Automatic carrier replacing equipment and product transferring method

Abstract

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

Description

[0001] This application is a divisional application of patent application number 202411499283.9 (the original application was filed on October 25, 2024, and the invention was entitled "Automatic Carrier Changing Equipment and Product Transfer Method"). Technical Field

[0002] This invention relates to the field of automated production technology, and in particular to an automated carrier changing device and a product transfer method. Background Technology

[0003] In surface mount technology (SMT) production, different process stations require different carriers. After the previous process stage is completed, the product needs to be removed from the carrier and transferred to the carrier for the next process stage. Currently, many SMT production lines still rely on manual changes, which is inefficient and labor-intensive. To improve efficiency and reduce costs, some production lines use a pick-up mechanism to supply carriers. This mechanism transfers carriers from the material box to the next process stage on the production line. However, deviations can easily occur between the material box and the feeding mechanism during the transfer process, and the relative positions of the carrier and the material box can also vary. Inaccurate positioning when picking up the carrier from the material box can lead to pick-up failures, or the pick-up position may be off, damaging the carrier and preventing it from completing subsequent loading tasks. Furthermore, due to positional deviations, carriers can easily detach during transfer, preventing them from moving smoothly to the production line and impacting the product transfer success rate.

[0004] Therefore, there is an urgent need to study an automatic carrier changing device and product transfer method to solve the problem that positional deviations between the material frame and the feeding mechanism during the movement process, as well as positional deviations between the carrier and the material frame during the movement process, cause the picking mechanism to be unable to accurately position the carrier, resulting in a reduced product transfer success rate or even carrier damage. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic carrier changing device and a product transfer method to solve the problems in the prior art where positional deviations between the material frame and the feeding mechanism during the movement of the material frame, and between the carrier and the material frame during the movement of the carrier, lead to inaccurate positioning of the picking mechanism when picking up the carrier, resulting in a reduced product transfer success rate or even carrier damage.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] Firstly, an automated carrier-changing device is provided for transferring products from a first carrier to a second carrier, the automated carrier-changing device comprising:

[0008] frame;

[0009] The first production line is used to transport the first carrier containing the products;

[0010] The second production line is used to transfer the second vehicle;

[0011] A robotic arm, mounted on the frame, is configured to retrieve a product from the first carrier and place the product onto a second carrier;

[0012] A supply mechanism includes a supply base, a transmission assembly, a limiting assembly, an unlocking assembly, and a material frame. The transmission assembly is disposed on the supply base and is used to transport the material frame. The limiting assembly is used to restrict the material frame from being fixed relative to the supply base. The material frame includes a support frame with a bearing groove and a locking member movably disposed on the support frame. The bearing groove is used to hold a second carrier. The locking member can restrict the second carrier from moving out of the bearing groove in the path of the second carrier. The unlocking part of the unlocking assembly is arranged to abut against the locking member to move it outside the path of the second carrier moving out of the bearing groove and release the restriction on the second carrier.

[0013] A feeding flow line is provided between the transmission assembly and the second production line for transferring the second carrier to the second production line;

[0014] The transfer mechanism is used to transfer the second carrier in the material frame to the feeding flow line.

[0015] As an optional technical solution for an automatic vehicle changing device, the locking component includes a locking part and an abutting part. The locking part can be positioned on the path where the second vehicle moves out of the carrying slot. The unlocking part of the unlocking component is arranged to abut the abutting part to drive the locking part to move outside the path where the second vehicle moves out of the carrying slot.

[0016] As an optional technical solution for an automatic vehicle changing device, the locking component includes a long, vertically extending locking body. The locking body is slidably disposed on the support frame and can move downwards under its own weight to move the locking part to the path where the second vehicle moves out of the bearing groove. The locking body protrudes outwards from the side wall away from the support frame to form an abutment block, and the bottom surface of the abutment block forms an abutment part. The locking body protrudes towards the side wall of the bearing groove to form a locking part.

[0017] As an optional technical solution for an automatic vehicle changing device, the side wall of the support frame is provided with a sliding channel, the inner side of the sliding channel is connected to the bearing groove, the outer side of the sliding channel is connected to the outside, the locking body is slidably disposed in the sliding channel in the vertical direction, and the locking part is located inside the support frame;

[0018] The material frame also includes a pressing plate, which is connected to the outside of the support frame. The support frame has several bearing members protruding inward, and a bearing groove is formed between any two bearing members. The bearing members and the pressing plate are respectively located on the inner and outer sides of the locking body. The bearing members are provided with clearance grooves to avoid the locking part located outside the path of the second carrier moving out of the bearing groove.

[0019] As an optional technical solution for an automatic carrier changing device, the material frame further includes an elastic element, which is disposed between the locking element and the support frame and can apply an elastic force to the locking element to move it to the path on which the second carrier moves out of the bearing groove.

[0020] As an optional technical solution for an automatic carrier changing device, the limiting component includes a bottom positioning member disposed on the supply base, the bottom positioning member being used to limit the front end of the material frame. The limiting component also includes an inlet limiting mechanism disposed on the supply base. The inlet limiting mechanism includes an inlet limiting drive member disposed on the supply base and an inlet limiting member disposed at the output end of the inlet limiting drive member. The inlet limiting member can be positioned on the path that restricts the material frame from moving out of the supply base to limit the material frame from moving out of the supply base, and can also be positioned outside the path that restricts the material frame from moving out of the supply base.

[0021] As an optional technical solution for automated carrier changing equipment, the supply mechanism further includes a feeding assembly and a receiving assembly. The feeding assembly is used to convey a fully loaded material frame to the supply base, and the receiving assembly is used to retrieve an empty material frame from the supply base.

