620 and a transfer clamping assembly 630. The transfer drive member 610 is arranged on the rack 100 and its output end can reciprocate in the left-right direction. The transfer jacking member 620 is movably arranged on the rack 100 and is in transmission connection with the output end of the transfer drive member 610. The transfer clamping assembly 630 is arranged on the output end of the transfer jacking member 620 and can clamp or release the second carrier 2200. The transfer jacking 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 magazine 450 to the second flow line 220. The transfer drive member 610 comprises a drive motor, a transfer block and a transmission belt. The drive motor drives the transmission belt to move through the driving of the driving wheels and the driven wheels arranged at intervals. The transfer block and the straight part of the transmission belt are fixed and connected with the transfer jacking member 620.

[0089] When the transfer mechanism 600 works, the transfer jacking member 620 drives the transfer clamping assembly 630 to descend to below the bearing surface. The transfer drive member 610 moves to the left to make the transfer jacking member 620 and the transfer clamping assembly 630 move, so that the clamping end of the transfer clamping assembly 630 can approach and clamp the second carrier 2200. Then the transfer drive member 610 moves to the right to move the second carrier 2200 above the feeding flow line 500. The transfer jacking member 620 acts to place the second carrier 2200 on the bearing surface of the feeding transmission member 520. The feeding flow line 500 further comprises a poking member 530, which is used to poke the second carrier 2200 from the feeding transmission member 520 to the second flow line 220.

[0090] Specifically, the transfer clamping assembly 630 comprises a clamping drive member 631 and two clamping jaws 632 arranged on the two output ends of the clamping drive member 631 and capable of approaching or moving away from each other. When the two clamping jaws 632 approach, they can clamp the second carrier 2200.

[0091] In order to avoid the second carrier 2200 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 a positioning hole of the second carrier 2200. The extension direction of the positioning pin 6321 is perpendicular to the extension direction of the bearing groove 4511. In other words, the positioning pin 6321 extends in the vertical direction.

[0092] Further, the length of the positioning pin 6321 is greater than the thickness of the second carrier 2200, and the end of the positioning pin 6321 can abut against the other clamping jaw 632, so as to avoid the deformation or even damage of the second carrier 2200 caused by clamping. With this arrangement, when the two clamping jaws 632 are close to each other, the distance between the two clamping jaws 632 is greater than the thickness of the second carrier 2200 due to the limiting of the positioning pin 6321.

[0093] In order to ensure the accurate butt joint of the positioning pin 6321 and the positioning hole, 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, i.e. on the side of the positioning pin 6321 away from the second carrier 2200. The alignment piece 6322 is in the shape of a long strip and extends in the direction in which the two clamping jaws 632 are close to or away from each other, i.e. in 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 dimension of the second carrier 2200 in the up-down direction. With this arrangement, when the second carrier 2200 is about to be grabbed, the two clamping jaws 632 are separated, so that the distance between the two clamping jaws 632 is less than the thickness of the second carrier 2200. Then, under the driving of the transfer driving member 610, the two clamping jaws 632 extend into the material frame 450 and are located on the upper side and the lower side of the second carrier 2200 respectively. Under the continuous driving of the transfer driving member 610, the clamping driving member 631 continuously approaches the second carrier 2200 and makes the alignment piece 6322 abut against the side wall on the side close to the clamping driving member 631 of the second carrier 2200, so that the second carrier 2200 abuts against the end limiting part in the bearing groove 4511, thereby ensuring the position accuracy of the second carrier 2200 relative to the material frame 450 in the left-right direction.

[0094] In some embodiments, the alignment piece 6322 is arranged on one of the clamping jaws 632, and the other clamping jaw 632 is provided with an alignment hole 6323, and when the two clamping jaws 632 are close to each other, part of the alignment piece 6322 is inserted into the alignment hole 6323. This arrangement can ensure the length of the alignment piece 6322 while avoiding affecting the closing action of the two clamping jaws 632. In some embodiments, part of the alignment piece 6322 is inserted into the alignment hole 6323 when the two clamping jaws 632 are away from each other, which helps to improve the stress condition when abutting against the second carrier 2200 and reduce the probability of bending the alignment piece 6322.

[0095] In some embodiments, the transfer clamping assembly 630 is provided with two transfer clamping assemblies 630, and the two transfer clamping assemblies 630 are arranged in the front-rear direction. In this embodiment, the alignment piece 6322 is in a cylindrical shape, and the alignment hole 6323 is a circular hole.

