Automatic material taking system, cut-off system and automatic material taking method

Abstract

The invention discloses an automatic material taking system, a cut-off system and an automatic material taking method. The automatic material taking system comprises a base; the two material taking systems are both movably arranged on the base, each material taking system comprises a material head taking device and a material sheet taking device, the material head taking devices control cut material heads and material bars to be staggered and drive the material heads and the material bars to be separated, and the material sheet taking devices are suitable for obtaining cut sample sheets; the transfer system is arranged between the two material taking systems and can move to the butt joint position of any material taking system to obtain the material heads and / or the sample pieces, and the obtained material heads and / or the sample pieces are transferred to the discharging system; and the discharging system is arranged at the tail end of the base, and the discharging system comprises a sorting device, a sample sheet collecting mechanism and a third conveying mechanism. According to the material taking system, the material heads and the sample pieces can be captured and collected at the same time, then the material taking system transfers the obtained material heads and the sample pieces to the discharging system through the transferring system for collection and storage of the material heads and the sample pieces, and the working efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of rod processing equipment technology, specifically to an automatic material handling system, a cutting system, and an automatic material handling method. Background Technology

[0002] This section provides only background information relevant to this disclosure and does not necessarily constitute prior art.

[0003] Silicon wafers are a crucial raw material in the semiconductor industry and a core component of electronic devices. Silicon wafers are formed by cutting silicon rods. Before cutting, the shavings need to be removed to avoid affecting subsequent processing. This is typically done using a cutting machine to cut the silicon rods. However, the cut shavings are irregularly shaped, often conical or cylindrical, making it difficult to automatically pick up the shavings using mechanical grippers. This results in commercially available cutting machines being unable to simultaneously pick up and collect both the shavings and the wafers. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the cutting machine is difficult to simultaneously pick up and collect head and tail materials and silicon wafers, thereby providing an automatic material picking system, a cutting system and an automatic material picking method.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] An automatic material handling system includes:

[0007] Base;

[0008] Two material handling systems are movably mounted on the base. Each material handling system includes a head material handling device and a sheet material handling device. The head material handling device controls the misalignment of the cut head material with the bar and drives the head material to separate from the bar material to obtain the head material. The sheet material handling device is adapted to obtain the cut sample sheet. One of the material handling systems is adapted to obtain the head material and the sample sheet near the head material, and the other material handling system is adapted to obtain the tail material and the sample sheet near the tail material.

[0009] A transfer system is movably mounted on the base. The transfer system is positioned between the two material handling systems and can move to the docking position of either material handling system to acquire material heads and / or samples. The transfer system can also transfer the acquired material heads and / or samples to the unloading system.

[0010] The feeding system is located at the end of the base and includes a sorting device, a sample collection mechanism, and a third conveying mechanism. The sorting device sorts the material head and the sample, the sample collection mechanism collects the material head sorted by the sorting device, and the third conveying mechanism collects the material head sorted by the sorting device.

[0011] The technical solution is further optimized, and the material head receiving device includes:

[0012] frame;

[0013] A material head support block, wherein the material head support block is adapted to support the material head;

[0014] The material head lifting mechanism has a fixed end mounted on the frame and a telescopic end connected to a material head support block. The material head lifting mechanism drives the material head support block and the material head to rise, so that the end face of the material head is misaligned with the end face of the material bar.

[0015] The material handling mechanism is positioned on the telescopic end of the material head lifting mechanism. The material handling mechanism has a pulling part and a telescopic part. When the end face of the material head is misaligned with the end face of the material bar, the pulling part of the material handling mechanism abuts against the misaligned end face of the material head and drives the material head to separate from the material bar under the drive of the telescopic part.