[0022] The feeding component is located below the receiving component; the supply mechanism also includes a feeding lifting component, the output end of which can reciprocate in the vertical direction and is connected to the supply base in a transmission manner to drive the supply base to move upward to dock with the receiving component, or to move downward to dock with the feeding component.

[0023] As an optional technical solution for an automated carrier changing device, the first production line extends along a first direction, the second production line extends along the first direction, and the feeding line extends along a second direction and is located between the supply base and the second production line; and / or,

[0024] The robotic arm is positioned between the first and second production lines.

[0025] As an optional technical solution for an automatic carrier changing device, the transfer mechanism includes a transfer drive, a transfer lifting component, and a transfer clamping assembly. The transfer drive is mounted on the frame, and its output end can reciprocate along a second direction. The transfer lifting component is movably mounted on the frame and is drively connected to the output end of the transfer drive. The transfer clamping assembly is located at the output end of the transfer lifting component and can clamp or release the second carrier. The transfer lifting component is used to drive the transfer clamping assembly to be located below the bearing surface of the feeding flow line to avoid the second carrier, or to be located above the bearing surface of the feeding flow line to transfer the second carrier from the material frame to the feeding flow line.

[0026] As an optional technical solution for automatic vehicle changing equipment, the transfer clamping assembly includes a clamping drive and two grippers. The two grippers are respectively located at the two output ends of the clamping drive and can move closer to or further away from each other.

[0027] As an optional technical solution for an automatic vehicle changing device, one of the two grippers is provided with a positioning pin, which can pass through the positioning hole of the second vehicle when the two grippers are close together.

[0028] As an optional technical solution for an automatic vehicle changing device, one of the two grippers is provided with an alignment member. The alignment member is located on the side of the positioning pin near the clamping drive member. When the two grippers are separated, the distance between the alignment member and the other gripper is less than the thickness of the second vehicle.

[0029] As an optional technical solution for automated carrier changing equipment, the end of the robotic arm is equipped with a first camera and a first picking mechanism. The first camera is used to photograph the second carrier and / or product located on the second production line; the first picking mechanism is used to pick up or release the product; and / or,

[0030] The frame is equipped with a second camera, which is located on the path of the first pickup mechanism moving from the first production line to the second production line, and is used to photograph the products on the first pickup mechanism.

[0031] As an optional technical solution for an automated vehicle changing device, the automated vehicle changing device further includes a first recovery component, which is used to recover a first vehicle on a first production line, and / or,

[0032] The automatic vehicle changing device also includes a second recovery component for collecting ballast components located on the first vehicle and bearing ballast products.

[0033] To achieve this objective, the present invention employs the following technical solution in another aspect:

[0034] Secondly, a product transfer method is provided, applicable to the automatic carrier changing equipment described in any of the above technical solutions, comprising the following steps:

[0035] S100, The first carrier carrying the product on the first production line is moved to the removal position;

[0036] S200: The robotic arm removes the product; the second carrier of the supply mechanism is moved to the second production line via the feeding flow line; wherein, after the material frame in the supply mechanism moves to the supply base, the limiting component restricts the material frame to be fixed relative to the supply base, and the unlocking component moves the locking part in the material frame to outside the path of the second carrier moving out of the bearing groove; the transfer mechanism moves the second carrier to the feeding flow line, and the feeding flow line moves the second carrier to the second production line;

[0037] S300: The robotic arm moves the product onto the second carrier.

[0038] The beneficial effects of this invention are as follows:

[0039] This invention provides an automatic carrier changing device, comprising a frame and a first production line, a second production line, a robotic arm, a supply mechanism, and a feeding conveyor mounted on the frame. The first production line transports a first carrier carrying products. A material frame in the supply mechanism carries a second carrier, which can be transferred to the second production line via the feeding conveyor. The robotic arm transfers products from the first carrier to the second carrier on the second production line. A limiting component in the supply mechanism limits the material frame in the supply base, ensuring that when the material frame moves to the supply base under the drive of the transmission component, it is positioned relative to the supply base. The positioning accuracy of the base is guaranteed. The locking device in the material frame can limit the second carrier in the support frame, so that the second carrier will not shift relative to the material frame during the movement of the material frame. This allows the second carrier to maintain a relatively fixed position relative to the material frame, thus ensuring the positioning accuracy of the second carrier relative to the supply base when it is removed from the material frame. The transfer mechanism can complete the precise docking with the second carrier, improving the success rate of picking up the product and preventing damage to the second carrier. After the transfer mechanism and the second carrier are precisely docked, it is easy to move the second carrier smoothly to the feeding line and finally to the second production line, ensuring the success rate of product transfer to the second carrier.

[0040] This invention provides a product transfer method. Utilizing the aforementioned structure, the position of the second carrier is effectively controlled during the transfer process. The material frame in the supply mechanism carries the second carrier. When the material frame carries the second carrier to the supply base, it is limited by a limiting component in the supply mechanism, ensuring the positional accuracy of the material frame relative to the supply base. Simultaneously, during the movement of the material frame carrying the second carrier, a locking component in the material frame limits the second carrier within the support frame, preventing positional shift relative to the material frame and maintaining a relatively fixed position. This ensures the positional accuracy of the second carrier relative to the supply base when it leaves the material frame. The transfer mechanism can achieve precise docking with the second carrier, improving the success rate of pickup and preventing damage to the second carrier. Precise docking of the transfer mechanism and the second carrier facilitates the smooth movement of the second carrier to the feeding line and ultimately to the second production line, ensuring a high success rate of product transfer to the second carrier. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the automatic vehicle-changing device from a first-view perspective in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the second perspective of the automatic vehicle-changing device in an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the third-view structure of the automatic vehicle-changing device in an embodiment of the present invention;