[0096] It should be noted that the two ends of the bearing groove 4511 in the left-right direction are limited by the locking pieces 452, and the locking part 4521 of one of the locking pieces 452 forms the end limiting part. In other words, the material frame 450 has two locking pieces 452 arranged at intervals to limit the two ends of the second carrier 2200, and the locking part 4521 of one of the locking pieces 452 forms the end limiting part close to the side of the clamping driving piece 631.

[0097] In combination with Figure 13 As shown in the drawings, in some embodiments, the supply mechanism 400 further includes a feeding assembly 710 and a collecting assembly 720, the feeding assembly 710 is used to deliver the material frame 450 full of the second carrier 2200 to the supply base 410, and the collecting assembly 720 is used to recover the empty material frame 450 from the supply base 410; wherein the feeding assembly 710 is located below the collecting assembly 720; the supply mechanism 400 further includes a feeding lifting assembly 470, the output end of the feeding lifting assembly 470 can move reciprocatingly in the vertical direction, and is in transmission connection with the supply base 410 to drive the supply base 410 to move upward to be in abutment with the collecting assembly 720, or to move downward to be in abutment with the feeding assembly 710. The feeding lifting assembly 470 is arranged on the rack 100. This arrangement makes the position of the material frame 450 full of the second carrier 2200 low, which is consistent with the carrying height of the workers, facilitating the workers to place, and reducing the labor intensity.

[0098] In order to save floor space, in some embodiments, the first flow line 210 extends in the first direction, the second flow line 220 extends in the first direction, the feeding flow line 500 extends in the second direction, and is arranged between the supply base 410 and the second flow line 220. The mechanical arm 300 is arranged between the first flow line 210 and the second flow line 220. The first direction is the front-rear direction, the second direction is the left-right direction, and the vertical direction is the up-down direction.

[0099] To improve the automation level, in some embodiments, the automatic replacement carrier device further comprises a first recycling assembly 810 for recycling the first carriers 2100 of the first assembly line 210. The structure of the first recycling assembly 810 can be arranged in the same way as the supply mechanism 400. A first recycling flow line 811 is arranged between the first recycling assembly 810 and the first assembly line 210, which extends in the left-right direction and can receive the first carriers 2100 on the first assembly line 210 and drive the first carriers 2100 towards the first recycling assembly 810. A pushing assembly 812 is arranged in the first recycling flow line 811 to push the first carriers 2100 into the magazine 450 in the first recycling assembly 810. The pushing assembly 812 can be arranged in the same way as the transfer mechanism 600, and in some embodiments, the transfer clamping assembly 630 in the transfer mechanism 600 can be replaced by a pushing plate 8123. In other words, the output end of the pushing assembly 812 is the pushing plate 8123, which can move in the left-right direction and the vertical direction to realize the pushing and avoiding actions of the first carriers 2100. As shown in FIG. 12, the pushing assembly 812 comprises a pushing drive 8121, a pushing lifting element 8122, and a pushing plate 8123. The pushing drive 8121 is arranged on the rack 100, and the output end thereof can reciprocate in the left-right direction and is drivingly connected with the pushing lifting element 8122. The output end of the pushing lifting element 8122 can reciprocate in the up-down direction and is drivingly connected with the pushing plate 8123. Figure 14

[0100] Similarly, in some embodiments, the feeding assembly 710 and the material collecting assembly 720 are used in combination with the first recycling assembly 810 to realize the automatic supply of empty magazines 450 and the automatic storage of full magazines 450. The positions of the feeding assembly 710 and the material collecting assembly 720 in the present embodiment are different from those of the feeding assembly 710 and the material collecting assembly 720 used in combination with the supply mechanism 400. In the feeding assembly 710 and the material collecting assembly 720 used in combination with the first recycling assembly 810, the feeding assembly 710 is located above the material collecting assembly 720. The feeding assembly 710 is used to transport empty magazines 450, and the material collecting assembly 720 is used to store full magazines 450.

[0101] To ensure the safety of the product 1000 transmission process, a ballast 2110 is arranged on the first carrier 2100 to ballast the product 1000. Therefore, the ballast 2110 needs to be removed before the product 1000 is removed from the first carrier 2100. In order to automatically collect the ballast 2110, a second recycling assembly 820 is further arranged in the present embodiment to collect the ballast 2110. The structure of the second recycling assembly 820 can be the same as that of the first recycling assembly 810.

