Conveying line and material conveying positioning method thereof, storage medium and computer equipment

Abstract

The invention discloses a conveying line and a material conveying positioning method thereof, a storage medium and computer equipment. The material conveying and positioning method of the conveying line comprises the steps that the conveying line is driven to convey a set of materials at a first speed in the first direction to move forwards by a certain distance and then stop, the set of materials are conveyed to a plurality of second conveying modules from a first conveying module, and all the materials are located on the corresponding second conveying modules; the clamping assemblies on the second conveying modules are driven to clamp and position the corresponding materials in the second direction, and the second direction is perpendicular to the first direction; driving each second conveying module to continuously convey a group of materials along the first direction at a second speed, wherein the second speed is smaller than the first speed; and the position sensors are triggered in response to the materials on the second conveying modules, and the second conveying modules continue to run by the first compensation distance. In this way, the material conveying and positioning method of the conveying line can greatly improve the position precision of the materials.

Description

Technical Field

[0001] The present application relates to the technical field of material conveying and positioning, and in particular to a conveying line and a material conveying and positioning method thereof, a storage medium and a computer device. Background Art

[0002] In the current sheet material transmission process, especially in the technical field of solar cell processing, material transmission is usually carried out by transmission belts. After the material is transmitted to a certain position, it is transmitted to the processing position through transfer modules such as robots.

[0003] With the improvement of processing accuracy requirements, such as the laser processing of BC batteries, the processing accuracy requirements are very high. However, the conveying module for conveying materials itself has height errors and parallel errors of the left and right belts (which can be adjusted by clamping the angle direction); there are also errors in the gap spacing between the conveying modules; the friction between the sheet material and the conveying module is not stable enough. Due to the existence of the above three types of influencing factors, the position accuracy of the sheet material after being conveyed to a certain position on the conveying module will be poor, which will lead to poor position accuracy of the sheet material when it is conveyed to the processing position through the transfer module such as the robot, affecting the subsequent processing accuracy.

[0004] Alternatively, before the robot transfers the material to the processing position, the robot can transfer the material to the correction table for four-side centering and then transfer the positioned material to the processing position to ensure processing accuracy. However, this solution increases the number of workstations and also affects the production capacity of the equipment. Summary of the invention

[0005] The present application mainly provides a conveyor line and a material conveying positioning method thereof, a storage medium and a computer device to solve the problem that the position accuracy of materials on the conveyor line is not high enough.

[0006] In order to solve the above technical problems, a technical solution adopted by the present application is: to provide a material conveying and positioning method for a conveyor line. The material conveying and positioning method for a conveyor line comprises: driving the conveyor line to convey a group of materials at a first speed along a first direction to move forward for a distance and then stop, so as to convey the group of materials from a first conveying module to a plurality of second conveying modules, and each of the materials is respectively located on a corresponding second conveying module; wherein the conveyor line comprises at least one first conveying module and a plurality of second conveying modules arranged in sequence along the first direction, the second conveying module comprises a belt conveying mechanism and a position sensor fixed on the belt conveying mechanism, and a clamping assembly arranged on the belt conveying mechanism; driving the clamping assembly on each of the second conveying modules to clamp and position the corresponding material along a second direction, the second direction being perpendicular to the first direction; driving each of the second conveying modules to continue conveying the group of materials along the first direction at a second speed, the second speed being less than the first speed; in response to the triggering of the position sensor by the material on each of the second conveying modules, each of the second conveying modules continues to run a first compensation distance.

[0007] In some embodiments, the first compensation distance is smaller than a difference between a length of the second conveying module along the first direction and a length of the material along the first direction.

[0008] In some embodiments, driving the conveyor line to convey a group of materials at a first speed along a first direction to move forward for a certain distance and then stop includes:

[0009] driving the first conveying module and each of the second conveying modules to convey the group of materials along the first direction at the first speed;

[0010] In response to the head end of each material triggering the corresponding position sensor in the second conveying module, the corresponding second conveying module continues to run a second compensation distance, which is greater than the first compensation distance and less than the length of the material along the first direction.

[0011] In some embodiments, driving each of the first conveying modules and each of the second conveying modules to convey the group of materials along the first direction at the first speed includes:

[0012] driving the first conveying module and the first upstream second conveying module to operate at the first speed;

[0013] In response to the leading end of the first material in the group of materials triggering the position sensor on the current second conveying module, the next second conveying module is started and runs at the first speed.

[0014] In some embodiments, the step of driving the clamping assembly on each of the second conveying modules to clamp and position the corresponding material along the second direction includes:

[0015] In response to each of the second conveying modules starting to run at the first speed for a preset first period of time, the clamping components on each of the second conveying modules are started and the corresponding materials are clamped along the second direction, wherein the clamping components move to a preset position and contact the corresponding materials after the belt conveying mechanism of each of the second conveying modules stops, and the speed drops to zero.

[0016] In some embodiments, driving each of the second conveying modules to continue conveying the group of materials along the first direction at a second speed includes:

[0017] In response to each of the clamping assemblies starting to reset after a preset second time period, each of the second conveying modules is started to continue conveying the group of materials along the first direction at a second speed.

