Material transfer system and method

Abstract

The invention belongs to the technical field of vacuum coating, and discloses a material transfer system and method.The material transfer system comprises a carrier, a first transfer mechanism, a second transfer mechanism, a first conveying mechanism and a carrier mechanism arranged on the first conveying mechanism; wherein the first conveying mechanism is used for driving the carrier mechanism to move between a first station and a second station; the carrier on the first transfer mechanism can be transferred to the carrier mechanism located on the first station. The carrier on the carrier mechanism at the second station can be transferred to the second transfer mechanism; the carrying device is arranged at the first station and comprises a positioning carrier and a carrying robot, and the carrying robot is used for grabbing materials on the positioning carrier and loading the materials to the carrier located at the first station or used for grabbing the materials on the carrier located at the first station and loading the materials to the positioning carrier. According to the material transfer system, the material transfer efficiency is effectively improved, and the requirement for high productivity is met.

Description

Technical Field

[0001] The present invention relates to the field of vacuum coating technology, and in particular to a material transfer system and method. Background Art

[0002] In the production process of solar cells, the processing of some materials requires manual transfer. For example, substrates need to be manually transferred to coating equipment via carriers for coating, such as evaporation coating, magnetron sputtering or ion beam coating, and the substrates need to be manually moved away from the coating equipment after coating. This method of loading and unloading materials takes too long and cannot meet the needs of high production capacity. Summary of the invention

[0003] An object of the present invention is to provide a material transfer system to effectively improve the material transfer efficiency.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] A material transfer system is provided, comprising:

[0006] The loading and transferring device comprises a carrier, a first transfer mechanism, a second transfer mechanism, a first conveying mechanism, and a carrier mechanism disposed on the first conveying mechanism;

[0007] Wherein, the first conveying mechanism is used to drive the carrier mechanism to move between the first station and the second station;

[0008] The first transfer mechanism is disposed at the first workstation, and the carrier on the first transfer mechanism can be transferred to the carrier mechanism located at the first workstation;

[0009] The second transfer mechanism is disposed at the second workstation, and the carrier on the carrier mechanism at the second workstation can be transferred to the second transfer mechanism; and

[0010] A handling device is arranged at the first workstation, comprising a positioning carrier and a handling robot, wherein the handling robot is used to grab the material on the positioning carrier and load it onto the carrier at the first workstation, or to grab the material on the carrier at the first workstation and load it onto the positioning carrier.

[0011] Optionally, the carrier mechanism comprises a carrier frame, and a carrier driving module and a carrier guiding module arranged on the carrier frame;

[0012] Wherein, under the guidance cooperation between the carrier guide module and the object carrier, the carrier drive module can drive the object carrier to transfer to the carrier frame body, or drive the object carrier to detach from the carrier frame body.

[0013] Optionally, a guide rod is provided at the bottom end of the carrier;

[0014] The carrier drive module comprises:

[0015] A conveying assembly is arranged on the carrier frame, the conveying assembly comprises a plurality of transmission wheels arranged at intervals along a first horizontal direction, and the transmission wheels are provided with grooves capable of accommodating the guide rods;

[0016] A carrier driving assembly connected to the transmission wheel, the carrier driving assembly is used to drive the transmission wheel to rotate;

[0017] Wherein, the first horizontal direction is arranged at an angle to the direction in which the carrier mechanism moves between the first station and the second station.

[0018] Optionally, the carriage drive assembly comprises:

[0019] A first pulley, each of the transmission wheels is connected to the first pulley;

[0020] A first synchronous belt, wherein the first pulleys connected to two adjacent transmission wheels are connected by the first synchronous belt;

[0021] A first motor is connected to one of the first pulleys.

[0022] Optionally, the carrier frame includes a crossbeam, the carrier guide module includes a guide channel provided on the crossbeam, the guide channel extends along a first horizontal direction, and the top end of the carrier can extend into the guide channel;

[0023] Wherein, the first horizontal direction is arranged at an angle to the direction in which the carrier mechanism moves between the first station and the second station.

[0024] Optionally, the carrier guide module includes a plurality of rollers, and the guide channel is formed between the plurality of rollers;

[0025] Or the carrier guide module includes a magnetic member, and the carrier guide module can prevent the object carrier from contacting the guide channel through the magnetic member.

[0026] Optionally, the carrier mechanism is provided with a first limiting assembly, and the first limiting assembly includes:

[0027] A first limiting member, provided on the carrier mechanism;

[0028] A first position sensor is provided on the carrier mechanism, and the first position sensor is used to detect the position of the carrier relative to the carrier mechanism;

[0029] A first position-limiting driving member is provided on the carrier mechanism, wherein the first position-limiting driving member is connected to a second position-limiting member;

[0030] When the first position sensor detects that the carrier is transferred from the first transfer mechanism to the carrier mechanism and is located between the first limiting member and the second limiting member, the second limiting member clamps and limits the carrier with the first limiting member under the drive of the first limiting driving member.

[0031] Optionally, the material is configured as a sheet structure, a sheet carrier frame is provided on the carrier rack, and limiting grooves for accommodating the material are provided on the top inner side and the bottom inner side of the sheet carrier frame.

[0032] Optionally, the slide frame includes two side frame bars spaced apart along a first horizontal direction and a top frame bar and a bottom frame bar spaced apart along a vertical direction, the top frame bar and the bottom frame bar are both provided with limit grooves, and at least one of the top frame bar and the bottom frame bar is connected to a frame bar driving member, and the frame bar driving member is used to drive at least one of the top frame bar and the bottom frame bar to move along the vertical direction;

[0033] Wherein, the first horizontal direction is arranged at an angle to the direction in which the carrier mechanism moves between the first station and the second station.

[0034] Optionally, the material is configured as a sheet structure, and the material on the positioning carrier is arranged at an angle to the material on the carrier.

[0035] Optionally, the positioning vehicle comprises:

[0036] A carrier bracket, wherein the carrier bracket is provided with a first wheel group, wherein the first wheel group includes a plurality of first supporting wheels, and the first supporting wheels are used to support the material;

[0037] A vehicle driving assembly connected to the first wheel set;

[0038] A first carrier limiting member, disposed on the carrier bracket;

[0039] A second position sensor, disposed on the carrier support, the second position sensor being used to detect a position of the material relative to the carrier support;

[0040] Wherein, the carrier driving assembly is used to drive the first supporting wheel to rotate; the rotation of the first supporting wheel can drive the material to move toward the first carrier limiting member and abut against the first carrier limiting member.

[0041] Optionally, the positioning carrier further comprises a carrier limiting structure provided on the carrier bracket, and the carrier limiting structure can clamp and limit the material together with the first carrier limiting member.

[0042] Optionally, the carrier limiting structure includes:

[0043] The second limiting assembly comprises a second limiting driving member provided on the carrier bracket, a third limiting driving member provided on the second limiting driving member, and a second carrier limiting member provided on the third limiting driving member, wherein the second carrier limiting member can give way to the material under the driving of the second limiting driving member, and the second carrier limiting member can clamp and limit the material with the first carrier limiting member under the driving of the third limiting driving member;

[0044] A third limiting assembly, wherein two third limiting assemblies are disposed on the carrier bracket, wherein the third limiting assembly comprises a fourth limiting driving member disposed on the carrier bracket and a third carrier limiting member disposed on the fourth limiting driving member, wherein the third carrier limiting member of one of the two third limiting assemblies and the third carrier limiting member of the other can clamp and limit the material under the drive of the corresponding fourth limiting driving member;

[0045] Wherein, the clamping and limiting direction of the material by the third carrier limiting member is arranged at an angle to the clamping and limiting directions of the material by the first carrier limiting member and the second carrier limiting member.