[0044] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0045] Figure 5 for Figure 3 Enlarged view of point B in the middle;

[0046] Figure 6 This is a structural schematic diagram of the supply mechanism from a first-person perspective in an embodiment of the present invention;

[0047] Figure 7 for Figure 6 Enlarged view of point C in the middle;

[0048] Figure 8 This is a schematic diagram of the supply mechanism from a second perspective in an embodiment of the present invention;

[0049] Figure 9 for Figure 8 Enlarged view of point D in the middle;

[0050] Figure 10 This is a partial structural diagram of the supply mechanism in an embodiment of the present invention;

[0051] Figure 11 This is a schematic diagram of the feeding flow line and transfer mechanism in an embodiment of the present invention;

[0052] Figure 12 for Figure 11 Enlarged view at point E in the middle;

[0053] Figure 13 This is a schematic diagram of the layout structure of the feeding component and the receiving component in an embodiment of the present invention;

[0054] Figure 14 This is a schematic diagram of the structure of the pushing component in an embodiment of the present invention;

[0055] Figure 15 This is a schematic diagram of the structure of the robotic arm in an embodiment of the present invention.

[0056] In the picture:

[0057] 1000, Products;

[0058] 2100, First vehicle; 2110, Ballast; 2200, Second vehicle; 2210, Steel sheet;

[0059] 100. Camera frame; 110. Second camera;

[0060] 210. First production line; 220. Second production line;

[0061] 300. Robotic arm; 310. First camera; 320. First pickup mechanism; 330. Second pickup mechanism; 331. Ring support; 332. Adsorption component;

[0062] 400. Supply mechanism; 410. Supply base; 420. Transmission assembly; 430. Limiting assembly; 431. Bottom positioning component; 432. Entrance limiting mechanism; 4321. Entrance limiting drive component; 4322. Entrance limiting component;

[0063] 440. Unlock component; 441. Unlock drive component; 442. Unlock moving component; 443. Unlock adjustment component; 4431. Unlock part;

[0064] 450. Material frame; 451. Support frame; 4511. Bearing groove; 4512. Bearing component; 45121. Clearance groove; 45122. Notch; 4513. Sliding channel; 452. Locking component; 4521. Locking part; 4522. Abutting part; 4523. Locking body; 453. Pressing plate; 454. Elastic component;

[0065] 460. Guide component; 461. Lateral limiting drive component; 462. Lateral limiting component; 463. First sensing component; 464. Second sensing component;

[0066] 470. Material feeding lifting assembly;

[0067] 500. Material feeding conveyor; 510. Material feeding support; 520. Material feeding transmission components; 530. Actuating components;

[0068] 600. Transfer mechanism; 610. Transfer drive component; 620. Transfer lifting component; 630. Transfer clamping assembly; 631. Clamping drive component; 632. Gripper; 6321. Positioning pin; 6322. Alignment component; 6323. Alignment hole;

[0069] 710. Feeding assembly; 720. Receiving assembly;

[0070] 810. First recycling component; 811. First recycling flow line; 812. Pushing component; 8121. Pushing drive; 8122. Pushing lifting component; 8123. Pushing plate; 820. Second recycling component; 821. Second recycling flow line; 822. Suction component; 8221. Suction seat; 8222. First suction drive; 8223. Second suction drive; 8224. Suction component. Detailed Implementation

[0071] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0072] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0073] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0074] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0075] like Figures 1 to 15 As shown, this embodiment provides an automatic carrier changing device for transferring product 1000 from a first carrier 2100 to a second carrier 2200. The automatic carrier changing device includes a frame 100, a first production line 210, a second production line 220, a robotic arm 300, a supply mechanism 400, a material feeding line 500, and a transfer mechanism 600. The first production line 210 is used to transport a first carrier 2100 carrying a product 1000; the second production line 220 is used to transport a second carrier 2200; a robotic arm 300 is mounted on the frame 100 and configured to pick up the product 1000 from the first carrier 2100 and place the product 1000 on the second carrier 2200; the supply mechanism 400 includes a supply base 410, a transmission assembly 420, a limiting assembly 430, an unlocking assembly 440, and a material frame 450. The transmission assembly 420 is mounted on the supply base 410 and is used to transport the material frame 450. The limiting assembly 430 is used to limit the material frame 450 to be fixed relative to the supply base 410. The material frame 450 includes a support frame 451 with a bearing groove 4511 and a movable support frame 450. The support frame 451 has a locking member 452, and a carrying groove 4511 for holding the second carrier 2200. The locking member 452 can restrict the second carrier 2200 from moving out of the carrying groove 4511. The unlocking part 4431 of the unlocking assembly 440 is arranged to abut against the locking member 452 to move it out of the path of the second carrier 2200 from the carrying groove 4511 and release the restriction on the second carrier 2200. The feeding flow line 500 is located between the transmission assembly 420 and the second production line 220 and is used to transfer the second carrier 2200 on the transmission assembly 420 to the second production line 220. The transfer mechanism 600 is used to transfer the second carrier 2200 in the material frame 450 to the feeding flow line 500.

[0076] The limiting component 430 in the supply mechanism 400 can limit the material frame 450 in the supply base 410, ensuring the positional accuracy of the material frame 450 relative to the supply base 410 when it moves to the supply base 410 under the drive of the transmission component 420. The locking component 452 in the material frame 450 can limit the second carrier 2200 in the support frame 451, ensuring that the second carrier 2200 will not shift its position relative to the material frame 450 during the movement of the material frame 450, thus maintaining its position with the material frame 450. With a relatively fixed position, the positional accuracy of the second carrier 2200 relative to the supply base 410 can be guaranteed when it moves out of the material frame 450. The transfer mechanism 600 can complete the precise docking with the second carrier 2200, improving the success rate of pickup and avoiding damage to the second carrier 2200. After the transfer mechanism 600 and the second carrier 2200 are precisely docked, it is easy to move the second carrier 2200 smoothly to the feeding flow line 500, and finally to the second production line 220, ensuring the success rate of transferring product 1000 to the second carrier 2200.