[0102] ​To smoothly move the weight 2110 to the second recovery assembly 820, a second recovery flow line 821 is arranged between the second recovery assembly 820 and the first flow line 210, the second recovery flow line 821 extends along the left-right direction, and can receive the weight 2110 on the first flow line 210 and drive the weight 2110 to the second recovery assembly 820. A pushing assembly 812 is arranged in the second recovery flow line 821 to push the weight 2110 into the material frame 450 in the second recovery assembly 820. The load slot 4511 of the material frame 450 can be reasonably adjusted in size according to the workpiece to be carried.

[0103] In this embodiment, the suction assembly 822 is arranged in the rack 100, and is used to transfer the weight 2110 on the first flow line 210 to the second recovery flow line 821. Specifically, in combination with Figure 4 As shown in the figure, the suction assembly 822 includes a suction seat 8221, a first suction driving member 8222, a second suction driving member 8223, and a suction member 8224. The suction seat 8221 is arranged in the rack 100, the first suction driving member 8222 is arranged in the suction seat 8221, and the output end thereof can reciprocate along the left-right direction and is in driving connection with the second suction driving member 8223. The output end of the second suction driving member 8223 can reciprocate along the vertical direction and is in driving connection with the suction member 8224. The suction member 8224 can adsorb or release the weight 2110.

[0104] To ensure that the position of the product 1000 on the second carrier 2200 does not change, a steel sheet 2210 needs to be placed on the product 1000 after the product 1000 is placed on the second carrier 2200 to load the product 1000. The steel sheet 2210 moves with the second carrier 2200 to the second flow line 220, and is removed before the product 1000 is placed on the second carrier 2200. 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] In combination with Figure 2 And Figure 15To ensure the accuracy of the product 1000 transfer, in some embodiments, the end of the mechanical arm 300 is provided with a first camera 310 and a first picking mechanism 320. The first camera 310 is used to take pictures of 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. The rack 100 is provided with a second camera 110, which 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 take pictures of the product 1000 on the first picking mechanism 320. In use, the first picking mechanism 320 picks up the product 1000 on the first carrier 2100, then moves to the second carrier 2200 and passes through the second camera 110, which takes pictures of the position of the product 1000 relative to the first picking mechanism 320, and continues to move to the second carrier 2200. The position of the second carrier 2200 is taken by the first camera 310, and according to the comparison result of the two shooting 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 takes pictures of the product 1000 on the second carrier 2200, so as to judge whether the product 1000 is placed accurately.

[0106] In combination Figure 5 In the embodiment with the steel sheet 2210, the end of the mechanical arm 300 is also provided with a second picking mechanism 330 for picking up or releasing the steel sheet 2210. Specifically, the second picking mechanism 330 includes a ring-shaped support 331 and a plurality of suction members 332 spaced apart on the ring-shaped support 331, and the suction members 332 are used to suck the ring-shaped steel sheet 2210. The first camera 310 is arranged above the ring-shaped support 331, and it can take pictures of the second carrier 2200 downward through the internal passage of the ring-shaped support 331.

[0107] The embodiment also provides a product transfer method, which is suitable for the automatic carrier replacement device in any of the above-mentioned embodiments. The product transfer method comprises the following steps:

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

[0109] S200, the mechanical arm 300 takes out the product 1000 from the first carrier 2100 in the removal position; the second carrier 2200 on the supply mechanism 400 is moved to the second assembly line 220 through the supply flow line 500; wherein the material frame 450 in the supply mechanism 400 is limited by the limiting assembly 430 after being moved to the supply base 410, the locking part 452 in the material frame 450 is moved by the unlocking assembly 440 to be out of the path of the second carrier 2200 moving out of the bearing groove 4511; the transfer mechanism 600 moves the second carrier 2200 to the supply flow line 500, and the supply flow line 500 moves the second carrier 2200 to the second assembly line 220.

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

[0111] By means of the above method, the second carrier 2200 does not deviate from the position relative to the material frame 450 during the movement of the material frame 450, thereby keeping the position relative to the material frame 450, and finally ensuring the position accuracy of the second carrier 2200 relative to the supply base 410 when moving out of the material frame 450, the transfer mechanism 600 can complete the precise docking with the second carrier 2200, improve the pickup success rate, and after precise docking, it is beneficial to smoothly move the second carrier 2200 to the supply flow line 500 and finally to the second assembly line 220, ensuring the success rate of transferring the product 1000 to the second carrier 2200.