[0018] In some embodiments, the number of the position sensor in the second transmission module is one;

[0019] In response to the material on each of the second conveying modules triggering the position sensor, each of the second conveying modules continues to run the first compensation distance, including:

[0020] In response to the tail end of the material on each second conveying module triggering the position sensor, the corresponding second conveying module continues to run the first compensation distance.

[0021] In order to solve the above technical problems, another technical solution adopted by the present application is to provide a storage medium having program data stored thereon, and when the program data is executed by a processor, the steps of the material transmission positioning method of the transmission line as described above are implemented.

[0022] To solve the above technical problems, another technical solution adopted by the present application is to provide a computer device. The computer device includes a processor and a memory connected to each other, the memory stores a computer program, and when the processor executes the computer program, the steps of the material transmission positioning method of the transmission line are implemented.

[0023] To solve the above technical problems, another technical solution adopted by the present application is to provide a transmission line, which includes a plurality of first transmission modules and a plurality of second transmission modules arranged in sequence along a first direction, and a computer device as described above, wherein the computer device is communicatively connected with each of the first transmission modules and each of the second transmission modules.

[0024] The beneficial effects of the present application are as follows: Different from the prior art, the present application discloses a conveyor line and a material conveying and positioning method, a storage medium and a computer device thereof. The material transport process along the first direction is divided into a first stage of high-speed operation at a first speed and a second stage of low-speed operation at a second speed, and the clamping assembly is driven between the first stage and the second stage to complete the clamping and positioning of the material in the second direction, wherein in the second stage, when each material triggers the position sensor on the corresponding second conveying module respectively, the corresponding second conveying module continues to run the first compensation distance, firstly, the low-speed operation can eliminate the position accuracy difference caused by the unstable friction condition, and secondly, by running the first compensation distance of a fixed length on the second conveying module, the gap spacing error between the conveying modules can be ignored, so that the material at the second speed can avoid slipping relative to the second conveying module, so that each material can run to the preset position of the distance position sensor and stop, so that the position accuracy of each material is high and consistent, wherein the clamping assembly can align the material in the second direction by centering the material, so that the position accuracy of a group of materials in the first direction and the second direction can be greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0026] Figure 1 It is a structural schematic diagram of an embodiment of a transmission line provided by the present application;

[0027] Figure 2 It is a flow chart of an embodiment of a material conveying and positioning method for a conveying line provided by the present application;

[0028] Figure 3 yes Figure 1 The transmission line shown is Figure 2 The schematic diagram of the states of each stage when the material transfer positioning method is running is shown;

[0029] Figure 4 yes Figure 2 A schematic flow chart of an embodiment of step 10 in the material transfer positioning method shown;

[0030] Figure 5 yes Figure 4 The flowchart of step 11 in the embodiment shown is as follows;

[0031] Figure 6 It is a structural schematic diagram of an embodiment of the storage medium provided by the present application;

[0032] Figure 7 It is a structural schematic diagram of an embodiment of a computer device provided by the present application. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] The terms "first", "second", "third" in the embodiments of the present application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second", "third" can expressly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0035] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] When the laser processing precision of solar cell wafers / silicon wafers, such as BC solar cell wafers, is very high, transferring them from the conveyor belt to the correction platform and then to the processing table will increase the workstations and the correction and transfer time. The conveyor belt itself has poor transmission position accuracy, which leads to poor position accuracy of the sheet material being transferred to the processing position by the transfer module such as the robot, affecting the subsequent processing precision.

[0037] The present invention aims to solve the problems of the prior art and provides a conveyor line and a material conveying positioning method, a storage medium and a computer device thereof. Through conveying speed, two first direction position compensations, and second direction positioning between the two first direction positions, the positioning of the silicon wafer is decomposed and completed during the conveying process, and the positioning accuracy is guaranteed on the basis of ensuring the conveying speed.

[0038] See also Figure 1 , Figure 1 It is a structural schematic diagram of an embodiment of a transmission line provided by the present application.

[0039] The conveyor line 100 includes at least one first conveyor module 10 and multiple second conveyor modules 20 arranged in sequence along a first direction A, and a computer device 30 that is communicatively connected to the first conveyor module 10 and each second conveyor module 20. The computer device 30 is used to control the first conveyor module 10 and each second conveyor module 20 to execute a material conveying positioning method to improve the positioning accuracy of the material on the conveyor line 100.

[0040] The first conveying module 10 includes a first belt conveyor mechanism 12; the second conveying module 20 includes a second belt conveyor mechanism 22 and a position sensor 24 fixed on the second belt conveyor mechanism 22, and a clamping assembly 26 arranged on the second belt conveyor mechanism 22, the position sensor 24 is used to detect the material position on the second belt conveyor mechanism 22, and the clamping assembly 26 is used to center and clamp the material on the second belt conveyor mechanism 22; each first belt conveyor mechanism 12 and each second belt conveyor mechanism 22 are arranged in sequence along the first direction A, and the material is conveyed on the first belt conveyor mechanism 12 and the second belt conveyor mechanism 22.