[0077] In some embodiments, the locking member 452 includes a locking portion 4521 and an abutting portion 4522. The locking portion 4521 can be positioned on the path of the second carrier 2200 moving out of the carrying groove 4511. The unlocking portion 4431 of the unlocking assembly 440 is arranged to abut the abutting portion 4522, thereby moving the locking portion 4521 outside the path of the second carrier 2200 moving out of the carrying groove 4511. This arrangement allows the locking portion 4521 to be driven by the abutting portion 4522, thereby completing the unlocking under the drive of the unlocking assembly 440. This avoids setting the unlocking assembly 440 on the material frame 450, that is, the unlocking assembly 440 and the material frame 450 can be set separately, simplifying the structure of the material frame 450. Unlocking can be achieved by abutting, making docking simple and operation convenient. It also reduces the weight of the material frame 450, making it easier to transport and move.

[0078] Regarding the specific structure of the locking member 452, the locking member 452 includes a long, vertically extending locking body 4523. The locking body 4523 is slidably mounted on the support frame 451 in the vertical direction and can move downwards under its own weight to move the locking part 4521 onto the path of the second carrier 2200 moving out of the bearing groove 4511. The locking body 4523 protrudes outwards from the side wall away from the support frame 451 to form an abutment block, and the bottom surface of the abutment block forms an abutment part 4522. The locking body 4523 protrudes towards the side wall of the bearing groove 4511 to form the locking part 4521. The above configuration can eliminate the need for a driving structure for the locking member 452, reducing costs and energy consumption. At the same time, in its natural state, the locking part 4521 is always on the path of the second carrier 2200 moving out of the bearing groove 4511, ensuring the limiting effect on the second carrier 2200.

[0079] During the transport or handling of the material frame 450, there may be bumps or tipping. To prevent the locking member 452 from moving upwards and causing the second carrier 2200 to lose its restraint and slip off the material frame 450, in this embodiment, the material frame 450 also includes an elastic member 454. The elastic member 454 is disposed between the locking member 452 and the support frame 451, and can apply an elastic force to the locking member 452 to move it onto the path where the second carrier 2200 moves out of the bearing groove 4511. The elastic force generated by the elastic member 454 helps to ballast the locking member 452, so that the locking member 452 will not move upwards when facing bumpy road conditions or tipping. The elastic force of the elastic member 454 can be greater than the weight of the locking member 452 but less than twice the weight of the locking member 452. The above-mentioned elastic setting can not only meet the unlocking of the locking part 452 after the material frame 450 bumps or tilts, but also minimize the force required for unlocking and reduce energy consumption.

[0080] In use, each material frame 450 stores multiple second carriers 2200 to improve work efficiency. Specifically, the locking member 452 includes several locking parts 4521, which are spaced apart in the vertical direction. The support frame 451 is provided with several bearing grooves 4511 spaced apart in the vertical direction. The several locking parts 4521 and the several bearing grooves 4511 correspond one-to-one.

[0081] Combination Figure 7 and Figure 9As shown, the side wall of the support frame 451 is provided with a sliding channel 4513. The inner side of the sliding channel 4513 is connected to the bearing groove 4511, and the outer side of the sliding channel 4513 is connected to the outside. The locking body 4523 is slidably disposed in the sliding channel 4513 in the vertical direction. The locking part 4521 is located inside the support frame 451. The material frame 450 also includes a pressing plate 453, which is connected to the outer side of the support frame 451. Several bearing members 4512 are protruding inward inside the support frame 451. A bearing groove 4511 is formed between any two bearing members 4512. The bearing members 4512 and the pressing plate 453 are respectively disposed on the inner and outer sides of the locking body 4523. The bearing members 4512 are provided with a clearance groove 45121 to avoid the locking part 4521 located outside the path of the second carrier 2200 moving out of the bearing groove 4511. On one hand, the bearing member 4512 forms an inner limiting part of the locking body 4523, preventing the locking body 4523 from entering the interior of the support frame 451; on the other hand, the bottom of the clearance groove 45121 forms an upper limiting part to limit the upward movement of the locking part 4521. Additionally, the side wall of the support frame 451 is provided with a sliding channel 4513 for the sliding engagement of the locking body 4523, which helps to reduce the size of the material frame 450. It should be noted that among the bearing members 4512, at least one traverses the sliding channel 4513, while the others have notches 45122 at the sliding channel 4513 to communicate with it, thus meeting the load-bearing requirements while reducing weight.

[0082] The carrier 4512 is provided with a relief groove 45121 at the transverse sliding channel 4513. The relief groove 45121 opens downward and the depth of the relief groove 45121 is greater than or equal to the size of the locking part 4521, so that the locking part 4521 can be completely embedded in the relief groove 45121, so as to avoid affecting the second carrier 2200 entering and exiting the carrier groove 4511 when unlocking.

[0083] The unlocking assembly 440 includes an unlocking drive 441, an unlocking moving part 442, and an unlocking adjustment 443. The unlocking drive 441 is located on the supply base 410, and its output shaft can reciprocate along its own axis and is connected to the unlocking moving part 442. The top of the unlocking adjustment 443 forms an unlocking part 4431, which is movably located on the unlocking moving part 442 so that the unlocking part 4431 can move closer to or further away from the abutment part 4522. This allows it to adapt to different initial positions of the abutment part 4522, as well as to different initial positions of the abutment part 4522 due to different types of material frames 450. The unlocking adjustment 443 is a screw screwed onto the unlocking moving part 442. It should be noted that when the locking part 4521 is located on the path of the second carrier 2200 moving out of the bearing groove 4511, the abutment part 4522 is in its initial position.