[0046] Optionally, the carrier is provided with a first mark and a plurality of loading positions, and the carrier is provided with a first identification device, and the first identification device is used to identify the first mark;

[0047] The material is provided with a second mark, and the positioning carrier is provided with a second identification device, and the second identification device is used to identify the second mark;

[0048] The material transfer system also includes a controller, which is communicatively connected with the transport robot, the first identification device and the second identification device. The controller receives information that the first identification device identifies the first mark on the carrier on the carrier mechanism and the second identification device identifies the second mark on the material on the positioning carrier, and controls the transport robot to grab the material and load it onto the loading position corresponding to the carrier.

[0049] Optionally, it further comprises a second conveying mechanism, wherein the second conveying mechanism is arranged on one side of the positioning carrier;

[0050] Wherein, the second conveying mechanism can convey the material to the positioning carrier; and / or, the positioning carrier can transfer the material to the second conveying mechanism.

[0051] Optionally, the first transfer mechanism and the second transfer mechanism are arranged on the same side of the first conveying mechanism.

[0052] Optionally, the first transfer mechanism includes a first frame, and a first driving module and a first guiding module provided on the first frame; wherein, under the guidance cooperation between the first guiding module and the carrier, the first driving module can drive the carrier to separate from the first frame;

[0053] And / or, the second transfer mechanism includes a second frame and a second drive module and a second guide module arranged on the second frame; wherein, under the guidance cooperation between the second guide module and the carrier, the second drive module can drive the carrier to transfer to the second frame.

[0054] Optionally, the first transmission mechanism includes:

[0055] A conveying guide assembly, on which the carrier mechanism is arranged;

[0056] A first transmission drive assembly connected to the carrier mechanism;

[0057] Wherein, under the guiding action of the conveying guide assembly, the first conveying drive assembly can drive the carrier mechanism to move between the first station and the second station.

[0058] Another object of the present invention is to provide a material transfer method applied to any one of the above-mentioned material transfer systems, characterized in that it comprises the following steps:

[0059] S100, controlling the first transfer mechanism to transfer the carrier to the carrier mechanism located at the first station;

[0060] S200, controlling the transport robot to grab the material on the positioning carrier and load it onto the carrier mechanism, or controlling the transport robot to grab the material on the carrier and load it onto the positioning carrier;

[0061] S300, controlling the first conveying mechanism to drive the carrier mechanism to transfer from the first station to the second station;

[0062] S400, controlling the carrier mechanism to transfer the carrier to a second transfer mechanism, and controlling the second transfer mechanism to transfer the carrier.

[0063] Optionally, in the step S200, the transport robot grabs the material on the positioning carrier and loads it onto the carrier mechanism, including the following steps:

[0064] S210, controlling a first identification device to identify a first mark on the carrier on the carrier mechanism to determine the number and specification of loading positions on the carrier;

[0065] S220, controlling the second identification device to identify the second mark on the material on the positioning carrier to determine the specification of the material;

[0066] S230, controlling the transport robot to grab the material and load it onto a loading position of a corresponding specification on the carrier.

[0067] Beneficial effects:

[0068] The material transfer system provided by the present invention, when material transfer is required, first, the carrier on the first transfer mechanism is transferred to the carrier mechanism located at the first workstation; secondly, the handling robot grabs the material on the positioning carrier and loads it onto the carrier mechanism, or grabs the material on the carrier mechanism and loads it onto the positioning carrier; then, the first transmission mechanism drives the carrier mechanism to transfer from the first workstation to the second workstation, and the carrier on the carrier mechanism is transferred to the second transfer mechanism; finally, the first transmission mechanism drives the carrier mechanism to transfer from the second workstation to the first workstation, waiting for the next round of material transfer, thereby effectively improving the material transfer efficiency and meeting the needs of high production capacity.

[0069] The material transfer method provided by the present invention effectively improves the material transfer efficiency and meets the demand for high production capacity by applying a material transfer system. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 It is a structural schematic diagram of the material transfer system provided by the present invention when the material is on the first transfer mechanism;

[0071] Figure 2 It is a structural schematic diagram of the material transfer system provided by the present invention when the material is in the carrier mechanism and the carrier mechanism is at the first station;

[0072] Figure 3 It is a structural schematic diagram of the material transfer system provided by the present invention when the material is in the carrier mechanism and the carrier mechanism is in the second station;

[0073] Figure 4 It is a structural schematic diagram of the material transfer system provided by the present invention when the material is on the second transfer mechanism;

[0074] Figure 5 It is a schematic diagram of the structure on the base provided by the present invention;

[0075] Figure 6 It is a structural schematic diagram of a material transfer system provided by the present invention at a carrier mechanism from one perspective;

[0076] Figure 7 It is a structural schematic diagram of the material transfer system provided by the present invention at the carrier mechanism from another perspective;

[0077] Figure 8 It is another perspective structural schematic diagram of the material transfer system provided by the present invention at the carrier mechanism;

[0078] Fig. 9 It is a structural schematic diagram of a positioning vehicle provided by the present invention from one perspective;

[0079] Fig.10 is a schematic structural diagram of the positioning vehicle provided by the present invention from another viewing angle;

[0080] Fig.11 is a flow chart of the material transfer method provided by the present invention;

[0081] Fig.12 It is a detailed flow chart of the method for transferring materials from a positioning carrier to a carrier provided by the present invention.

[0082] In the figure:

[0083] 10. Materials;

[0084] 100, object carrier; 110, guide rod; 120, slide frame; 121, side frame bar;

[0085] 200, first transfer agency;

[0086] 300, second transfer agency;

[0087] 400, a first transmission mechanism;

[0088] 500, carrier mechanism; 510, carrier frame; 511, crossbeam; 512, roller; 520, transmission wheel; 530, carrier drive assembly; 531, first pulley; 532, first synchronous belt; 533, first motor; 541, first position-limiting member; 542, first position-limiting driving member; 543, second position-limiting member; 550, first identification device;

[0089] 600, positioning carrier; 610, carrier bracket; 611, first support wheel; 620, carrier drive assembly; 621, second pulley; 622, second synchronous belt; 623, second motor; 630, first carrier position limiter; 640, second position sensor; 650, second position limiter assembly; 651, second position limiter driver; 652, third position limiter driver; 653, second carrier position limiter; 660, third position limiter assembly; 661, fourth position limiter driver; 662, third carrier position limiter; 680, second identification device;

[0090] 700, handling robot; 710, vacuum suction cup;

[0091] 800, base;

[0092] 900. Second conveying mechanism. DETAILED DESCRIPTION

[0093] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0094] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0095] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0096] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0097] Reference Figures 1 to 5 As shown, this embodiment provides a material transfer system, which includes a loading and transferring device and a handling device.

[0098] Specifically, the loading and transferring device includes a carrier 100, a first transfer mechanism 200, a second transfer mechanism 300, a first conveying mechanism 400, and a carrier mechanism 500 arranged on the first conveying mechanism 400; wherein, the first conveying mechanism 400 is used to drive the carrier mechanism 500 to move between the first station and the second station; the first transfer mechanism 200 is arranged at the first station, and the carrier 100 on the first transfer mechanism 200 can be transferred to the carrier mechanism 500 located at the first station; the second transfer mechanism 300 is arranged at the second station, and the carrier 100 on the carrier mechanism 500 at the second station can be transferred to the second transfer mechanism 300.