[0041] The conveyor line 100 is used to simultaneously transport at least one group of materials, wherein a group of materials includes at least two materials arranged along a first direction A, wherein the number of second conveyor modules 20 in the conveyor line 100 is equal to the number of materials in a group of materials.

[0042] For example, the number of the second conveying modules 20 in the conveying line 100 is 2, and a corresponding group of materials includes 2 materials; or the number of the second conveying modules 20 in the conveying line 100 is 3, and a corresponding group of materials includes 3 materials.

[0043] The number of the first conveying modules 10 may be equal to the number of the second conveying modules 20 , or the number of the first conveying modules 10 may be more or less than the number of the second conveying modules 20 . The first conveying modules 10 in the conveying line 100 may be used to convey at least one group of materials.

[0044] For example, the belt length of the first belt conveyor mechanism 12 can be set to be longer so that it can carry multiple groups of materials at the same time, and the number of first conveyor modules 10 can be set to one; or, the first belt conveyor mechanism 12 can only carry one of a group of materials at a time, and the number of first conveyor modules 10 can be set to multiple.

[0045] After a group of materials are conveyed to a preset position via the conveyor line 100 , they can be taken away together by the robot arm, wherein the position accuracy of each material at the preset position will affect the picking efficiency of the robot arm and the subsequent processing accuracy.

[0046] The material may be a battery cell or a silicon wafer.

[0047] In this embodiment, a material is a silicon wafer, a group of materials includes two silicon wafers, and the number of the second conveying modules 20 is two as an example to illustrate a material conveying positioning method of a conveying line 100 provided by the present application.

[0048] Specifically, see Figure 2 , Figure 2 1 is a flow chart of an embodiment of a material conveying and positioning method for a conveyor line provided by the present application. The material conveying and positioning method for a conveyor line 100 includes:

[0049] Step 10: Drive the conveyor line to convey a group of materials at a first speed along a first direction to move forward for a certain distance and then stop, so as to convey a group of materials from the first conveyor module to a plurality of second conveyor modules, and each material is located on a corresponding second conveyor module.

[0050] It should be noted that the first speed is the speed of conveying the silicon wafer, and the first speed can be understood as the average speed of conveying the silicon wafer for a certain distance, which includes acceleration, uniform speed and deceleration stages.

[0051] Combined with reference Figure 1 and Figure 3 In the first step, initially, a group of silicon wafers are placed on a plurality of first conveying modules 10, and each second conveying module 20 is empty without silicon wafers placed thereon, or the corresponding silicon wafers have been taken away.

[0052] Combined with reference Figure 1 and Figure 3 From the first step to the third step, the conveyor line 100 conveys a group of silicon wafers at a first speed along a first direction A, moves forward a certain distance and then stops, so that a group of silicon wafers are conveyed to the section of the second conveyor module 20, and each second conveyor module 20 corresponds to a silicon wafer. For example, in this embodiment, two silicon wafers are conveyed to two second conveyor modules 20, and the silicon wafers and the second conveyor modules 20 correspond one to one.

[0053] In this embodiment, the silicon wafer also covers the position sensor 24 on the corresponding second transmission module 20 , that is, the position sensor 24 is located under the silicon wafer and relatively between the head end and the tail end of the silicon wafer.

[0054] In other embodiments, the silicon wafer may not cover the position sensor 24 on the second conveying module 20, that is, there is a distance between the head end of the silicon wafer and the position sensor 24 in the first direction A. For example, the position sensor 24 is disposed in the middle of the second belt conveyor mechanism 22, and the silicon wafer is located on the second belt conveyor mechanism 22 before the first stop and does not trigger the position sensor 24. In the subsequent conveying process, when the material on each second conveying module 20 triggers the corresponding position sensor 24, the corresponding second conveying module 20 can continue to run the first compensation distance.

[0055] Generally speaking, the conveyor line 100 is loaded with materials using an automated machine, so the position of the silicon wafer on the corresponding first conveyor module 10 is basically fixed after loading. Some disturbances caused by the automated machine or the conveyor line 100 itself may cause some position or posture deviations of the silicon wafer, which will not affect the subsequent transmission accuracy.

[0056] Therefore, the distance for transferring a group of silicon wafers from each first transfer module 10 to each second transfer module 20 can be roughly determined, and thus the distance for which the transfer line 100 transfers a group of silicon wafers forward at a first speed along a first direction A can be preset. When a group of silicon wafers moves forward this distance and stops moving, the group of silicon wafers are all transferred to the section of the second transfer module 20, that is, there is no need to detect the trigger signal of the position sensor 24 during this process.

[0057] In this embodiment, refer to Figure 4 , Figure 4 yes Figure 2 The schematic diagram of the flow chart of step 10 in the material transfer positioning method is shown in FIG. 1 , and step 10 specifically includes:

[0058] Step 11: Drive the first conveying module and each second conveying module to convey a group of materials along a first direction at a first speed.

[0059] In this embodiment, there are multiple first transmission modules 10 .