[0112] In the embodiment with the ballast 2110, the ballast 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 mechanical 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 pickup mechanism 330, 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 ballasts the product 1000.

[0113] Wherein, during the transfer of the product 1000 to the second assembly line 220, the product 1000 is positioned by the second camera 110; before the product 1000 is placed on the second carrier 2200, the second carrier 2200 needs to be positioned by the first camera 310.

[0114] Obviously, the above embodiments of the present application are merely example for clearly explaining the present application, and are not intended to limit the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and also impossible to enumerate all the embodiments. Any modification, equivalent replacement and improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

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 vehicle changing equipment includes: Rack (100); First production line (210), used to transport first carrier (2100) carrying products (1000); The second production line (220) is used to transfer the second vehicle (2200); A robotic arm (300) is disposed on the frame (100), the robotic arm (300) being configured to acquire a product (1000) from the first carrier (2100) and to place the product (1000) onto a second carrier (2200); The supply mechanism (400) includes a supply base (410), a transmission assembly (420), a limiting assembly (430), an unlocking assembly (440), and a material frame (450). The transmission assembly (420) is disposed on the supply base (410) and is used to transport the material frame (450). The limiting assembly (430) is used to restrict the material frame (450) to be fixed relative to the supply base (410). The material frame (450) includes a support frame (451) with a bearing groove (4511) and a locking member movably disposed on the support frame (451). (452), the support slot (4511) is used to hold the second vehicle (2200), the locking member (452) is able to restrict the second vehicle (2200) from moving out of the support slot (4511) in the path of the second vehicle (2200) moving out of the support slot (4511), and the unlocking part (4431) of the unlocking assembly (440) is arranged to abut against the locking member (452) to move it outside the path of the second vehicle (2200) moving out of the support slot (4511) and release the restriction on the second vehicle (2200); A feeding line (500) is provided between the transmission assembly (420) and the second production line (220) for transferring the second carrier (2200) to the second production line (220). Transfer mechanism (600) for transferring the second carrier (2200) in the material frame (450) to the feeding flow line (500); The locking member (452) includes a locking part (4521) and an abutment part (4522). The locking part (4521) can be positioned on the path of the second carrier (2200) moving out of the support groove (4511). The unlocking part (4431) of the unlocking component (440) is arranged to abut the abutment part (4522) to drive the locking part (4521) to move outside the path of the second carrier (2200) moving out of the support groove (4511). The locking member (452) includes a long, vertically extending locking body (4523), which slides vertically on the support frame (451) and can move downwards under its own weight to move the locking part (4521) to the path where the second carrier (2200) moves out of the bearing groove (4511). The locking body (4523) protrudes outwards from the side wall away from the support frame (451) to form an abutment block, and the bottom surface of the abutment block forms an abutment part (4522). The locking body (4523) protrudes outwards from the side wall facing the bearing groove (4511) to form the locking part (4521). 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 disposed in the sliding channel (4513) in the vertical direction. The locking part (4521) is located inside the support frame (451). The material frame (450) also includes a pressing plate (453), which is connected to the outside of the support frame (451). The support frame (451) has a plurality of bearing members (4512) protruding inward. A bearing groove (4511) is formed between any two bearing members (4512). The bearing members (4512) and the pressing plate (453) are respectively located on the inner and outer sides of the locking body (4523). The bearing member (4512) is provided with a clearance groove (45121) to avoid the locking part (4521) located outside the path of the second carrier (2200) moving out of the bearing groove (4511).

2. The automatic vehicle changing device according to claim 1, characterized in that, The material frame (450) also includes an elastic element (454), which is located between the locking element (452) and the support frame (451) and can apply an elastic force to the locking element (452) to move it to the path on which the second carrier (2200) moves out of the bearing groove (4511).

3. The automatic vehicle changing device according to claim 1, characterized in that, The limiting component (430) includes a bottom positioning member (431) disposed on the supply base (410), the bottom positioning member (431) being used to limit the head end of the material frame (450). The limiting component (430) also includes an inlet limiting mechanism (432) disposed on the supply base (410). The inlet limiting mechanism (432) includes an inlet limiting drive member (4321) disposed on the supply base (410) and an inlet limiting member (4322) disposed at the output end of the inlet limiting drive member (4321). The inlet limiting member (4322) can be positioned on the path that restricts the material frame (450) from moving out of the supply base (410) to restrict the material frame (450) from moving out of the supply base (410), and can also be positioned outside the path that restricts the material frame (450) from moving out of the supply base (410).