[0099] Specifically, the transport device is arranged at the first workstation, and the transport device includes a positioning carrier 600 and a transport robot 700. The transport robot 700 is used to grab the material 10 on the positioning carrier 600 and load it onto the carrier 100 located at the first workstation, or to grab the material 10 on the carrier 100 located at the first workstation and load it onto the positioning carrier 600.

[0100] When the material 10 needs to be transferred, first, the carrier 100 on the first transfer mechanism 200 is transferred to the carrier mechanism 500 located at the first station; secondly, the handling robot 700 grabs the material 10 on the positioning carrier 600 and loads it onto the carrier mechanism 500, or grabs the material 10 on the carrier mechanism 500 and loads it onto the positioning carrier 600; then, the first conveying mechanism 400 drives the carrier mechanism 500 to transfer from the first station to the second station, and the carrier 100 on the carrier mechanism 500 is transferred to the second transfer mechanism 300; finally, the first conveying mechanism 400 drives the carrier mechanism 500 to transfer from the second station to the first station, waiting for the next round of material 10 transfer, effectively improving the transfer efficiency of the material 10 and meeting the needs of high production capacity.

[0101] In a feasible embodiment, the first transfer mechanism 200 and the second transfer mechanism 300 are arranged on the same side of the first conveying mechanism 400 to improve the structural compactness of the loading and transferring device.

[0102] Exemplarily, the first transfer mechanism 200 and the second transfer mechanism 300 can be arranged on the same side of the first conveying mechanism 400 along the first horizontal direction, and the first conveying mechanism 400 drives the carrier mechanism 500 to move between the first station and the second station along the second horizontal direction. The first horizontal direction and the second horizontal direction are arranged at an angle. Preferably, the first horizontal direction and the second horizontal direction are perpendicular to each other.

[0103] In a feasible implementation manner, the material transfer system further includes a base 800 , and the handling device and the first conveying mechanism 400 are both disposed on the base 800 to ensure the position accuracy between the handling device and the first conveying mechanism 400 .

[0104] In a feasible embodiment, when the material 10 is set as a sheet structure, the material 10 on the positioning carrier 600 and the material 10 on the loading rack 100 can be set at an angle, that is, after the handling robot 700 grabs the material 10 of one of the positioning carrier 600 and the loading rack 100, the material 10 is rotated by a certain angle and then loaded onto the other of the positioning carrier 600 and the loading rack 100.

[0105] In some embodiments, the material 10 is loaded horizontally on the positioning carrier 600. It can be understood that the material 10 on the positioning carrier 600 is perpendicular to the vertical direction, which is convenient for positioning the material 10, and the positioning accuracy of the material 10 is high, which is convenient for the handling robot 700 to locate, grasp or place the material 10; the material 10 is loaded vertically or obliquely on the carrier 100. It can be understood that the material 10 on the carrier 100 is set at an angle with the horizontal plane, which can make the structure of the loading and transfer device more compact. In other embodiments, the material 10 is loaded vertically or obliquely on the positioning carrier 600, and the material 10 is loaded horizontally on the carrier 100.

[0106] Of course, the material 10 can be loaded horizontally on both the positioning carrier 600 and the carrier 100, or can be loaded vertically or obliquely on both the positioning carrier 600 and the carrier 100. This embodiment does not limit the posture of the material 10 loaded onto the carrier 100.

[0107] For example, the material 10 may be made of metal or non-metal. The sheet-like material 10 includes but is not limited to glass sheets, acrylic sheets, titanium alloy sheets, copper sheets or substrates of solar cells.

[0108] Exemplarily, the handling robot 700 includes a six-degree-of-freedom mechanical arm and a suction component disposed at the end of the six-degree-of-freedom mechanical arm, and the suction component includes a plurality of vacuum suction cups 710, through which the material 10 is grasped. Among them, the six-degree-of-freedom mechanical arm is controlled by six motors respectively, and its specific structure is the prior art, and no further elaboration is made here. Among them, the plurality of vacuum suction cups 710 can be arranged in a matrix shape.

[0109] In this embodiment, refer to Figures 6 to 8 As shown, when the material 10 is a sheet structure, a sheet frame 120 is provided on the carrier 100, and the top inner side and the bottom inner side of the sheet frame 120 are both provided with limiting grooves (not shown) for accommodating the material 10. The material 10 is fixed by the upper and lower limiting grooves, which effectively prevents the material 10 from falling off and breaking.

[0110] In some embodiments, the film carrier frame 120 includes two side frame bars 121 spaced apart in a first horizontal direction and a top frame bar (not shown) and a bottom frame bar (not shown) spaced apart in a vertical direction, and both the top frame bar and the bottom frame bar are provided with a limit groove, and at least one of the top frame bar and the bottom frame bar is connected to a frame bar driving member (not shown), and the frame bar driving member is used to drive at least one of the top frame bar and the bottom frame bar to move in a vertical direction. In this embodiment, when the material 10 is transferred between the two side frame bars 121, the frame bar driving member can be used to drive the top frame bar and / or the bottom frame bar to move in a vertical direction, so that the upper and lower limit grooves are sleeved on the material 10. Exemplarily, the frame bar driving member includes but is not limited to a telescopic driving member.

[0111] In other embodiments, the carrier 100 is not provided with a frame bar driving member, that is, the side frame bar 121, the top frame bar and the bottom frame bar are fixedly connected together. When the material 10 is loaded into the carrier frame 120, a gap is formed between the top of the material 10 and the upper limiting groove, so as to be suitable for the material 10 to be separated from the carrier frame 120 or loaded into the carrier frame 120. Exemplarily, when the handling robot 700 loads the material 10 onto the carrier 100, the material 10 can be tilted first and the top of the material 10 can be extended into the upper limiting groove, and then the bottom of the material 10 can be extended into the lower limiting groove. Exemplarily, when the handling robot 700 turns the material 10 off the carrier 100, the material 10 can be moved up first to separate the bottom of the material 10 from the lower limiting groove, and then the material 10 can be tilted and moved down to separate the top of the material 10 from the upper limiting groove.

[0112] Exemplarily, a plurality of slide frames 120 may be arranged side by side along the first horizontal direction on the carrier 100 to improve the transfer efficiency of the material 10 .

[0113] In a feasible implementation, the carrier 100 is provided with a first mark and a plurality of loading positions, and the carrier mechanism 500 is provided with a first identification device 550, and the first identification device 550 is used to identify the first mark. In this embodiment, the number of loading positions and the specifications of the loadable materials 10 of different carriers 100 may be different. The first identification device 550 identifies the first mark to determine the number of loading positions on the carrier 100 and the specifications of the loadable materials 10, so as to ensure the accurate loading of the materials 10. It can be understood that when the material 10 is a sheet structure, the loading position refers to the carrier frame 120.

[0114] Exemplarily, the first identification device 550 includes but is not limited to a charge coupled device (CCD) detection module. The first identification can be Chinese characters, Arabic numerals, a QR code, English, etc.

[0115] In a possible implementation, Fig. 9 As shown, a second mark is provided on the material 10, and a second identification device 680 is provided on the positioning carrier 600, and the second identification device 680 is used to identify the second mark. In this embodiment, the second identification device 680 identifies the second mark to determine the specification of the material 10 on the positioning carrier 600, so that the handling robot 700 can accurately load the material 10 to the loading position of the corresponding specification.

[0116] Exemplarily, the second identification device 680 includes but is not limited to a code reader. The second identification may be Chinese characters, Arabic numerals, a QR code, English, etc.