[0060] In the transmission line 100, each first transmission module 10 and each second transmission module 20 can transmit a group of silicon wafers at a first speed along a first direction A, that is, each first transmission module 10 and each second transmission module 20 operate at the same first speed, so that each silicon wafer can be transmitted from the first transmission module 10 to the second transmission module 20 and between the second transmission modules 20.

[0061] Alternatively, initially, each first transmission module 10 and the first second transmission module 20 close to the first transmission module 10 run at the first speed at the same time, and each second transmission module 20 after the first second transmission module 20 is started in turn and runs at the first speed, that is, each second transmission module 20 starts running on demand and remains in standby mode when not needed, which can relatively save more energy.

[0062] In this embodiment, refer to Figure 5 , Figure 5 yes Figure 4 The flowchart of step 11 of the embodiment shown in the figure, step 11 specifically includes:

[0063] Step 111: Drive the first transmission module and the first upstream second transmission module to operate at a first speed.

[0064] See also Figure 3 In the first step, initially, a group of silicon wafers are placed on a plurality of first conveying modules 10, and each second conveying module 20 is empty without placing any silicon wafers; Figure 3 In the second step, when starting the operation, each first transfer module 10 and the first upstream second transfer module 20 are driven to operate at a first speed, so as to transfer the silicon wafer from the first transfer module 10 to the first second transfer module 20, and the remaining second transfer modules 20 remain in a standby state without starting the operation.

[0065] Step 112: In response to the leading end of the first material in a group of materials triggering the position sensor on the current second conveying module, the next second conveying module is started and runs at the first speed.

[0066] Each second conveying module 20 is provided with a position sensor 24, and the position sensor 24 can be arranged on the second belt mechanism 22 within a range of one fifth to one quarter near the first conveying module 10. In other words, the length of the second belt mechanism 22 along the first direction A is divided into 20 equal points, wherein the position sensor 24 is located between the fourth and fifth equal points.

[0067] Continue reading Figure 3 In the second step, in this embodiment, the leading end of the first silicon wafer in a group of silicon wafers along the first direction A triggers the position sensor 24 of the first second transfer module 20, that is, in response to the condition that the leading silicon wafer first triggers the position sensor 24 of the first second transfer module 20, the adjacent second second transfer module 20 is started and runs at the first speed. Before the silicon wafer is transferred to the second second transfer module 20, the second second transfer module 20 reaches the same first speed as the first second transfer module 20, thereby facilitating the transfer of the silicon wafer from the first second transfer module 20 to the second second transfer module 20.

[0068] In other embodiments, for example, when the number of the second transmission modules 20 is 3, 4 or 6, the second transmission modules 20 after the first second transmission module 20 can be started and operated one by one. By starting each second transmission module 20 one by one as needed, effective energy saving can be achieved.

[0069] Step 12: In response to the head end of each material triggering the position sensor in the corresponding second conveying module, the corresponding second conveying module continues to run the second compensation distance.

[0070] In general, in the above step 11, the first conveying module 10 and the second conveying module 20 convey a group of materials forward a first fixed distance at a first speed along a first direction A. During the process of running the first fixed distance, when the head end of each silicon wafer triggers the position sensor 24 in the corresponding second conveying module 20, the corresponding second conveying module 20 continues to run the second compensation distance.

[0071] In other words, the first fixed distance is the maximum distance in this stage. When the front end of the silicon wafer triggers the corresponding position sensor 24, the distance of its movement must not exceed the first fixed distance. The first fixed distance can be determined based on actual working conditions and can be set to a fixed value.

[0072] See also Figure 3 From the second step to the third step in the embodiment, a group of silicon wafers includes two silicon wafers distributed along the first direction A, and the number of the second conveying modules 20 is also two. Among them, the frontmost silicon wafer of the two silicon wafers corresponds to the downstream second conveying module 20, and the last silicon wafer corresponds to the upstream second conveying module 20, wherein the head end of the frontmost silicon wafer triggers the position sensor 24 in the downstream second conveying module 20, and the downstream second conveying module 20 continues to run the second compensation distance; the head end of the last silicon wafer triggers the position sensor 24 in the upstream second conveying module 20, and the upstream second conveying module 20 continues to run the second compensation distance, so that each silicon wafer is respectively located between the clamping components 26 of the corresponding second conveying module 20, so as to perform the subsequent clamping and positioning of the corresponding material in the second direction B, at this time, each silicon wafer covers the position sensor 24 on the corresponding second conveying module 20, and the second compensation distance is less than the length of the silicon wafer along the first direction A, which can prevent the silicon wafer from continuing to move forward too long and directly passing over the position sensor 24.

[0073] It can be seen that even if there is a position error in the distance between two adjacent silicon wafers in each group of silicon wafers, resulting in differences in the time points when the head end of each silicon wafer triggers the corresponding position sensor 24, as long as the head end of the silicon wafer triggers the corresponding position sensor 24, the corresponding second belt conveyor mechanism 22 starts to run the second compensation distance and stops immediately after running the second compensation distance, thereby completing the initial positioning of each silicon wafer in the first direction A, and can be adjusted to make the distance between two adjacent silicon wafers more consistent.