[0016] The technical solution is further optimized by specifying that the material handling mechanism is a rotary material handling mechanism, which includes:

[0017] At least one pulling component, wherein the pulling component is the pulling part of the rotary material handling mechanism;

[0018] At least one rotating component, the rotating output end of which is connected to the pulling component, the pulling component being rotated under the drive of the rotating component to insert the insert head end face at a position misaligned with the material bar end face;

[0019] The telescopic component is the telescopic part of the rotary material handling mechanism. The telescopic end of the telescopic component is connected to the fixed end of the rotary component. After the pulling component rotates and inserts the material head end face at a position that is misaligned with the material bar end face, the telescopic component drives the pulling component and the material head to move away from the bar body.

[0020] To further optimize the technical solution, the material head receiving device also includes:

[0021] A material head clamping mechanism is provided on the frame and is adapted to clamp the material head after the end face of the material head is misaligned with the end face of the material bar.

[0022] The technical solution is further optimized, and the material feeding device includes:

[0023] A connecting frame is mounted on the frame of the material handling device.

[0024] A rotating bracket, which is rotatably mounted on the connecting frame, and a suction cup is provided on the rotating bracket;

[0025] A rotary drive assembly is connected to the rotary support and is adapted to drive the rotary support to rotate.

[0026] The technical solution has been further optimized, and the transfer system includes:

[0027] Material support bracket;

[0028] The material tray is slidably mounted on the material tray fixing frame. The material tray has two support parts, the distance between the two support parts is sufficient to accommodate the material head support block of the material picking device, and the tops of the two support parts are higher than the tops of the material head support block. A sample collection box is provided at one end of the material tray fixing frame opposite to the material tray. The sample collection box is suitable for collecting samples.

[0029] The material tray telescopic structure has a telescopic end connected to the material tray and a fixed end connected to the material tray fixing frame. When the telescopic end of the material tray telescopic structure extends, the material tray moves towards the material head support block of the material picking device, and the material head support block is inserted between the two support parts to transfer the material head on the material head support block to the material tray. When the telescopic end of the material tray telescopic structure retracts, the material tray drives the material head to reset.

[0030] The conveying mechanism, wherein the material head transfer and picking mechanism is mounted on the conveying mechanism.

[0031] The technical solution is further optimized by setting the material tray fixing frame on the flipping mechanism, which is set on the fixing plate and is adapted to drive the material tray and the material head to flip.

[0032] And / or, the bottom end of the fixed plate is provided with a rotary mechanism, which is mounted on the conveying mechanism via a movable frame, and the rotary mechanism is adapted to drive the material tray and the material head on the material tray to rotate horizontally.

[0033] To further optimize the technical solution, both the material tray and the sample collection box are raised and lowered via a lifting mechanism; when the material tray is inserted into the feed inlet of the sorting device and descends, the material head on the material tray is transferred to the sorting device; when the sample collection box is inserted into the feed inlet of the sorting device and descends, the sample on the sample collection box is transferred to the sorting device.

[0034] To further optimize the technical solution, the sorting device includes:

[0035] First rack;

[0036] A conveying mechanism is mounted on a first frame, with one side of the conveying mechanism being the feed end and the other side being the discharge end.

[0037] An incoming material inspection mechanism is installed on a first frame near the feeding end of the conveying mechanism. The incoming material inspection mechanism is adapted to identify the material entering the conveying mechanism.

[0038] A sample lifting mechanism is located below the middle position of the conveying mechanism and is offset from the conveying mechanism.

[0039] When the incoming material inspection mechanism detects that the material is a feed head, the conveying mechanism transmits the feed head to the discharge end; when the incoming material inspection mechanism detects that the material is a sample, the sample lifting mechanism lifts the sample so that the sample is separated from the conveying mechanism.

[0040] The technical solution is further optimized, and the incoming material inspection mechanism includes:

[0041] A support frame is mounted on a first frame near the feed end of the conveying mechanism.

[0042] A signal transmitter, wherein the signal transmitter is disposed on one side wall of the bracket;

[0043] A signal receiver is disposed on the other side wall of the bracket, and is disposed opposite to the signal transmitter. The signal receiver receives the signal emitted by the signal transmitter.