[0084] Combination Figure 10 As shown, when the material frame 450 enters the supply base 410, in order to limit its relative position with the supply base 410, in this embodiment, the limiting component 430 includes a bottom positioning member 431 disposed on the supply base 410. The bottom positioning member 431 is used to limit the head end of the material frame 450. The limiting component 430 also includes an entrance limiting mechanism 432 disposed on the supply base 410 to limit the tail end of the material frame 450. The entrance limiting mechanism 432 includes an entrance limiting drive member 4321 disposed on the supply base 410 and an entrance limiting member 4322 disposed at the output end of the entrance limiting drive member 4321. The entrance limiting member 4322 can be located on the path that limits the material frame 450 from moving out of the supply base 410 to limit the material frame 450 from moving out of the supply base 410, and can also be located outside the path that limits the material frame 450 from moving out of the supply base 410.

[0085] Specifically, the inlet limiting drive 4321 is a rotary drive, and the inlet limiting component 4322 is rod-shaped, with one end connected to the output end of the rotary drive and the other end swinging on and off the inlet path of the material frame 450 entering the transmission assembly 420 under the drive of the rotary drive.

[0086] The bottom positioning member 431 and the inlet limiting member 4322 are spaced apart in the left and right directions to limit the relative position of the material frame 450 and the supply base 410 in the left and right directions. In order to limit the material frame 450 and the supply base 410 in the front and back directions, in some embodiments, the supply mechanism 400 includes two strip-shaped guide members 460 disposed on the supply base 410 and disposed on both sides of the material frame 450. The material frame 450 can move between the two guide members 460. The supply mechanism 400 also includes a lateral limiting drive member 461 and a lateral limiting member 462. The lateral limiting drive member 461 is disposed on the supply base 410 and its output end can reciprocate in the front and back directions and is connected to the lateral limiting member 462 in a transmission manner so as to drive the lateral limiting member 462 to abut the material frame 450 and abut the material frame 450 to the side wall of the guide member 460 away from the lateral limiting member 462, thereby realizing the front and back directions of the material frame 450.

[0087] To ensure that the material frame 450 enters the supply mechanism 400, the first sensor 463 and the second sensor 464 are both provided on the supply base 410 and are spaced apart in the left and right direction. The first sensor 463 is used to sense the first end of the material frame 450, and the second sensor 464 is used to sense the tail end of the material frame 450.

[0088] During the transfer, a transfer mechanism 600 is used to remove the second carrier 2200 from the material frame 450 and transfer it to the feeding conveyor 500. The feeding conveyor 500 includes a feeding bracket 510 and a feeding transmission component 520 disposed on the feeding bracket 510. The feeding transmission component 520 is used to transfer the second carrier 2200. The feeding transmission component 520 is a conveyor belt, which is driven by a motor to achieve rotation.

[0089] Combination Figure 11 and Figure 12 As shown, the transfer mechanism 600 includes a transfer drive 610, a transfer lifting member 620, and a transfer clamping assembly 630. The transfer drive 610 is mounted on the frame 100, and its output end can reciprocate in the left-right direction. The transfer lifting member 620 is movably mounted on the frame 100 and is connected to the output end of the transfer drive 610. The transfer clamping assembly 630 is mounted on the output end of the transfer lifting member 620 and can clamp or release the second carrier 2200. The transfer lifting member 620 is used to drive the transfer clamping assembly 630 to be located below the bearing surface of the feeding transmission member 520 to avoid the second carrier 2200, or to be located above the bearing surface of the feeding transmission member 520 to transfer the second carrier 2200 from the material frame 450 to the second production line 220. The transfer drive unit 610 includes a drive motor, a transfer block, and a transmission belt. The drive motor drives the transmission belt to move through the drive wheel and driven wheel that are spaced apart. The straight sections of the transfer block and the transmission belt are fixed and connected to the transfer lifting unit 620.

[0090] When the transfer mechanism 600 is in operation, the transfer lifting member 620 drives the transfer clamping assembly 630 to descend below the bearing surface. The transfer driving member 610 moves to the left, causing the transfer lifting member 620 and the transfer clamping assembly 630 to move, so that the clamping end of the transfer clamping assembly 630 can approach and clamp the second carrier 2200. Then, the transfer driving member 610 moves to the right, moving the second carrier 2200 above the feeding flow line 500. The transfer lifting member 620 then actuates, placing the second carrier 2200 on the bearing surface of the feeding transmission member 520. The feeding flow line 500 also includes a toggle member 530, which is used to move the second carrier 2200 from the feeding transmission member 520 to the second production line 220.

[0091] Specifically, the transfer clamping assembly 630 includes a clamping drive 631 and two grippers 632. The two grippers 632 are respectively located at the two output ends of the clamping drive 631 and can move closer or further apart from each other. When the two grippers 632 are close together, they can clamp the second carrier 2200.

[0092] Since the second carrier 2200 needs to be pulled out of the bearing groove 4511 in a left-right direction, to prevent slippage during the dragging process, in some embodiments, one of the two grippers 632 is provided with a positioning pin 6321. When the two grippers 632 are close together, the positioning pin 6321 can pass through the positioning hole of the second carrier 2200. The extending direction of the positioning pin 6321 is perpendicular to the extending direction of the bearing groove 4511. In other words, the positioning pin 6321 extends in a vertical direction.