[0074] Specifically, the silicon wafers continue to move forward for the second compensation distance and then stop, and each silicon wafer is completely located on the second belt conveyor mechanism 22 of the corresponding second conveying module 20. Figure 3 In the third step, each silicon wafer corresponds to each second transmission module 20 one by one, and each silicon wafer covers the corresponding position sensor 24.

[0075] The second compensation distance is a fixed value, which can be determined by the length of the silicon wafer, the length of the second belt conveyor mechanism 22 and the setting position of the position sensor 24. It only needs to be able to be completely located in the second belt conveyor mechanism 22 and cover the corresponding position sensor 24 after the silicon wafer continues to run the second compensation distance.

[0076] For example, the length of the second belt conveyor 22 is 250 mm, the spacing between adjacent first belt conveyor 12 and second belt conveyor 22 and the spacing between two adjacent second belt conveyor 22 are both 20 mm, the length of the silicon wafer is 200 mm, and the position sensor 24 is arranged at one fifth of the second belt conveyor 22. The second compensation distance can be set within the range of 160 mm to 180 mm. For example, the second compensation distance can be specifically 160 mm, 170 mm or 180 mm.

[0077] Since the approximate position of a group of silicon wafers placed on each first conveying module 10 is determined, and the spacing error between adjacent silicon wafers is several millimeters, the second compensation distance is two orders of magnitude greater than the spacing error, so after the trigger signal is passed, they all continue to move forward by the second compensation distance to enable each silicon wafer to be located between the clamping components 26 of the corresponding second conveying module 20 and cover the corresponding position sensor 24. The position sensor 24 can be a proximity switch capacitive sensor or a photoelectric switch sensor.

[0078] In other embodiments, the trigger signal between one of the materials and the position sensor 24 on the corresponding second conveying module 20 can be collected to control the group of materials to continue to run the second compensation distance by each second conveying module 20 at the same time.

[0079] In the present embodiment, each silicon wafer is triggered one by one with the corresponding position sensor 24 on the second transmission module 20, and the second compensation distance is respectively run. Relatively speaking, initial positioning can be performed in the first direction A in this step, and the position accuracy of each silicon wafer in the first direction A can be preliminarily corrected. In addition, the second compensation distance can ensure that each silicon wafer does not separate from the corresponding position sensor 24 at this stage. This position can be used as a clamping positioning position in the second direction B, and can also provide a good position accuracy basis for subsequent secondary fine positioning in the first direction A.

[0080] In this step, the silicon wafer completes the preliminary positioning along the first direction A on the second conveying module 20 at a relatively high conveying speed, and is located at a position corresponding to the clamping assembly 26 and covers the corresponding position sensor 24 .

[0081] Step 20: Drive the clamping components on each second conveying module to clamp and position the corresponding material along a second direction, where the second direction is a direction on the conveying surface that is perpendicular to the first direction.

[0082] In step 10, the silicon wafer trigger signal continues to move forward for a second compensation distance and then stops. When the silicon wafer is stationary, the silicon wafer can be centered and clamped to correct the position accuracy of the silicon wafer in the second direction B, thereby aligning each silicon wafer in a group of silicon wafers in the second direction B.

[0083] See also Figure 1 The clamping assembly 26 includes two clamping members 262 arranged on both sides of the second belt conveyor mechanism 22 along the second direction B. The two clamping members 262 are provided with a plurality of rollers arranged along the first direction A. The rollers are used to contact the silicon wafer during centering clamping. Therefore, even if the clamping assembly 26 contacts the moving silicon wafer in advance or fails to fall off the moving silicon wafer in time, the design of its rollers can greatly reduce the damage to the silicon wafer.

[0084] Optionally, after each second belt conveyor mechanism 22 stops running, the clamping assembly 26 starts to center and clamp the corresponding silicon wafer.

[0085] In this embodiment, refer to Figure 3 In the third and fourth steps, when the silicon wafer stops, that is, when its speed is just zero, the clamping assembly 26 is also close to contacting the silicon wafer, and in a very short time the speed of each clamping member 262 drops to zero and the silicon wafer is clamped and positioned in the center, thereby greatly improving the correction efficiency in the second direction B, saving the time for the silicon wafer to stop and wait, and quickly completing the alignment in the second direction B.

[0086] In other words, the clamping assembly 26 is started before the second belt conveyor mechanism 22 stops, and runs simultaneously with the second belt conveyor mechanism 22, wherein the clamping assembly 26 stops when it moves to a preset position, at which time the centering clamping positioning is completed, and then it is immediately reset to disengage from the contact with the silicon wafer.

[0087] In this embodiment, step 20 specifically includes: in response to each second conveying module 20 starting to run at a first speed for a preset first period of time, starting the clamping assembly 26 on each second conveying module 20 and clamping the corresponding material along the second direction B, wherein the clamping assembly 26 moves to a preset position and contacts the corresponding material after the belt conveying mechanism of each second conveying module 20 stops, and the speed drops to zero.