[0117] In this embodiment, the material transfer system further includes a controller (not shown), which is in communication with the handling robot 700, the first identification device 550 and the second identification device 680. The controller receives information that the first identification device 550 identifies the first mark on the carrier 100 on the carrier mechanism 500 and the second identification device 680 identifies the second mark on the material 10 on the positioning carrier 600, and controls the handling robot 700 to grab the material 10 and load it to the corresponding loading position of the carrier 100, effectively preventing the material 10 from being misloaded or missing. In addition, the handling robot 700 is equipped with corresponding handling operation trajectory parameters for different materials 10 and loading positions. By identifying the first mark and the second mark, the handling robot 700 is controlled to make a corresponding handling operation trajectory, effectively preventing the material 10 from colliding and breaking with the carrier 100. In addition, when the carrier 100 is subjected to post-processing, the process parameters matching the different first marks are executed to improve the target material utilization rate and film forming quality.

[0118] In this embodiment, refer to Figure 5As shown, the first conveying mechanism 400 includes a conveying guide assembly and a first conveying drive assembly, a carrier mechanism 500 is arranged on the conveying guide assembly, and the first conveying drive assembly is connected to the carrier mechanism 500; wherein, under the guiding action of the conveying guide assembly, the first conveying drive assembly can drive the carrier mechanism 500 to move between the first station and the second station, stably and reliably.

[0119] Exemplarily, the transmission guide assembly can be a slide rail and slider structure, and the first transmission drive assembly can be a gear rack structure driven by a motor. In this embodiment, the motor and gear of the first transmission drive assembly can be arranged on the carrier mechanism 500, and the bottom of the carrier mechanism 500 is connected to the slider of the slide rail and slider structure.

[0120] Of course, the first transmission mechanism 400 can also be a screw slide transmission structure or other transmission structures, which is not limited in this embodiment.

[0121] In this embodiment, refer to Figures 6 to 8 As shown, the carrier mechanism 500 includes a carrier frame 510 and a carrier driving module and a carrier guiding module arranged on the carrier frame 510; wherein, under the guidance cooperation of the carrier guiding module and the carrier 100, the carrier driving module can drive the carrier 100 to transfer to the carrier frame 510, or drive the carrier 100 to separate from the carrier frame 510, so as to realize the transfer of the carrier 100 between the carrier mechanism 500 and the first transfer mechanism 200 and the second transfer mechanism 300, which is stable and reliable.

[0122] Specifically, the bottom end of the carrier 100 is provided with a guide rod 110; the carrier drive module includes a transmission assembly and a carrier drive assembly 530. The transmission assembly is arranged on the carrier frame 510, and the transmission assembly includes a plurality of transmission wheels 520 arranged at intervals along the first horizontal direction, and the transmission wheels 520 are provided with grooves capable of accommodating the guide rod 110; the carrier drive assembly 530 is connected to the transmission wheel 520, and the carrier drive assembly 530 is used to drive the transmission wheel 520 to rotate. In this embodiment, under the guidance cooperation of the carrier guide module and the carrier 100, the carrier drive assembly 530 drives all the transmission wheels 520 to rotate. Through the friction between the multiple transmission wheels 520 and the guide rod 110, the carrier 100 can be driven to move stably along the first horizontal direction. The carrier drive assembly 530 drives the transmission wheels 520 to rotate forward or reverse, which facilitates the transfer of the carrier 100 on the first transfer mechanism 200 to the carrier mechanism 500, or the transfer of the carrier 100 on the carrier mechanism 500 to the second transfer mechanism 300.

[0123] Specifically, the carriage driving assembly 530 includes a first pulley 531, a first synchronous belt 532, and a first motor 533. Each transmission wheel 520 is connected to a first pulley 531; the first pulleys 531 connected to two adjacent transmission wheels 520 are connected via a first synchronous belt 532; and the first motor 533 is connected to one of the first pulleys 531. In this embodiment, through the arrangement of the first pulleys 531 and the first synchronous belt 532, the first motor 533 can simultaneously drive all the first pulleys 531 to rotate, thereby driving all the transmission wheels 520 to rotate, and the transmission is stable and reliable.

[0124] Exemplarily, the first synchronous belt 532 may be tensioned by a tensioning wheel to ensure stable and reliable transmission of the carrier drive assembly 530 .

[0125] In this embodiment, the carrier driving assembly 530 may also be other driving structures, such as a motor-driven gear structure or a motor-driven worm gear structure, which is not limited in this embodiment.

[0126] In this embodiment, refer to Figure 8 As shown, the carrier frame 510 includes a crossbeam 511, and the carrier guide module includes a guide channel provided on the crossbeam 511, the guide channel is extended along the first horizontal direction, and the top of the carrier 100 can be inserted into the guide channel. It can be understood that the top of the carrier 100 is guided and limited by extending into the guide channel, and the carrier 100 can be stably transferred along the first horizontal direction on the carrier frame 510 in a stable and reliable manner with the limit of the guide rod 110 by the groove.

[0127] In some embodiments, the carrier guide module includes a plurality of rollers 512, and a guide channel is formed between the plurality of rollers 512. It is understandable that the top of the carrier 100 extends between the plurality of rollers 512, and the carrier 100 is guided by the rollers 512, effectively preventing the occurrence of movement jams.

[0128] Specifically, two guide wheel groups spaced apart along the second horizontal direction are provided on the crossbeam 511 . The guide wheel groups include a plurality of rollers 512 spaced apart along the first horizontal direction. A guide channel is formed between the rollers 512 of the two guide wheel groups.

[0129] In other embodiments, the carrier guide module includes a magnetic member (not shown), and the carrier guide module can prevent the carrier 100 from contacting the guide channel through the magnetic member, thereby effectively preventing the carrier 100 from getting stuck while moving on the carrier frame 510.

[0130] In this embodiment, refer to Figures 6 to 8As shown, a first limiting component is provided on the carrier mechanism 500 , and the carrier 100 is positioned by the first limiting component to ensure that the handling robot 700 accurately loads the material 10 onto the carrier 100 .

[0131] Specifically, the first position limiting assembly includes a first position limiting member 541, a first position sensor (not shown) and a first position limiting driving member 542. The first position limiting member 541, the first position sensor and the first position limiting driving member 542 are all arranged on the carrier mechanism 500, the first position sensor is used to detect the position of the carrier 100 relative to the carrier mechanism 500, and the first position limiting driving member 542 is connected to the second position limiting member 543; when the first position sensor detects that the carrier 100 is transferred from the first transfer mechanism 200 to the carrier mechanism 500 and is located between the first position limiting member 541 and the second position limiting member 543, the second position limiting member 543 clamps the carrier 100 with the first position limiting member 541 under the drive of the first position limiting driving member 542, that is, the carrier 100 is clamped and fixed by the first position limiting member 541 and the second position limiting member 543, so as to realize the positioning of the carrier 100 relative to the carrier mechanism 500, which is stable and reliable. In addition, when the carrier 100 needs to be transferred from the carrier mechanism 500 to the second transfer mechanism 300 at the second station, the first limit driving member 542 is controlled to drive the second limit driving member 543 to separate from the carrier 100, so that the carrier 100 can be transferred smoothly.

[0132] Specifically, the first position limiting member 541 , the first position sensor and the first position limiting driving member 542 are all disposed on the carrier frame 510 .