[0093] Furthermore, the length of the positioning pin 6321 is greater than the thickness of the second carrier 2200, and its end can abut against another gripper 632, preventing the second carrier 2200 from being clamped and deformed or even damaged. This arrangement ensures that when the two grippers 632 are close together, they are limited by the positioning pin 6321, making the distance between the two grippers 632 greater than the thickness of the second carrier 2200.

[0094] To ensure precise alignment between the positioning pin 6321 and the positioning hole, one of the two grippers 632 is equipped with an alignment member 6322. The alignment member 6322 is located on the side of the positioning pin 6321 closest to the clamping drive member 631, i.e., on the side of the positioning pin 6321 furthest from the second carrier 2200. The alignment member 6322 is elongated and extends along the direction in which the two grippers 632 approach or recede, i.e., along the thickness direction of the second carrier 2200. When the two grippers 632 separate, the distance between the alignment member 6322 and the other gripper 632 is less than the thickness of the second carrier 2200. The thickness of the second carrier 2200 is its vertical dimension. This configuration ensures that when the second carrier 2200 is about to be grasped, the two grippers 632 separate, making the distance between the two grippers 632 less than the thickness of the second carrier 2200. Then, driven by the transfer drive 610, the two grippers 632 extend into the material frame 450 and are located on the upper and lower sides of the second carrier 2200, respectively. Under the continuous drive of the transfer drive 610, the clamping drive 631 continuously approaches the second carrier 2200, and the alignment member 6322 abuts against the side wall of the second carrier 2200 near the clamping drive 631, so that the second carrier 2200 abuts against the end limiting part in the bearing groove 4511, thereby ensuring the positional accuracy of the second carrier 2200 relative to the material frame 450 in the left-right direction.

[0095] In some embodiments, an alignment member 6322 is disposed on one of the grippers 632, and the other gripper 632 has an alignment hole 6323. When the two grippers 632 approach each other, a portion of the alignment member 6322 is inserted into the alignment hole 6323. This arrangement ensures that the length of the alignment member 6322 is maintained without affecting the approaching action of the two grippers 632. In some embodiments, when the two grippers 632 move away from each other, a portion of the alignment member 6322 is inserted into the alignment hole 6323, which helps to improve the force distribution when abutting against the second carrier 2200 and reduces the probability of the alignment member 6322 being bent.

[0096] The transfer clamping assembly 630 is provided in two parts, and the two transfer clamping assemblies 630 are spaced apart in the front-to-back direction. In this embodiment, the alignment member 6322 is cylindrical, and the alignment hole 6323 is a circular hole.

[0097] It should be noted that both ends of the bearing groove 4511 in the left-right direction are limited by locking members 452, wherein the locking portion 4521 of one locking member 452 forms the end limiting portion. In other words, the material frame 450 has two spaced-apart locking members 452 to respectively limit the two ends of the second carrier 2200, and the locking portion 4521 of one locking member 452 forms the end limiting portion near the clamping drive member 631.

[0098] Combination Figure 13 As shown, in some embodiments, the supply mechanism 400 further includes a feeding assembly 710 and a receiving assembly 720. The feeding assembly 710 is used to convey a fully loaded material frame 450 of the second carrier 2200 to the supply base 410, and the receiving assembly 720 is used to retrieve an empty material frame 450 from the supply base 410. The feeding assembly 710 is located below the receiving assembly 720. The supply mechanism 400 also includes a feeding lifting assembly 470, the output end of which is reciprocating vertically and is connected to the supply base 410 to drive the supply base 410 upward to dock with the receiving assembly 720, or downward to dock with the feeding assembly 710. The feeding lifting assembly 470 is mounted on the frame 100. This arrangement results in a low position for the fully loaded material frame 450 of the second carrier 2200, matching the handling height of the workers, facilitating placement by workers and reducing labor intensity.

[0099] To save floor space, in some embodiments, the first production line 210 extends along a first direction, the second production line 220 extends along the first direction, and the feeding line 500 extends along a second direction and is located between the supply base 410 and the second production line 220. A robotic arm 300 is located between the first production line 210 and the second production line 220. The first direction is the front-to-back direction, the second direction is the left-to-right direction, and the vertical direction is the up-and-down direction.

[0100] To improve automation, in some embodiments, the automatic carrier changing device further includes a first recycling component 810, which is used to recycle the first carrier 2100 of the first production line 210. The structure of the first recycling component 810 can be similar to that of the supply mechanism 400. A first recycling flow line 811 is provided between the first recycling component 810 and the first production line 210. The first recycling flow line 811 extends in a left-right direction and can receive the first carrier 2100 on the first production line 210, and can drive the first carrier 2100 towards the first recycling component 810. A pushing component 812 is provided in the first recycling flow line 811 to push the first carrier 2100 into the material frame 450 in the first recycling component 810. The pushing component 812 can be configured similarly to the transfer mechanism 600. In some embodiments, the transfer clamping component 630 in the transfer mechanism 600 can be replaced with the pushing plate 8123. In other words, the output end of the pushing component 812 is the pushing plate 8123, which can move in the left-right and vertical directions, thereby realizing the pushing and avoidance actions on the first carrier 2100. For example, in combination with Figure 14 As shown, the pushing assembly 812 includes a pushing drive 8121, a pushing lift 8122, and a pushing plate 8123. The pushing drive 8121 is located on the frame 100, and its output end can reciprocate in the left-right direction and is connected to the pushing lift 8122 in a transmission connection. The output end of the pushing lift 8122 can reciprocate in the up-down direction and is connected to the pushing plate 8123 in a transmission connection.