[0044] The signal transmitter and the signal receiver are positioned at a height higher than the material sheet but lower than the material head.

[0045] The technical solution has been further optimized, and the sample collection mechanism includes:

[0046] A sample collection structure is provided on one side of the conveying mechanism, and a feed inlet is provided on the side wall of the sample collection structure opposite to the conveying mechanism.

[0047] A pusher structure is provided, wherein the pusher structure and the sample collection structure are respectively disposed on both sides of the conveying mechanism, and the pusher structure is adapted to push the sample on the conveying mechanism into the sample collection structure;

[0048] A lifting structure is provided, wherein the telescopic end of the lifting structure is connected to the bottom wall of the sample collection structure, and the telescopic end of the lifting structure moves to lift the sample collection structure, thereby changing the collection position of the sample collection structure.

[0049] A truncation system, comprising:

[0050] A cutting machine, said cutting machine being adapted to cut a rod;

[0051] The automatic material handling system is suitable for collecting the material heads and sample pieces cut by the cutting machine.

[0052] An automatic material handling method, the method being based on the aforementioned automatic material handling system, includes the following steps:

[0053] The operation mode of the two material handling systems is controlled based on the position of the cutting rod of the cutter;

[0054] When the cutter cuts the head of the bar, the material handling system on the side closest to the head is controlled to dock with the head, and the cut head is misaligned with the bar and driven to separate from the bar to obtain the head; when the cutter cuts the sample, the material handling system on the side closest to the sample moves to the sample position and obtains the sample.

[0055] Control the transfer system to move to the docking position of the material handling system to acquire the material head and / or sample;

[0056] The material heads and / or samples are transferred to the sorting device through the transfer system for sorting. The sorted material heads are collected by the sample collection mechanism, and the sorted material heads are collected by the third conveying mechanism.

[0057] The technical solution of this invention has the following advantages:

[0058] 1. This invention provides an automatic material handling system that can simultaneously capture and collect material heads and samples. The system then transfers the acquired material heads and samples to a discharge system for collection and storage, improving work efficiency. Furthermore, this invention performs sorting before collecting the material heads and samples, avoiding space waste caused by collecting them in the same structure simultaneously.

[0059] 2. The automatic material handling system provided by this invention couples a material head handling device and a material sheet handling device together, enabling the system to handle both material heads and material sheets. Furthermore, the operating sequence of the material head handling device and the material sheet handling device can be configured. This invention allows for simultaneous material head and material sheet handling within a single system, saving floor space compared to separately configuring the material head handling device and the material sheet handling device. Moreover, because the relative positions of the material head handling device and the material sheet handling device are fixed in this invention, there is no interference between them.

[0060] 3. The automatic material handling system provided by this invention, when the material head is directly above the material head support block, lifts the material head support block and the material head by a material head lifting mechanism, thereby creating a misalignment between the material head and the cutting bar. The resulting misalignment provides a contact position for the material handling mechanism, facilitating automatic material handling. After the pulling part of the material handling mechanism contacts the end face of the material head, it moves away from the cutting bar under the drive of the telescopic part. This mechanical drive overcomes the tension of the cutting fluid, enabling very rapid material handling.

[0061] 4. The automatic material handling system provided by this invention includes a material head clamping mechanism mounted on the frame. This clamping mechanism is adapted to clamp the material head after the end face of the material head is misaligned with the end face of the material bar. Clamping the material head after misalignment prevents positional displacement of the material head when the pulling component pulls it, thus better ensuring the normal operation of the material head pulling and preventing the material head from slipping.

[0062] 5. The present invention provides an automatic material handling system in which a material tray fixing frame is mounted on a flipping mechanism, which is mounted on a fixed plate. The flipping mechanism is adapted to drive the material tray and the material head to flip, thereby placing the end face of the material head downwards, which facilitates the transportation of the material head and prevents it from falling off during transportation. On the other hand, the flipping mechanism can also drive the sample collection box to flip, so that the sample collection box can be flipped to a vertical position, so that it corresponds to the position where the sample is released by the sample handling structure, which facilitates the collection of samples.