[0133] Exemplarily, the first limit member 541 and the second limit member 543 are arranged relatively to each other along the first horizontal direction, that is, the first limit member 541 and the second limit member 543 clamp and fix the carrier 100 along the first horizontal direction to achieve the positioning of the carrier 100 relative to the carrier frame 510 along the first horizontal direction.

[0134] In a feasible implementation, the first position-limiting driving member 542 may be a combination structure of a rotating driving member and a telescopic driving member, such as a rotating telescopic cylinder. In this embodiment, when the first position sensor detects that the object carrier 100 has moved into position relative to the carrier mechanism 500, the first position-limiting driving member 542 may first drive the second position-limiting member 543 to rotate so that the second position-limiting member 543 is opposite to the object carrier 100 along the first horizontal direction, and then drive the second position-limiting member 543 to move toward the first position-limiting member 541 along the first horizontal direction, thereby achieving the clamping and fixing of the object carrier 100 by the first position-limiting member 541 and the second position-limiting member 543.

[0135] In a feasible implementation, the first position sensor may be a photoelectric sensor, including a photoelectric transmitter and a photoelectric receiver, and the carrier 100 can pass between the photoelectric transmitter and the photoelectric receiver. Exemplarily, the carrier frame 510 is provided with two first position sensors side by side along the first horizontal direction, one of the two first position sensors is provided on a side of the second stopper 543 away from the first stopper 541, and the other is provided at the second stopper 543. In this embodiment, by sensing the sequence of the carrier 100 through two first position sensors, the moving direction of the carrier 100 on the carrier frame 510 can be determined to ensure that the carrier 100 is completely transferred to the carrier mechanism 500, or completely rotated away from the carrier mechanism 500; the first position sensor at the second limit member 543 identifies whether the position of the carrier 100 is suitable for the first limit driving member 542 to drive the second limit member 543 and the first limit member 541 to clamp the limit carrier 100, so as to avoid position interference between the second limit member 543 and the carrier 100 when rotating.

[0136] In a feasible implementation manner, a first buffer member (not shown) is disposed on the first limiting member 541 to reduce the impact with the object carrier 100 .

[0137] In this embodiment, the first transfer mechanism 200 includes a first frame and a first drive module and a first guide module disposed on the first frame; wherein, under the guidance cooperation of the first guide module and the carrier 100, the first drive module can drive the carrier 100 to separate from the first frame. In this embodiment, the first drive module and the first guide module cooperate with the carrier drive module and the carrier guide module, and the carrier 100 can be smoothly transferred from the first frame to the carrier frame 510, which is stable and reliable. wherein, the first drive module can be the same structure as the carrier drive module, and the first guide module can be the same structure as the carrier guide module, and no further details are given here.

[0138] In this embodiment, refer to Figures 1 to 4 The second transfer mechanism 300 shown includes a second frame and a second drive module and a second guide module disposed on the second frame; wherein, under the guidance cooperation of the second guide module and the carrier 100, the second drive module can drive the carrier 100 to transfer to the second frame. In this embodiment, the second drive module and the second guide module cooperate with the carrier drive module and the carrier guide module, and the carrier 100 can be smoothly transferred from the carrier frame 510 to the second frame. wherein, the second drive module can be the same structure as the carrier drive module, and the second guide module can be the same structure as the carrier guide module, and no further details are given here.

[0139] In this embodiment, refer to Fig. 9 and Fig.10As shown, the positioning carrier 600 includes a carrier bracket 610 , a carrier driving assembly 620 , a first carrier stopper 630 and a second position sensor 640 .

[0140] Specifically, a first wheel group is provided on the carrier bracket 610, and the first wheel group includes multiple first support wheels 611, and the first support wheel 611 is used to support the material 10; the carrier drive assembly 620 is connected to the first wheel group; the first carrier limiter 630 is provided on the carrier bracket 610; the second position sensor 640 is provided on the carrier bracket 610, and the second position sensor 640 is used to detect the position of the material 10 relative to the carrier bracket 610; wherein, the carrier drive assembly 620 is used to drive the first support wheel 611 to rotate; the rotation of the first support wheel 611 can drive the material 10 to move toward the first carrier limiter 630 and resist the first carrier limiter 630.

[0141] In this embodiment, before the handling robot 700 grabs the material 10 on the positioning carrier 600, the material 10 needs to be loaded onto the positioning carrier 600 by conveying or manually. Specifically, one side of the material 10 is first placed on the first support wheel 611 farthest from the first carrier stopper 630, and the carrier drive assembly 620 drives the first support wheel 611 to rotate. The rotation of the first support wheel 611 can drive the material 10 to move toward the first carrier stopper 630 through friction until the material 10 abuts against the first carrier stopper 630 and triggers the second position sensor 640. At this time, the handling robot 700 can be controlled to grab the material 10, which is convenient and reliable. Moreover, the abutment between the material 10 and the first carrier stopper 630 can ensure the position accuracy of the material 10 relative to the positioning carrier 600, thereby ensuring the accuracy of the handling robot 700 grabbing the material 10, and effectively preventing the material 10 from colliding and breaking with the carrier 100.

[0142] Exemplarily, a second buffer (not shown) is disposed on the first carrier stopper 630 , and the first carrier stopper 630 abuts against the material 10 through the second buffer to prevent the material 10 from breaking.

[0143] Exemplarily, at least one first carrier limiting member 630 is provided, for example, two are provided at intervals along the first direction.

[0144] Exemplarily, the second position sensor 640 may be a photoelectric sensor, such as a cylindrical photoelectric sensor.

[0145] Exemplarily, the carrier bracket 610 is provided with two first wheel sets arranged side by side along the first direction.

[0146] In some embodiments, Fig. 9 and Fig.10As shown, the carrier drive assembly 620 is arranged in a one-to-one correspondence with the first wheel group. Specifically, the carrier drive assembly 620 includes a second pulley 621, a second synchronous belt 622, and a second motor 623. Among them, each first support wheel 611 is connected to the second pulley 621, and the second pulleys 621 connected to two adjacent first support wheels 611 in the first wheel group are connected through the second synchronous belt 622, and the second pulley 621 connected to a first support wheel 611 in the first wheel group is connected to the second motor 623. In this embodiment, the second motor 623 drives the corresponding second pulley 621 to rotate, and under the transmission of the second synchronous belt 622, all the first support wheels 611 of the corresponding first wheel group rotate synchronously, the transmission is stable and reliable, and the structure of the carrier drive assembly 620 is compact.

[0147] In other embodiments, the carrier drive assembly 620 can drive all the first support wheels 611 to rotate to achieve the transfer of the material 10, which is stable and reliable. Specifically, the carrier drive assembly 620 not only includes the second pulley 621, the second synchronous belt 622, and the second motor 623, but also includes a transmission shaft (not shown), a third pulley (not shown), and a third synchronous belt (not shown). Among them, the transmission shaft is provided with a third pulley at both ends along the first direction, and the third pulley, the third synchronous belt and the first wheel group are arranged one by one. The third pulley is connected to a second pulley 621 in the corresponding first wheel group through the corresponding third synchronous belt, and the second motor 623 is connected to the transmission shaft. In this embodiment, the second motor 623 drives the transmission shaft to rotate, and under the transmission of the second synchronous belt 622 and the third synchronous belt, the synchronous rotation of all the first support wheels 611 is achieved, the transmission is stable and reliable, and the structure of the carrier drive assembly 620 is compact.

[0148] In this embodiment, the vehicle driving assembly 620 may also be other driving structures, such as a motor-driven gear structure or a motor-driven worm gear structure, which is not limited in this embodiment.