[0101] Similarly, in some embodiments, a feeding component 710 and a receiving component 720 are used in conjunction with the first recycling component 810 to achieve automatic supply of empty material boxes 450 and automatic collection of full material boxes 450. In this embodiment, the positions of the feeding component 710 and the receiving component 720 differ from those of the feeding component 710 and the receiving component 720 used with the supply mechanism 400. Specifically, in the feeding component 710 and the receiving component 720 used with the first recycling component 810, the feeding component 710 is located above the receiving component 720. The feeding component 710 is used to transport empty material boxes 450, and the receiving component 720 is used to collect full material boxes 450.

[0102] To ensure the safety of product 1000 during transportation, a ballast component 2110 is installed on the first carrier 2100 to weigh down product 1000. Therefore, before removing product 1000 from the first carrier 2100, the ballast component 2110 must be removed first. To automatically collect the ballast component 2110, this embodiment also includes a second recovery component 820. The second recovery component 820 and the first recovery component 810 can have the same structure.

[0103] To facilitate the smooth movement of the ballast component 2110 to the second recycling assembly 820, a second recycling flow line 821 is provided between the second recycling assembly 820 and the first production line 210. The second recycling flow line 821 extends in a left-right direction and can receive the ballast component 2110 from the first production line 210, and can also transport the ballast component 2110 towards the second recycling assembly 820. A pushing component 812 is provided in the second recycling flow line 821 to push the ballast component 2110 into the material frame 450 in the second recycling assembly 820. The bearing groove 4511 of the material frame 450 can be adjusted in size according to the workpiece to be carried.

[0104] In this embodiment, the suction assembly 822 is disposed on the frame 100 and is used to transfer the ballast piece 2110 on the first production line 210 to the second recycling production line 821. Specifically, in conjunction with Figure 4 As shown, the suction assembly 822 includes a suction seat 8221, a first suction drive 8222, a second suction drive 8223, and a suction member 8224. The suction seat 8221 is disposed on the frame 100. The first suction drive 8222 is disposed on the suction seat 8221, and its output end can reciprocate in the left-right direction and is connected to the second suction drive 8223. The output end of the second suction drive 8223 can reciprocate in the vertical direction and is connected to the suction member 8224. The suction member 8224 can adsorb or release the ballast member 2110.

[0105] To ensure that the position of product 1000 on the second carrier 2200 remains unchanged, a steel sheet 2210 is added to weigh down product 1000 after it is placed on the second carrier 2200. The steel sheet 2210 moves with the second carrier 2200 to the second production line 220. Before product 1000 is placed on the second carrier 2200, the steel sheet 2210 is removed. After product 1000 is placed on the second carrier 2200, the steel sheet 2210 is placed on top of product 1000 on the second carrier 2200.

[0106] Combination Figure 2 and Figure 15As shown, to ensure the accuracy of product 1000 transfer, in some embodiments, the end of the robotic arm 300 is provided with a first camera 310 and a first pickup mechanism 320. The first camera 310 is used to photograph the second carrier 2200 and / or product 1000 located on the second production line 220; the first pickup mechanism 320 is used to pick up or release product 1000. A second camera 110 is provided on the frame 100. The second camera 110 is located on the path of the first pickup mechanism 320 moving from the first production line 210 to the second production line 220, and is used to photograph product 1000 on the first pickup mechanism 320. In use, the first pickup mechanism 320 picks up product 1000 from the first carrier 2100, and then moves it to the second carrier 2200, passing through the second camera 110. The second camera 110 captures the position of product 1000 relative to the first pickup mechanism 320. It continues moving to the second carrier 2200, where the first camera 310 captures the position of the second carrier 2200. Based on the comparison of the two captured positions, product 1000 is placed on the second carrier 2200. After product 1000 is placed on the second carrier 2200, the first camera 310 captures a picture of product 1000 on the second carrier 2200 to determine if the placement of product 1000 is accurate.

[0107] Combination Figure 5 As shown, in the embodiment with steel sheet 2210, the end of the robotic arm 300 is further provided with a second picking mechanism 330, which is used to pick up or release the steel sheet 2210. Specifically, the second picking mechanism 330 includes an annular support 331 and a plurality of adsorption members 332 spaced apart on the annular support 331, which are used to adsorb the annular steel sheet 2210. The first camera 310 is located above the annular support 331 and can take pictures of the second carrier 2200 downward through the internal channel of the annular support 331.

[0108] This embodiment also provides a product transfer method, applicable to the automatic vehicle changing equipment in any of the above embodiments. The product transfer method includes the following steps:

[0109] S100, the first production line 210 transports the first carrier 2100 carrying the product 1000 to the removal position.

[0110] S200, the robotic arm 300 removes the product 1000 from the first carrier 2100 at the removal position; the second carrier 2200 on the supply mechanism 400 is moved to the second production line 220 via the feeding flow line 500; wherein, after the material frame 450 in the supply mechanism 400 moves to the supply base 410, the limiting component 430 restricts the material frame 450 to be fixed relative to the supply base 410, and the unlocking component 440 moves the locking member 452 in the material frame 450 to be outside the path of the second carrier 2200 moving out of the carrying groove 4511; the transfer mechanism 600 moves the second carrier 2200 to the feeding flow line 500, and the feeding flow line 500 moves the second carrier 2200 to the second production line 220.

[0111] S300 and robotic arm 300 move product 1000 onto the second carrier 2200.

[0112] By using the above method, the second carrier 2200 will not shift relative to the material frame 450 during the movement of the material frame 450, thus maintaining a relatively fixed position with the material frame 450. This ensures the positional accuracy of the second carrier 2200 relative to the supply base 410 when it moves out of the material frame 450. The transfer mechanism 600 can complete a precise docking with the second carrier 2200, improving the success rate of picking up the product. After precise docking, it is beneficial to smoothly move the second carrier 2200 onto the feeding flow line 500, and finally onto the second production line 220, ensuring a high success rate of transferring the product 1000 to the second carrier 2200.