[0063] 6. The automatic material handling system provided by the present invention uses two support parts on the material tray and the material head support block to be inserted and matched, so that the material head on the material head support block of the material handling device is transferred to the material tray. The shape of the material head will not affect the material handling state of the material tray. Therefore, the present invention can adapt to material heads of different shapes, making the transfer of material heads more convenient.

[0064] 7. The present invention provides an automatic material handling system that uses a sample collection mechanism to screen material heads and samples. The sample collection mechanism collects samples lifted by a sample lifting mechanism, and a third conveying mechanism receives material heads not lifted by the sample lifting mechanism, thereby achieving the screening and collection of material heads and samples. The incoming material detection mechanism and the lifting mechanism cooperate to screen material heads and samples, and work with the sample collection mechanism to collect samples, while the third conveying mechanism provides temporary storage and collection of samples. Compared to manual sorting of material heads and samples, the present invention can quickly sort material heads and samples, improving sorting efficiency and further enhancing the collection efficiency of material heads and samples.

[0065] 8. The present invention provides an automatic material handling system in which the signal transmitter and signal receiver are positioned at a height higher than the material sheet but lower than the material head. By controlling the positions of the signal transmitter and signal receiver, the present invention enables convenient and highly accurate material arrival detection. Attached Figure Description

[0066] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0067] Figure 1 This is a schematic diagram of the structure of an automatic material handling system provided by the present invention;

[0068] Figure 2 This is a schematic diagram of the material handling device of the present invention;

[0069] Figure 3 This is a schematic diagram of the material feeding device of the present invention;

[0070] Figure 4 This is a schematic diagram of the material handling mechanism of the present invention;

[0071] Figure 5 This is a diagram showing the positional relationship between the pulling component and the material head in this invention;

[0072] Figure 6 For the present invention Figure 5 Side view;

[0073] Figure 7 This is a schematic diagram of the material head picking device of the present invention during material head picking;

[0074] Figure 8 This is a schematic diagram of the material handling system of the present invention;

[0075] Figure 9 This is a schematic diagram of the material transfer and picking mechanism of the present invention;

[0076] Figure 10 This is a schematic diagram of the material transfer and picking mechanism of the present invention after the material tray has been flipped.

[0077] Figure 11 This is a cross-sectional view of the material handling mechanism of the present invention after the material tray has been flipped.

[0078] Figure 12 This is a schematic diagram of the structure of the novel transfer system.

[0079] Figure 13 This is a schematic diagram of the sorting device of the present invention;

[0080] Figure 14 This is a schematic diagram of the sample blocking mechanism in the sorting device of the present invention;

[0081] Figure 15 This is a schematic diagram of the sample lifting mechanism in the sorting device of the present invention;

[0082] Figure 16 This is a schematic diagram of the feeding system of the present invention;

[0083] Figure 17 This is a first-view structural schematic diagram of the sample collection structure in the sorting device of the present invention.

[0084] Figure 18 This is a second-view structural schematic diagram of the sample collection structure in the sorting device of the present invention.

[0085] Figure 19 This is a schematic diagram of the lifting and limiting structure in the sorting device of the present invention;

[0086] Figure 20 This is a first-view structural schematic diagram of the sample collection structure of the present invention;

[0087] Figure 21 This is a second-view structural schematic diagram of the sample collection structure of the present invention.