[0149] Exemplarily, the first wheel set includes a plurality of first supporting wheels 611 spaced apart along the second direction.

[0150] Exemplarily, the first direction may be the second horizontal direction, and the second direction may be the first horizontal direction.

[0151] In a feasible embodiment, the first support wheels 611 of different wheel groups are each provided with a rib (not shown) at one end away from each other, and the rib can be used to guide the material 10 to move in the second direction to further ensure the position accuracy of the material 10 relative to the positioning vehicle 600.

[0152] In this embodiment, refer to Fig. 9 and Fig.10As shown, the positioning carrier 600 also includes a carrier limiting structure disposed on the carrier bracket 610 , and the carrier limiting structure can clamp and limit the material 10 with the first carrier limiting member 630 to further ensure the position accuracy of the material 10 relative to the positioning carrier 600 .

[0153] Specifically, the carrier limiting structure includes a second limiting component 650, which includes a second limiting driving component 651 arranged on the carrier bracket 610, a third limiting driving component 652 arranged on the second limiting driving component 651, and a second carrier limiting component 653 arranged on the third limiting driving component 652. The second carrier limiting component 653 can yield the material 10 when driven by the second limiting driving component 651, and the second carrier limiting component 653 can clamp the limiting material 10 with the first carrier limiting component 630 when driven by the third limiting driving component 652. Exemplarily, during the process of loading the material 10 onto the positioning carrier 600, the second limit driving member 651, the third limit driving member 652 and the second carrier limit member 653 are all located below the material 10 to form a gap; when the second position sensor 640 is triggered, the second limit driving member 651 drives the third limit driving member 652 and the second carrier limit member 653 to move upward, and the third limit driving member 652 drives the second carrier limit member 653 to press the material 10 against the first carrier limit member 630 along the second direction to clamp the material 10, further ensuring the position accuracy of the material 10 relative to the positioning carrier 600. When the handling robot 700 grabs the material 10, the third limit driving member 652 and the second limit driving member 651 can be reset in sequence, that is, the material 10 is released, so that the material 10 is suitable for the handling robot 700 to transfer the material 10.

[0154] Exemplarily, at least one second limiting assembly 650 is provided, for example, two are provided at intervals along the first direction.

[0155] Exemplarily, the second limit driving member 651 and the third limit driving member 652 include but are not limited to cylinders or electric push rods.

[0156] Exemplarily, a third buffer (not shown) is disposed on the second carrier stopper 653 , and the second carrier stopper 653 abuts against the material 10 through the third buffer to prevent the material 10 from breaking.

[0157] In a feasible embodiment, the carrier limiting structure further includes a third limiting assembly 660, two third limiting assemblies 660 are provided on the carrier bracket 610, and the third limiting assembly 660 includes a fourth limiting driving member 661 provided on the carrier bracket 610 and a third carrier limiting member 662 provided on the fourth limiting driving member 661, and the third carrier limiting member 662 of one of the two third limiting assemblies 660 and the third carrier limiting member 662 of the other can clamp the limiting material 10 under the drive of the corresponding fourth limiting driving member 661. It can be understood that the two third limiting assemblies 660 are respectively provided on both sides of the carrier bracket 610 along the first direction, and the material 10 on the positioning carrier 600 is located between the two third limiting assemblies 660. Among them, the clamping and limiting direction of the third carrier limiter 662 on the material 10 is set at an angle with the clamping and limiting direction of the first carrier limiter 630 and the second carrier limiter 653 on the material 10. For example, the clamping and limiting direction of the third carrier limiter 662 on the material 10 is perpendicular to the clamping and limiting direction of the first carrier limiter 630 and the second carrier limiter 653 on the material 10. In this embodiment, when the second position sensor 640 is triggered, the fourth limit driving member 661 drives the corresponding third carrier limiter 662 to abut against the corresponding edge of the material 10 to form a clamp on the material 10, which can further ensure the position accuracy of the material 10 relative to the positioning carrier 600. When the handling robot 700 grabs the material 10, the fourth limit driving member 661 can be reset to facilitate the handling robot 700 to transfer the material 10.

[0158] Exemplarily, the fourth limiting driving member 661 includes but is not limited to a cylinder or an electric push rod.

[0159] Exemplarily, two third limiting components 660 are spaced apart along the first direction.

[0160] Exemplarily, the third position-limiting assembly 660 includes at least one fourth position-limiting driving member 661 and at least one third carrier position-limiting member 662, and the fourth position-limiting driving member 661 and the third carrier position-limiting member 662 are arranged in a one-to-one correspondence. Exemplarily, the number of fourth position-limiting driving members 661 and third carrier position-limiting members 662 in two third position-limiting assemblies 660 may be equal or unequal. In some embodiments, the two third position-limiting assemblies 660 each include two fourth position-limiting driving members 661 and two third carrier position-limiting members 662, wherein the clamping and limiting direction of the third carrier position-limiting member 662 on the material 10 is perpendicular to the clamping and limiting direction of the first carrier position-limiting member 630 and the second carrier position-limiting member 653 on the material 10. In some embodiments, the two third limiting components 660 each include a fourth limiting driving component 661 and a third carrier limiting component 662, and the two third limiting components 660 are arranged diagonally, wherein the clamping limiting direction of the material 10 by the third carrier limiting component 662 is not perpendicular to the clamping limiting direction of the material 10 by the first carrier limiting component 630 and the second carrier limiting component 653.

[0161] Exemplarily, a fourth buffer is provided on the third carrier stopper 662 , and the third carrier stopper 662 abuts against the material 10 through the fourth buffer to prevent the material 10 from being broken.

[0162] In a feasible implementation manner, in order to enable the positioning carrier 600 to stably support the material 10, a second wheel group (not shown) is provided between the two first wheel groups, and the second wheel group includes a plurality of second supporting wheels arranged at intervals along the second direction, and the second supporting wheels are used to support the material 10. In this embodiment, at least one second wheel group is provided between the two first wheel groups, and when a plurality of second wheel groups are provided, the plurality of second wheel groups are arranged at intervals along the first direction.

[0163] In this embodiment, refer to Figures 1 to 4 As shown, the material transfer system further includes a second conveying mechanism 900, which is disposed on one side of the positioning carrier 600. The second conveying mechanism 900 can convey the material 10 to the positioning carrier 600; and / or, the positioning carrier 600 can transfer the material 10 to the second conveying mechanism 900. It can be understood that before the handling robot 700 grabs the material 10 on the positioning carrier 600, the second conveying mechanism 900 conveys the material 10 to the positioning carrier 600, which is stable and reliable, and convenient for the transfer of the material 10. In addition, after the handling robot 700 places the material 10 on the positioning carrier 600, the positioning carrier 600 can also transfer the material 10 to the second conveying mechanism 900.

[0164] Specifically, the second conveying mechanism 900 includes a conveying bracket (not shown) and a second conveying driving assembly (not shown), the conveying bracket is provided with a third wheel group, the third wheel group includes a plurality of third supporting wheels arranged at intervals along the second direction, the third supporting wheels are used to support the material 10, and the second driving assembly is connected to the second wheel group. In this embodiment, the third supporting wheel is driven to rotate by the second driving assembly, so that the third supporting wheel drives the material 10 to transfer. Among them, the second driving assembly has the same structure as the carrier driving assembly 620, and no further details are given here.

[0165] Specifically, the second transmission mechanism 900 includes a fourth wheel group (not shown) disposed between the two third wheel groups. The structure of the fourth wheel group is the same as that of the second wheel group, and will not be described in detail here.