[0113] In the embodiment with ballast 2110, ballast 2110 is first removed by suction assembly 822, and then product 1000 is removed from first carrier 2100 by robotic arm 300. In the embodiment with steel sheet 2210, steel sheet 2210 is first removed from second carrier 2200 by second picking mechanism 330, then product 1000 is placed on second carrier 2200, and finally steel sheet 2210 is placed on second carrier 2200 to ballast product 1000.

[0114] During the transfer of product 1000 to the second production line 220, product 1000 is located by being photographed by the second camera 110; before product 1000 is placed on the second carrier 2200, the second carrier 2200 is located by being photographed by the first camera 310.

[0115] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic carrier changing device for transferring a product (1000) from a first carrier (2100) to a second carrier (2200), characterized in that, The automatic vehicle changing equipment includes: Rack (100); First production line (210), used to transport first carrier (2100) carrying products (1000); The second production line (220) is used to transfer the second vehicle (2200); A robotic arm (300) is disposed on the frame (100), the robotic arm (300) being configured to acquire a product (1000) from the first carrier (2100) and to place the product (1000) onto a second carrier (2200); The supply mechanism (400) includes a supply base (410), a transmission assembly (420), a limiting assembly (430), an unlocking assembly (440), and a material frame (450). The transmission assembly (420) is disposed on the supply base (410) and is used to transport the material frame (450). The limiting assembly (430) is used to restrict the material frame (450) to be fixed relative to the supply base (410). The material frame (450) includes a support frame (451) with a bearing groove (4511) and a locking member movably disposed on the support frame (451). (452), the support slot (4511) is used to hold the second vehicle (2200), the locking member (452) is able to restrict the second vehicle (2200) from moving out of the support slot (4511) in the path of the second vehicle (2200) moving out of the support slot (4511), and the unlocking part (4431) of the unlocking assembly (440) is arranged to abut against the locking member (452) to move it outside the path of the second vehicle (2200) moving out of the support slot (4511) and release the restriction on the second vehicle (2200); A feeding line (500) is provided between the transmission assembly (420) and the second production line (220) for transferring the second carrier (2200) to the second production line (220). Transfer mechanism (600) for transferring the second carrier (2200) in the material frame (450) to the feeding flow line (500); The locking member (452) includes a locking part (4521) and an abutment part (4522). The locking part (4521) can be positioned on the path of the second carrier (2200) moving out of the support groove (4511). The unlocking part (4431) of the unlocking component (440) is arranged to abut the abutment part (4522) to drive the locking part (4521) to move outside the path of the second carrier (2200) moving out of the support groove (4511). The locking member (452) includes a long, vertically extending locking body (4523), which slides vertically on the support frame (451) and can move downwards under its own weight to move the locking part (4521) to the path where the second carrier (2200) moves out of the bearing groove (4511). The locking body (4523) protrudes outwards from the side wall away from the support frame (451) to form an abutment block, and the bottom surface of the abutment block forms an abutment part (4522). The locking body (4523) protrudes outwards from the side wall facing the bearing groove (4511) to form the locking part (4521). The material frame (450) also includes an elastic element (454), which is located between the locking element (452) and the support frame (451) and can apply an elastic force to the locking element (452) to move it to the path on which the second carrier (2200) moves out of the bearing groove (4511).

2. The automatic vehicle changing device according to claim 1, characterized in that, The elastic force of the elastic element (454) is greater than the weight of the locking element (452) but less than twice the weight of the locking element (452).

3. The automatic vehicle changing device according to claim 2, characterized in that, The side wall of the support frame (451) is provided with a sliding channel (4513). The inner side of the sliding channel (4513) is connected to the bearing groove (4511), and the outer side of the sliding channel (4513) is connected to the outside. The locking body (4523) is slidably disposed in the sliding channel (4513) in the vertical direction. The locking part (4521) is located inside the support frame (451). The material frame (450) also includes a pressing plate (453), which is connected to the outside of the support frame (451). The support frame (451) has a plurality of bearing members (4512) protruding inward. A bearing groove (4511) is formed between any two bearing members (4512). The bearing members (4512) and the pressing plate (453) are respectively located on the inner and outer sides of the locking body (4523). The bearing member (4512) is provided with a clearance groove (45121) to avoid the locking part (4521) located outside the path of the second carrier (2200) moving out of the bearing groove (4511).

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

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

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

7. The automatic vehicle changing device according to any one of claims 2-6, characterized in that, The transfer mechanism (600) includes a transfer drive (610), a transfer lifting member (620), and a transfer clamping assembly (630). The transfer drive (610) is located on the frame (100) and its output end can reciprocate along a second direction. The transfer lifting member (620) is movably located on the frame (100) and is connected to the output end of the transfer drive (610). The transfer clamping assembly (630) is located at the output end of the transfer lifting member (620) and can clamp or release the second carrier (2200). The transfer lifting member (620) is used to drive the transfer clamping assembly (630) to be located below the bearing surface of the feed flow line (500) to avoid the second carrier (2200), or above the bearing surface of the feed flow line (500) to transfer the second carrier (2200) from the material frame (450) to the feed flow line (500).

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

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

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

11. The automatic vehicle changing device according to any one of claims 1-6, characterized in that, The robotic arm (300) is equipped with a first camera (310) and a first pickup mechanism (320) at its end. The first camera (310) is used to photograph a second carrier (2200) and / or a product (1000) located on a second production line (220); the first pickup mechanism (320) is used to pick up or release the product (1000); and / or, The frame (100) is provided with a second camera (110), which is located on the path of the first pickup mechanism (320) moving from the first production line (210) to the second production line (220), and is used to photograph the product (1000) on the first pickup mechanism (320).

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

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

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