[0088] Figure label:

[0089] 1. Base;

[0090] 2. Material handling system; 21. Material head lifting mechanism; 211. Lifting drive assembly; 212. Lifting bracket; 22. Material head clamping mechanism; 221. Material head clamping block; 222. Clamping block connecting plate; 223. Clamping block drive assembly; 23. Material handling mechanism; 231. Rotating assembly; 232. Telescopic assembly; 233. Pulling assembly; 2331. Stop bar; 2332. Positioning head; 2333. Connecting rod; 234. Connecting plate; 235. Positioning frame; 2351. Rotation. Mechanism positioning frame, 2352; Linkage positioning frame, 23521; Bearing seat, 236; Positioning plate; 24; Material head support block, 241; Support protrusion; 27; Frame, 271; Frame, 272; Base plate; 28; Material sheet picking device, 281; Connecting frame, 282; Rotating bracket, 283; Rotary motor, 284; Suction cup; 29; Material picking and conveying device, 291; Conveyor table, 292; Slide rail, 293; Sliding plate, 294; Rack and pinion, 295; Conveyor motor;

[0091] 3. Transfer system; 31. Material tray; 311. Support unit; 32. Material tray fixing frame; 33. Material tray telescopic structure; 331. Guide rail slider; 332. Cylinder; 34. Tilting mechanism; 341. Tilting guide block; 342. Material tray fixing plate; 343. Baffle plate; 344. Material tray moving plate; 35. Sample collection box; 36. Rotation mechanism; 37. Fixing plate; 38. First conveying mechanism; 39. Moving frame; 310. Material picking device; 3102. Sample picking structure;

[0092] 4. Material feeding system; 41. Sorting device; 411. First frame; 412. Second conveyor mechanism; 4121. First conveyor belt; 41422. First rotating wheel; 4123. Second rotating wheel; 4144. Third rotating wheel; 4125. Fourth rotating wheel; 4126. Drive motor; 4127. Transmission chain; 413. Incoming material detection mechanism; 4131. Support frame; 4132. Signal transmitter; 4133. Signal receiver 414. Sample blocking mechanism; 4141. First cylinder; 4142. First connecting plate; 4143. Sample stop bar; 415. Sample lifting mechanism; 4151. Second cylinder; 4152. Second connecting plate; 4153. Lifting rod; 4154. Top piece pad; 4155. Positioning block; 4156. Telescopic rod; 42. Sample collecting mechanism; 421. Sample collecting structure; 4211. Box body; 4212. Partition plate; 421... 3. Feed inlet; 4214. Discharge outlet; 4215. Ventilation hole; 4216. Blowing structure; 4217. Door panel; 422. Paddle structure; 4221. Paddle claw; 4222. Paddle pad; 4223. Paddle drive assembly; 42424. Driven rod; 42425. Driven rod positioning seat; 423. Lifting structure; 4231. Third cylinder; 4232. Guide assembly; 42321. Fixing part; 42322. Connecting part. 424. Lifting and limiting structure; 4241. Segmented drive assembly; 4242. Positioning guide rod; 4243. Positioning rod; 4244. Segmented plate; 4246. Segmented hole; 42461. Horizontal hole segment; 42462. Vertical hole segment; 425. Second frame; 43. Unloading transition mechanism; 431. Second conveyor belt; 432. Third conveyor belt; 44. Third conveying mechanism; 441. Proximity switch; 442. Waiting area;

[0093] 5. Sample images;

[0094] 6. Material head;

[0095] 7. Rod body. Detailed Implementation

[0096] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0097] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a," "an," and "comprising" as used herein may also mean including the plural forms. The terms "comprising," "including," and "having" are inclusive and therefore indicate the presence of the stated features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0098] Although terms such as "first," "second," etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Furthermore, in the description of this invention, unless otherwise expressly specified and limited, the terms "set up" and "connected" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a direct connection or an indirect connection via an intermediate medium. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0099] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "front," "rear," "center," "inner," "longitudinal," "lateral," "side," "vertical," "outer," etc. Such spatial relative terms are intended to include different orientations of the mechanism in use or operation, in addition to those depicted in the figure. For example, if the mechanism in the figure is flipped, then an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The mechanism may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0100] The specific embodiments of the present invention will now be described in detail with reference to the automatic material handling system of the first aspect of the present invention.