[0166] Reference Fig.11 and Fig.12 As shown, this embodiment also provides a material transfer method that can be applied to the above-mentioned material transfer system, and the material transfer method includes the following steps:

[0167] S100, controlling the first transfer mechanism 200 to transfer the carrier 100 to the carrier mechanism 500 located at the first station.

[0168] Wherein, in step S100 , after the object carrier 100 is transferred to the carrier mechanism 500 , the following steps are further included: S110 , controlling the first limiting member 541 and the second limiting member 543 to clamp and fix the object carrier 100 .

[0169] S200 , controlling the transport robot 700 to grab the material 10 on the positioning carrier 600 and load it onto the carrier mechanism 500 , or controlling the transport robot 700 to grab the material 10 on the carrier 100 and load it onto the positioning carrier 600 .

[0170] In step S200, the transport robot 700 grabs the material 10 on the positioning carrier 600 and loads it onto the carrier mechanism 500, including the following steps:

[0171] S210 , controlling the first recognition device 550 to recognize the first mark on the carrier 100 on the carrier mechanism 500 to determine the number and specifications of the loading positions on the carrier 100 .

[0172] S220 , controlling the second identification device 680 to identify the second mark on the material 10 on the positioning carrier 600 to determine the specification of the material 10 .

[0173] S230 , controlling the transport robot 700 to grab the material 10 and load it onto a loading position of a corresponding specification on the carrier 100 .

[0174] Specifically, step S220 includes the following steps:

[0175] S231, determine whether the specifications of the loading position without material 10 on the carrier 100 match the specifications of the material 10 on the positioning carrier 600, if so, execute step S232; if not, execute step S300.

[0176] S232 , control the transport robot 700 to grab the material 10 and load it onto the loading position of the corresponding specification of the carrier 100 , and control the second conveying mechanism 900 to convey the material 10 to the positioning carrier 600 .

[0177] S233, determining whether the number of loading positions on the carrier 100 that are not loaded with materials 10 is zero, if so, executing step S300; if not, executing step S220.

[0178] In a feasible implementation, when step S231 is judged as negative n times, the transfer can be suspended to wait for the personnel to eliminate the transfer matching problem, where n is an integer greater than zero, for example, n is equal to 2, 3, 4, 5 or 6.

[0179] Among them, in step S200, when controlling the handling robot 700 to grab the material 10 on the carrier 100 and load it onto the positioning carrier 600, it is also necessary to control the first identification device 550 to identify the first mark on the carrier 100. According to the information of the first mark, the handling robot 700 can be controlled to load materials 10 of different specifications onto different positioning carriers 600. It can be understood that the handling robot 700 loads materials 10 of the same specifications onto the same positioning carrier 600. When the materials 10 on the carrier 100 are emptied, step S300 is executed. In addition, when the material 10 is loaded onto the corresponding positioning carrier 600, the second identification device 680 on the positioning carrier 600 can be controlled to identify the second mark on the material 10 to determine whether the specifications of the material 10 match the positioning carrier 600, and the positioning carrier 600 is controlled to transfer the matching material 10 away. In this embodiment, the control logic for controlling the transport robot 700 to grab the material 10 on the carrier 100 and load it onto the positioning carrier 600 is similar to the control logic for controlling the transport robot 700 to grab the material 10 on the positioning carrier 600 and load it onto the carrier mechanism 500, which is not repeated in this embodiment.

[0180] S300, controlling the first conveying mechanism 400 to drive the carrier mechanism 500 to transfer from the first station to the second station.

[0181] S400 , controlling the carrier mechanism 500 to transfer the carrier 100 to the second transfer mechanism 300 , and controlling the second transfer mechanism 300 to transfer the carrier 100 .

[0182] Specifically, the following steps are also included between step S300 and step S400:

[0183] S310 , controlling the second limiting member 543 to separate from the object carrier 100 .

[0184] After step S400, the following steps may also be included:

[0185] S500, controlling the first conveying mechanism 400 to drive the carrier mechanism 500 to transfer from the second station to the first station to wait for the next round of material 10 to be transferred.

[0186] In a possible implementation, the material transfer method may be executed by a controller, which may include, but is not limited to, a programmable logic controller (PLC).

[0187] For the specific execution process of each device in the above steps, please refer to the above related introduction, which will not be repeated here.

[0188] 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, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. 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. A material transfer system, characterized in that: include: A loading and transferring device comprises a carrier (100), a first transfer mechanism (200), a second transfer mechanism (300), a first conveying mechanism (400), and a carrier mechanism (500) arranged on the first conveying mechanism (400); Wherein, the first conveying mechanism (400) is used to drive the carrier mechanism (500) to move between the first station and the second station; The first transfer mechanism (200) is disposed at the first workstation, and the object carrier (100) on the first transfer mechanism (200) can be transferred to the carrier mechanism (500) located at the first workstation; The second transfer mechanism (300) is disposed at the second workstation, and the object carrier (100) on the carrier mechanism (500) at the second workstation can be transferred to the second transfer mechanism (300); as well as A handling device is arranged at the first workstation, comprising a positioning carrier (600) and a handling robot (700), wherein the handling robot (700) is used to grab the material (10) on the positioning carrier (600) and load it onto the carrier (100) located at the first workstation, or to grab the material (10) on the carrier (100) located at the first workstation and load it onto the positioning carrier (600).

2. The material transfer system according to claim 1, characterized in that: The carrier mechanism (500) comprises a carrier frame (510) and a carrier drive module and a carrier guide module arranged on the carrier frame (510); Wherein, under the guiding cooperation between the carrier guide module and the object carrier (100), the carrier drive module can drive the object carrier (100) to be transferred to the carrier frame body (510), or drive the object carrier (100) to be separated from the carrier frame body (510).

3. The material transfer system according to claim 2, characterized in that: A guide rod (110) is provided at the bottom end of the object carrier (100); The carrier drive module comprises: a transmission assembly, arranged on the carrier frame (510), the transmission assembly comprising a plurality of transmission wheels (520) arranged at intervals along a first horizontal direction, the transmission wheels (520) being provided with grooves capable of accommodating the guide rods (110); A carrier driving assembly (530) connected to the transmission wheel (520), the carrier driving assembly (530) being used to drive the transmission wheel (520) to rotate; Wherein, the first horizontal direction is arranged at an angle to the direction in which the carrier mechanism (500) moves between the first station and the second station.

4. The material transfer system according to claim 3, characterized in that: The carriage drive assembly (530) comprises: A first pulley (531), each of the transmission wheels (520) is connected to the first pulley (531); A first synchronous belt (532), wherein the first pulleys (531) connected to two adjacent transmission wheels (520) are connected via the first synchronous belt (532); A first motor (533) is connected to one of the first pulleys (531).

5. The material transfer system according to claim 2, characterized in that: The carrier frame (510) comprises a crossbeam (511), the carrier guide module comprises a guide channel arranged on the crossbeam (511), the guide channel extends along a first horizontal direction, and the top end of the carrier (100) can extend into the guide channel; Wherein, the first horizontal direction is arranged at an angle to the direction in which the carrier mechanism (500) moves between the first station and the second station.

6. The material transfer system according to claim 5, characterized in that: The carrier guide module comprises a plurality of rollers (512), and the guide channel is formed between the plurality of rollers (512); Or the carrier guide module comprises a magnetic member, and the carrier guide module can prevent the object carrier (100) from contacting the guide channel through the magnetic member.