[0088] That is, after the second belt conveyor mechanism 22 of the last second conveying module 20 starts running for the preset first period of time, each clamping assembly 26 also starts running. At this time, each silicon wafer is still running forward at the first speed. After each silicon wafer runs the second compensation distance and stops, the clamping assembly 26 also moves to the preset position to complete the centering clamping positioning, and the speed drops to zero.

[0089] For example, after each second conveying module 20 starts to operate at the first speed for a preset first time period, the first speed begins to enter a deceleration phase, and each clamping assembly 26 starts to operate.

[0090] The setting of the first duration can be specifically considered and set based on the movement capabilities of the holding components 26 and the movement capabilities of the second belt conveyor mechanism 22. It should be noted that each clamping component 26 is started before the second belt conveyor mechanism 22 stops, thereby effectively shortening the pause time of the silicon wafer.

[0091] Optionally, the start signal of the clamping assembly 26 can also be the same signal as the signal for running the second compensation distance, that is, when the second belt conveyor mechanism 22 starts to run the second compensation distance, the clamping assembly 26 is also started and clamps the corresponding silicon wafer along the second direction B, wherein the clamping assembly 26 moves to a preset position and contacts the corresponding material after the belt conveyor mechanism of each second conveying module 20 stops, and the speed drops to zero.

[0092] For example, within 10ms to 20ms after the second belt conveyor 22 stops, that is, the first time length is 10ms to 20ms, the clamping assembly 26 moves to the preset position and contacts the corresponding silicon wafer, thereby completing the clamping positioning, and then immediately starts to reset.

[0093] Through the above method, the centering, clamping and positioning of each silicon wafer can be completed in a very short time after the silicon wafers are just stopped, which can greatly improve the operation efficiency of the conveyor line 100.

[0094] In this step, while the silicon wafer completes the positioning in the second direction B (ie, the position offset in the second direction B relative to the conveying module), the angle deviation of the silicon wafer (ie, the angle of the silicon wafer relative to the conveying module) is also corrected.

[0095] Step 30: Drive each second conveying module to continue conveying a group of materials along the first direction at a second speed, where the second speed is lower than the first speed.

[0096] See also Figure 3 In the fifth step, after completing the clamping positioning, the clamping assembly 26 starts to reset and disengage from the silicon wafer, and the second belt conveying mechanism of the second conveying module 20 starts and runs at a second speed, wherein the second speed is less than the first speed.

[0097] Relatively speaking, the first speed is a high speed and the second speed is a low speed. The high speed is set in the first stage of transmission to improve the operating efficiency, and the low speed is set in the second stage of transmission to improve the conveying position accuracy. This can improve both the operating efficiency of the conveyor line 100 and the position accuracy of the material thereon.

[0098] Optionally, the first speed is set within the range of 1000-1300 mm / min, and the second speed is set within the range of 100-150 mm / min. For example, the first speed is 1000 mm / min, and the second speed is 100 mm / min.

[0099] By starting the second stage of transmission at a low speed, the problem of insufficient positioning accuracy due to unstable friction between the silicon wafer and the transmission module (the belt transmission mechanism in this embodiment) can be effectively reduced. At the second speed specified in this embodiment, the silicon wafer will not slide relative to the belt and can effectively follow the movement of the belt.

[0100] In this embodiment, step 30 specifically includes: in response to each clamping assembly 26 starting to reset for a preset second time period, starting the second belt conveying mechanism 22 of each second conveying module 20 to continue conveying the group of materials along the first direction A at a second speed.

[0101] That is, the clamping assembly 26 starts to reset immediately after it stops at the preset position, and after the preset second time period of its reset, each second belt conveyor mechanism 22 starts to continue to convey the group of silicon wafers along the first direction at the second speed. From the perspective of the second belt conveyor mechanism 22, the second belt conveyor mechanism 22 stops for a very short time after running the second compensation distance, and then immediately starts to run at the second speed. The pause time is very short, which is equivalent to eliminating the waiting time, and can be started again immediately, which greatly improves the operation efficiency.

[0102] The second time length can be 10ms to 20ms. Therefore, overall, the second belt conveyor mechanism 22 only needs to pause for 20ms to 40ms during the process, and can start running at the second speed. The pause time is extremely short, which greatly improves the operating efficiency.

[0103] Step 40: In response to the material on each second conveying module triggering the position sensor thereon, each second conveying module continues to run the first compensation distance.

[0104] In this embodiment, the number of position sensors 24 in each second transmission module 20 is one, that is, the triggering compensation of the second compensation distance and the first compensation distance can be controlled by one position sensor 24. In step 10, when the head end of each material triggers the position sensor 24 on the corresponding second transmission module 20, the corresponding second transmission module 20 continues to run the second compensation distance, so that each material is covered on the corresponding position sensor 24; in step 40, when the tail end of each material is separated from the position sensor 24, the detection signal of the position sensor 24 also undergoes a high-low level transition, that is, "the tail end of the material triggers the position sensor 24" referred to in this article, so that by collecting the transition of this level signal, each second transmission module 20 can be instructed to continue running the first compensation distance.

[0105] In this embodiment, step 40 specifically includes: in response to the tail end of the material on each second conveying module 20 triggering the position sensor 24, the corresponding second conveying module 20 continues to run the first compensation distance.