[0101] It should be noted that the automatic material handling system of the first aspect of the present invention is only a preferred embodiment of the present invention. The automatic material handling system of the present invention can adopt the automatic material handling system of the first aspect of the present invention or other structures. For ease of explanation, the automatic material handling system of the first aspect of the present invention will be described in detail below.

[0102] Combination Figures 1 to 21 This embodiment discloses an automatic material handling system, including a base 1, a material handling system 2, a transfer system 3, and a material unloading system 4.

[0103] The base 1 serves as a fundamental support component, possessing high rigidity and stability. In a workshop layout, the bases can be connected to form a complete production line.

[0104] There are two material handling systems 2: a head material handling system and a tail material handling system. The head material handling system is used to handle the head material, and the tail material handling system is used to handle the tail material. Both material handling systems 2 are movably mounted on the base 1. The material handling system 2 includes a head material handling device and a sheet material handling device 28. The head material handling device controls the misalignment of the cut head material with the bar and drives the head material to separate from the bar material to obtain the head material. The sheet material handling device 28 is suitable for obtaining the cut sample sheet 5. One material handling system 2 is suitable for obtaining the head material and the sample sheet 5 near the head material, and the other material handling system 2 is suitable for obtaining the tail material and the sample sheet 5 near the tail material.

[0105] The transfer system 3 is movably mounted on the base 1. Located between the two material handling systems 2, the transfer system 3 can move to the docking position of either material handling system 2 to acquire material heads and / or samples. The transfer system 3 can also transfer the acquired material heads and / or samples to the unloading system 4. The transfer system 3 is responsible for the transfer of the rod head and tail materials between the head and tail material handling components and the unloading components. It undertakes the transfer and conveying of the rod head material, head material samples, and tail material, serving as a transition platform before the rod head and tail materials are unloaded.

[0106] The feeding system 4 is located at the end of the base 1. The feeding system 4 includes a sorting device 41, a sample collection mechanism 42 and a third conveying mechanism 44. The sorting device 41 sorts the material head and sample pieces. The sample collection mechanism 42 collects and stores the material pieces sorted by the sorting device 41. The third conveying mechanism 44 collects and stores the material head sorted by the sorting device 41.

[0107] The aforementioned automatic material handling system, material handling system 2, can simultaneously capture and collect material heads and sample pieces. Then, material handling system 2 transfers the acquired material heads and sample pieces to unloading system 4 via transfer system 3 for collection and storage, improving work efficiency. Furthermore, this embodiment performs sorting before collecting material heads and sample pieces, avoiding the space waste caused by collecting them in the same structure simultaneously. This embodiment collects material heads and sample pieces separately, saving space and making product classification clearer, facilitating faster retrieval of different types of products (sample pieces and material heads).

[0108] It should be noted that the rod 7 in this embodiment is a silicon rod, but it can also be a rod made of other materials. This embodiment does not limit the specific material of the rod 7. The material head in this embodiment is either tail material or head material.

[0109] The material handling system 2 in this invention will be described in detail below.

[0110] Combination Figures 2 to 8 The material handling system includes a head material handling device and a sheet material handling device 28. The head material handling device is used to handle the cut head material. The sheet material handling device 28 is installed on the head material handling device. After the head material handling device removes the head material, the sheet material handling device 28 handles the cut sheet material.

[0111] The aforementioned material handling system couples the head material handling device and the sheet material handling device 28 together, enabling the system to handle both head material handling and sheet material handling. Furthermore, the operating sequence of the head material handling device and the sheet material handling device 28 can be configured. This embodiment achieves simultaneous head material handling and sheet material handling within a single system, saving floor space compared to separately configuring the head material handling device and the sheet material handling device. Moreover, because the relative positions of the head material handling device and the sheet material handling device are fixed in this embodiment, there is no interference between them.