4. The automatic vehicle changing device according to claim 1, characterized in that, The supply mechanism (400) further includes a feeding assembly (710) and a receiving assembly (720), the feeding assembly (710) for conveying a full-loaded material frame (450) of the second carrier (2200) to the supply base (410), and the receiving assembly (720) for recovering an empty material frame (450) from the supply base (410); wherein, The feeding assembly (710) is located below the receiving assembly (720); the supply mechanism (400) also includes a feeding lifting assembly (470), the output end of which can reciprocate in the vertical direction and is connected to the supply base (410) in a transmission connection, so as to drive the supply base (410) to move upward to dock with the receiving assembly (720), or to move downward to dock with the feeding assembly (710).

5. The automatic vehicle changing device according to claim 1, characterized in that, The first production line (210) extends along a first direction, the second production line (220) extends along the first direction, and the feeding line (500) extends along a second direction and is disposed between the supply base (410) and the second production line (220); and / or, The robotic arm (300) is located between the first production line (210) and the second production line (220).

6. The automatic vehicle changing device according to any one of claims 1-5, characterized in that, The transfer mechanism (600) includes a transfer drive (610), a transfer lifting member (620), and a transfer clamping assembly (630). The transfer drive (610) is located on the frame (100) and its output end can reciprocate along a second direction. The transfer lifting member (620) is movably located on the frame (100) and is connected to the output end of the transfer drive (610). The transfer clamping assembly (630) is located 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 feed flow line (500) to avoid the second carrier (2200), or above the bearing surface of the feed flow line (500) to transfer the second carrier (2200) from the material frame (450) to the feed flow line (500).

7. The automatic vehicle changing device according to claim 6, characterized in that, The transfer clamping assembly (630) includes a clamping drive (631) and two grippers (632). The two grippers (632) are respectively located at the two output ends of the clamping drive (631) and can move closer to or further away from each other.

8. The automatic vehicle changing device according to claim 7, characterized in that, One of the two grippers (632) is provided with a positioning pin (6321), which can pass through the positioning hole of the second carrier (2200) when the two grippers (632) are close together.

9. The automatic vehicle changing device according to claim 8, characterized in that, One of the two grippers (632) is provided with an alignment member (6322), which is located on the side of the positioning pin (6321) near the clamping drive member (631). When the two grippers (632) are separated, the distance between the alignment member (6322) and the other gripper (632) is less than the thickness of the second carrier (2200).

10. The automatic vehicle changing device according to any one of claims 1-5, characterized in that, The robotic arm (300) is equipped with a first camera (310) and a first pickup mechanism (320) at its end. The first camera (310) is used to photograph a second carrier (2200) and / or a product (1000) located on a second production line (220); the first pickup mechanism (320) is used to pick up or release the product (1000); and / or, The frame (100) is provided with a second camera (110), which is located on the path of the first pickup mechanism (320) moving from the first production line (210) to the second production line (220), and is used to photograph the product (1000) on the first pickup mechanism (320).

11. The automatic vehicle changing device according to claim 1, characterized in that, The automatic vehicle changing device further includes a first recovery component (810) for recovering the first vehicle (2100) on the first production line (210), and / or, The automatic vehicle changing device also includes a second recovery component (820) for collecting ballast pieces (2110) located on the first vehicle (2100) and ballasting products (1000).

12. A product transfer method, applicable to the automatic carrier changing equipment as described in any one of claims 1-11, characterized in that, Includes the following steps: S100, the first production line (210) transports the first carrier (2100) carrying the product (1000) to the removal position; S200, the robotic arm (300) takes out the product (1000); the second carrier (2200) of the supply mechanism (400) is moved to the second production line (220) through the feeding flow line (500); wherein, after the material frame (450) in the supply mechanism (400) moves to the supply base (410), the limiting component (430) restricts the material frame (450) to be fixed relative to the supply base (410), and the unlocking component (440) moves the locking part (452) in the material frame (450) to the second carrier (2200) to move it out of the path of the bearing groove (4511); the transfer mechanism (600) moves the second carrier (2200) to the feeding flow line (500), and the feeding flow line (500) moves the second carrier (2200) to the second production line (220). S300, the robotic arm (300) moves the product (1000) onto the second carrier (2200).

Images