[0106] In step 40, each second conveying module 20 simultaneously conveys the group of materials forward a second fixed distance at a second speed along the first direction A. During the process of running the second fixed distance, when the tail end of each silicon wafer detaches from the position sensor 24 in the corresponding second conveying module 20, the corresponding second conveying module 20 continues to run the first compensation distance.

[0107] In other words, the second fixed length distance is the maximum distance in this stage. When the tail end of the silicon wafer leaves the corresponding position sensor 24, the distance it moves must not exceed the second fixed length distance. The second fixed length distance can be determined based on actual working conditions and can be set to a fixed value.

[0108] In this embodiment, refer to Figure 3In the fifth and sixth steps, when each second belt conveyor 22 starts to run at the second speed, the corresponding silicon wafer thereon still covers the corresponding position sensor 24, and due to the difference in the position of each silicon wafer on the corresponding second belt conveyor 22, the time point when the tail end of each silicon wafer triggers the position sensor 24 is also different. Once the tail end of the silicon wafer triggers the position sensor 24, the corresponding second belt conveyor 22 starts to run the first compensation distance and stops after running the first compensation distance. Through this setting, the position of each silicon wafer on the second belt conveyor 22 relative to the position sensor 24 is the same, thereby ensuring that each silicon wafer can move to the preset position to improve its position accuracy on the conveyor line 100.

[0109] Specifically, the first compensation distance is smaller than the second compensation distance, and the first compensation distance is smaller than the difference between the length of the second belt conveyor mechanism 22 of the second conveying module 20 along the first direction A and the length of the material along the first direction A, so that the material is still on the second belt conveyor mechanism 22 after running the first compensation distance.

[0110] Furthermore, when each second conveying module 20 continues to convey a group of materials along the first direction A at the second speed, each first conveying module 10 pauses moving, thereby saving energy and avoiding interference with the second conveying module 20 when conveying and positioning materials.

[0111] After each silicon wafer has run the first compensation distance, the position accuracy of the silicon wafer on the second belt conveyor mechanism 22 is greatly improved, which is convenient for improving the subsequent picking efficiency and processing efficiency of the robot.

[0112] like Figure 3 As shown, when the sixth step is completed, the robot will pick up the silicon wafers on each second conveying module 20, so that each second conveying module 20 is empty, and then the state of the conveying line 100 returns to the state of the first step, and will continue to cyclically convey and position the silicon wafers.

[0113] The present invention uses the same sensor to trigger when the silicon wafer runs the first compensation distance and the second compensation distance. As mentioned above, when the head end of the material triggers the corresponding position sensor 24, the second compensation distance is compensated, and when the tail end of the material triggers the corresponding position sensor 24, the first compensation distance is compensated, which can ensure the consistency of the control of the second compensation distance and the first compensation distance on each second belt conveyor mechanism 22. In addition, in some other embodiments, when the silicon wafer runs the second compensation distance and the first compensation distance, multiple sensors can also be used to trigger, for example, two sensors are arranged at intervals on each second belt conveyor mechanism, the head end of the silicon wafer triggers the first position sensor 24 to compensate for the second compensation distance, and the head end of the silicon wafer triggers the second position sensor 24 to compensate for the first compensation distance.

[0114] By using the aforementioned position sensor 24 as a trigger, electromagnetic interference of other devices on the second belt conveyor mechanism 22, such as a robot, on the position sensor 24 can be avoided, and material costs can be saved more. High-precision positioning of the material during transmission on the transmission line 100 can be achieved in a relatively low-cost manner.

[0115] The technical solution of the above-mentioned embodiment of the present invention enables the silicon wafer to complete preliminary positioning in the first direction A at a high transmission speed through step 10, providing a basis for positioning in the second direction B. After step 20, the positioning in the second direction B is completed. In this step, the deviation of the silicon wafer in the angular direction is also corrected, providing a basis for further precise positioning of the silicon wafer in the first direction A (when the silicon wafer leaves the sensor, there will be no deviation in the compensation position due to angular offset). After steps 30 and 40, the silicon wafer completes precise positioning in the first direction A at a low transmission speed.

[0116] See also Figure 6 , Figure 6 It is a structural diagram of an embodiment of the storage medium provided by the present application.

[0117] The storage medium 40 stores program data 41. When the program data 41 is executed by the processor, the following is achieved: Figure 1 The steps of the material transfer positioning method of the transmission line 100 are described.

[0118] The program data 41 is stored in a storage medium 40, and includes a number of instructions for enabling a network device (such as a router, a personal computer, a server, or other network device) or a processor to execute all or part of the steps of the method described in each embodiment of the present application.

[0119] Optionally, the storage medium 40 may be a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, or other medium that can store the program data 41 .

[0120] See also Figure 7 , Figure 7 It is a structural schematic diagram of an embodiment of a computer device provided by the present application.

[0121] The computer device 30 includes a memory 31 and a processor 32 which are connected to each other. The memory 31 stores a computer program. When the processor 32 executes the computer program, the steps of the material transfer positioning method of the transmission line 100 are implemented.