7. The material transfer system according to claim 1, characterized in that: The carrier mechanism (500) is provided with a first limiting assembly, and the first limiting assembly comprises: A first limiting member (541) is provided on the carrier mechanism (500); A first position sensor, disposed on the carrier mechanism (500), the first position sensor being used to detect the position of the carrier (100) relative to the carrier mechanism (500); A first position-limiting driving component (542) is disposed on the carrier mechanism (500), wherein the first position-limiting driving component (542) is connected to a second position-limiting component (543); When the first position sensor detects that the carrier (100) is transferred from the first transfer mechanism (200) to the carrier mechanism (500) and is located between the first limiting member (541) and the second limiting member (543), the second limiting member (543) is driven by the first limiting driving member (542) to clamp and limit the carrier (100) with the first limiting member (541).

8. The material transfer system according to claim 1, characterized in that: The material (10) is provided as a sheet structure, and a sheet carrier frame (120) is provided on the carrier frame (100), and the inner side of the top and the inner side of the bottom of the sheet carrier frame (120) are both provided with limiting grooves for accommodating the material (10).

9. The material transfer system according to claim 8, characterized in that: The slide frame (120) comprises two side frame bars (121) spaced apart along a first horizontal direction and a top frame bar and a bottom frame bar spaced apart along a vertical direction, wherein the top frame bar and the bottom frame bar are both provided with limit grooves, and at least one of the top frame bar and the bottom frame bar is connected to a frame bar driving member, and the frame bar driving member is used to drive at least one of the top frame bar and the bottom frame bar to move along the vertical direction; Wherein, the first horizontal direction is arranged at an angle to the direction in which the carrier mechanism (500) moves between the first station and the second station.

10. The material transfer system according to claim 1, characterized in that: The material (10) is configured as a sheet structure, and the material (10) on the positioning carrier (600) and the material (10) on the carrier (100) are arranged at an angle.

11. The material transfer system according to claim 1, characterized in that: The positioning carrier (600) comprises: A carrier support (610), wherein a first wheel group is provided on the carrier support (610), wherein the first wheel group comprises a plurality of first supporting wheels (611), and the first supporting wheels (611) are used to support the material (10); A vehicle driving assembly (620), connected to the first wheel assembly; A first carrier stopper (630) is disposed on the carrier bracket (610); A second position sensor (640) is disposed on the carrier support (610), and the second position sensor (640) is used to detect the position of the material (10) relative to the carrier support (610); Wherein, the carrier driving assembly (620) is used to drive the first supporting wheel (611) to rotate; the rotation of the first supporting wheel (611) can drive the material (10) to move toward the first carrier limiting member (630) and abut against the first carrier limiting member (630).

12. The material transfer system according to claim 11, characterized in that: The positioning carrier (600) further comprises a carrier limiting structure disposed on the carrier bracket (610), wherein the carrier limiting structure can clamp and limit the material (10) together with the first carrier limiting member (630).

13. The material transfer system according to claim 12, characterized in that: The carrier limiting structure comprises: A second limiting assembly (650) comprises a second limiting driving member (651) provided on the carrier support (610), a third limiting driving member (652) provided on the second limiting driving member (651), and a second carrier limiting member (653) provided on the third limiting driving member (652), wherein the second carrier limiting member (653) can give way to the material (10) when driven by the second limiting driving member (651), and the second carrier limiting member (653) can clamp and limit the material (10) with the first carrier limiting member (630) when driven by the third limiting driving member (652); A third limiting component (660), two third limiting components (660) are provided on the carrier bracket (610), and the third limiting component (660) comprises a fourth limiting driving component (661) provided on the carrier bracket (610) and a third carrier limiting component (662) provided on the fourth limiting driving component (661), and the third carrier limiting component (662) of one of the two third limiting components (660) and the third carrier limiting component (662) of the other can clamp and limit the material (10) under the drive of the corresponding fourth limiting driving component (661); Wherein, the clamping and limiting direction of the material (10) by the third carrier limiting member (662) is set at an angle to the clamping and limiting direction of the material (10) by the first carrier limiting member (630) and the second carrier limiting member (653).

14. The material transfer system according to claim 1, characterized in that: The object carrier (100) is provided with a first mark and a plurality of loading positions, and the carrier mechanism (500) is provided with a first identification device (550), and the first identification device (550) is used to identify the first mark; The material (10) is provided with a second mark, and the positioning carrier (600) is provided with a second identification device (680), and the second identification device (680) is used to identify the second mark; The material transfer system also includes a controller, which is communicatively connected with the transport robot (700), the first identification device (550) and the second identification device (680). The controller receives information from the first identification device (550) identifying the first mark on the carrier (100) on the carrier mechanism (500) and the second identification device (680) identifying the second mark on the material (10) on the positioning carrier (600), and controls the transport robot (700) to grab the material (10) and load it onto the loading position corresponding to the carrier (100).

15. The material transfer system according to claim 1, characterized in that: It also includes a second conveying mechanism (900), wherein the second conveying mechanism (900) is arranged on one side of the positioning carrier (600); Wherein, the second conveying mechanism (900) can convey the material (10) to the positioning carrier (600); and / or, the positioning carrier (600) can transfer the material (10) to the second conveying mechanism (900).

16. The material transfer system according to claim 1, characterized in that: The first transfer mechanism (200) and the second transfer mechanism (300) are arranged on the same side of the first conveying mechanism (400).

17. The material transfer system according to claim 1, characterized in that: The first transfer mechanism (200) comprises a first frame, and a first driving module and a first guiding module arranged on the first frame; wherein, under the guidance cooperation between the first guiding module and the object carrier (100), the first driving module can drive the object carrier (100) to separate from the first frame; And / or, the second transfer mechanism (300) includes a second frame and a second drive module and a second guide module arranged on the second frame; wherein, under the guidance cooperation between the second guide module and the carrier (100), the second drive module can drive the carrier (100) to be transferred to the second frame.

18. The material transfer system according to claim 1, characterized in that: The first transmission mechanism (400) comprises: A conveying guide assembly, on which the carrier mechanism (500) is arranged; A first transmission drive assembly connected to the carrier mechanism (500); Wherein, under the guiding action of the conveying guide assembly, the first conveying drive assembly can drive the carrier mechanism (500) to move between the first station and the second station.

19. A material transfer method applied to the material transfer system according to any one of claims 1 to 18, characterized in that: The following steps are involved: S100, controlling the first transfer mechanism (200) to transfer the carrier (100) to the carrier mechanism (500) located at the first workstation; S200, controlling the transport robot (700) to grab the material (10) on the positioning carrier (600) and load it onto the carrier mechanism (500), or controlling the transport robot (700) to grab the material (10) on the carrier (100) and load it onto the positioning carrier (600); S300, controlling the first conveying mechanism (400) to drive the carrier mechanism (500) to transfer from the first station to the second station; S400, controlling the carrier mechanism (500) to transfer the carrier (100) to the second transfer mechanism (300), and controlling the second transfer mechanism (300) to transfer the carrier (100).

20. The material transfer method according to claim 19, wherein in the step S200, the handling robot (700) grabs the material (10) on the positioning carrier (600) and loads it onto the carrier mechanism (500), comprising the following steps: S210, controlling a first identification device (550) to identify a first mark on the object carrier (100) on the carrier mechanism (500) to determine the number and specifications of loading positions on the object carrier (100); S220, controlling the second identification device (680) to identify the second mark on the material (10) on the positioning carrier (600) to determine the specification of the material (10); S230, controlling the transport robot (700) to grab the material (10) and load it onto a loading position of a corresponding specification on the carrier (100).

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