[0122] Different from the prior art, the present application discloses a conveyor line and a material conveying and positioning method, a storage medium and a computer device thereof. The material transport process along the first direction is divided into a first stage of high-speed operation at a first speed and a second stage of low-speed operation at a second speed, and the clamping assembly is driven between the first stage and the second stage to complete the clamping and positioning of the material in the second direction, wherein in the second stage, when each material triggers the position sensor on the corresponding second conveying module respectively, the corresponding second conveying module continues to run the first compensation distance, firstly, the low-speed operation can eliminate the position accuracy difference caused by the unstable friction condition, and secondly, by running the first compensation distance of a fixed length on the second conveying module, the gap spacing error between the conveying modules can be ignored, so that the material can avoid slipping relative to the second conveying module at the second speed, so that each material can run to the preset position of the distance position sensor and stop, so that the position accuracy of each material is high and consistent, wherein the clamping assembly can align the material in the second direction by centering the material, so that the position accuracy of a group of materials in the first direction and the second direction can be greatly improved.

[0123] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the storage medium embodiment and the electronic device embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0124] The present application can be used in many general or special computing system environments or configurations, such as personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0125] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only illustrative, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0126] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0127] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0128] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A material conveying positioning method for a conveying line, characterized in that: include: The conveyor line is driven to convey a group of materials at a first speed along a first direction to move forward for a certain distance and then stop, so as to convey the group of materials from the first conveyor module to a plurality of second conveyor modules, and each of the materials is respectively located on a corresponding second conveyor module; wherein the conveyor line comprises at least one of the first conveyor modules and the plurality of second conveyor modules sequentially arranged along the first direction, and the second conveyor module comprises a belt conveyor mechanism and a position sensor fixed on the belt conveyor mechanism, and a clamping assembly arranged on the belt conveyor mechanism; Driving the clamping components on each of the second conveying modules to clamp and position the corresponding material along a second direction, wherein the second direction is perpendicular to the first direction; driving each of the second conveying modules to continue conveying the group of materials along the first direction at a second speed, wherein the second speed is less than the first speed; In response to the material on each of the second conveying modules triggering the position sensor, each of the second conveying modules continues to run the first compensation distance.

2. The material transfer positioning method of the transmission line according to claim 1, characterized in that: The first compensation distance is smaller than a difference between a length of the second conveying module along the first direction and a length of the material along the first direction.

3. The material transfer positioning method of the transmission line according to claim 1, characterized in that: The driving of the conveyor line to convey a group of materials at a first speed along a first direction to move forward a certain distance and then stop comprises: driving the first conveying module and each of the second conveying modules to convey the group of materials along the first direction at the first speed; In response to the head end of each material triggering the corresponding position sensor in the second conveying module, the corresponding second conveying module continues to run a second compensation distance, which is greater than the first compensation distance and less than the length of the material along the first direction.

4. The material transfer positioning method of the transmission line according to claim 3, characterized in that: The driving of each of the first conveying modules and each of the second conveying modules to convey the group of materials along the first direction at the first speed comprises: driving the first conveying module and the first upstream second conveying module to operate at the first speed; In response to the leading end of the first material in the group of materials triggering the position sensor on the current second conveying module, the next second conveying module is started and runs at the first speed.

5. The material transfer positioning method of the transmission line according to claim 4, characterized in that: The step of driving the clamping components on each of the second conveying modules to clamp and position the corresponding material along the second direction comprises: In response to each of the second conveying modules starting to run at the first speed for a preset first period of time, the clamping components on each of the second conveying modules are started and the corresponding materials are clamped along the second direction, wherein the clamping components move to a preset position and contact the corresponding materials after the belt conveying mechanism of each of the second conveying modules stops, and the speed drops to zero.

6. The material transfer positioning method of a transmission line according to claim 5, characterized in that: The step of driving each of the second conveying modules to continue conveying the group of materials along the first direction at a second speed comprises: In response to each of the clamping assemblies starting to reset after a preset second time period, each of the second conveying modules is started to continue conveying the group of materials along the first direction at a second speed.

7. The material transfer positioning method of a transmission line according to claim 3, characterized in that: The number of the position sensor in the second transmission module is one; In response to the material on each of the second conveying modules triggering the position sensor, each of the second conveying modules continues to run the first compensation distance, including: In response to the tail end of the material on each second conveying module triggering the position sensor, the corresponding second conveying module continues to run the first compensation distance.

8. A storage medium having program data stored thereon, characterized in that: When the program data is executed by a processor, the steps of the material transfer positioning method for a transmission line as described in any one of claims 1-7 are implemented.

9. A computer device, characterized in that: It comprises a processor and a memory connected to each other, the memory stores a computer program, and when the processor executes the computer program, the steps of the material transfer positioning method for the transmission line according to any one of claims 1 to 7 are implemented.

10. A transmission line, characterized in that: It comprises a plurality of first transmission modules and a plurality of second transmission modules sequentially arranged along a first direction, and a computer device as claimed in claim 9, wherein the computer device is communicatively connected with each of the first transmission modules and each of the second transmission modules.

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