[0112] The material handling device includes a frame 27, a material head support block 24, a material head lifting mechanism 21, and a material handling mechanism 23. The material head support block 24 is suitable for supporting the material head. The fixed end of the material head lifting mechanism 21 is mounted on the frame 27, and the telescopic end of the material head lifting mechanism 21 is connected to the material head support block 24. The material head lifting mechanism 21 drives the material head support block 24 and the material head to rise, causing the end face of the material head to be misaligned with the end face of the material bar. The material handling mechanism 23 is positioned on the telescopic end of the material head lifting mechanism 21. The material handling mechanism 23 has a pulling part and a telescopic part; when the end face of the material head is misaligned with the end face of the material bar, the pulling part of the material handling mechanism 23 abuts against the misaligned end face of the material head and, driven by the telescopic part, causes the material head to separate from the material bar.

[0113] In the aforementioned feed head picking device, when the feed head is directly above the feed head support block 24, the feed head lifting mechanism 21 lifts the feed head support block 24 and the feed head, thereby creating a misalignment between the feed head and the feed bar. The resulting misalignment provides a contact position for the picking mechanism 23, facilitating automatic feed picking. After the pulling part of the picking mechanism 23 contacts the end face of the feed head, it moves away from the feed bar under the drive of the telescopic part. This mechanical drive overcomes the tension of the cutting fluid, enabling very rapid feed head picking.

[0114] In some embodiments, the frame 27 includes a frame 271 and a base plate 272, the frame 271 being a gantry frame, and the frame 271 straddling the base plate 272.

[0115] In some embodiments, the material head lifting mechanism 21 includes a lifting drive assembly 211 and a lifting bracket 212. The fixed end of the lifting drive assembly 211 is located at the top of the frame 271, and the telescopic end of the lifting drive assembly 211 extends downward. One end of the lifting bracket 212 is connected to the telescopic end of the lifting drive assembly 211, and the other end of the lifting bracket 212 is connected to the material head support block 24. In this embodiment, the lifting drive assembly 211 is a cylinder or a hydraulic cylinder, and other lifting structures may also be used; its specific structure is not limited here. When the telescopic end of the lifting drive assembly 211 is shortened, it can drive the material head support block 24 to move upward through the lifting bracket 212. When the material head support block 24 moves upward, it will lift the material head, thereby realizing the lifting function of the material head.

[0116] In a preferred embodiment, the material handling mechanism 23 is a rotary material handling mechanism. The rotary material handling mechanism includes a pulling component 233, a rotating component 231, and a telescopic component 232. At least one pulling component 233 is provided, serving as the pulling part of the rotary material handling mechanism. At least one rotating component 231 is provided, with its rotation output end connected to the pulling component 233. The pulling component 233 rotates under the influence of the rotating component to insert the material head 6 at a position offset from the end face of the rod body 7. The telescopic component 232 is the telescopic part of the rotary material handling mechanism, with its telescopic end connected to the fixed end of the rotating component 231. After the pulling component 233 rotates to insert the material head 6 at the position offset from the end face of the rod body 7, the telescopic component 232 drives the pulling component 233 and the material head 6 to move away from the rod body 7.

[0117] Before the pulling component 233 is inserted into the misaligned position between the material head 6 and the rod body 7, the telescopic component 232 drives the pulling component 233 to move to the position where the end face of the material head 6 is misaligned with the end face of the rod body 7. This automatically adjusts the insertion position of the pulling component 233 to ensure its accuracy. Then, the rotating component 231 drives the pulling component 233 to rotate so that it abuts against the misaligned position where the end face of the material head 6 is misaligned with the end face of the rod body 7, thus limiting the end of the material head 6. After the pulling component 233 is inserted into the misaligned position where the end face of the material head 6 is misaligned with the end face of the rod body 7, the telescopic component 232 drives the pulling component 233 and the material head 6 to move away from the rod body 7, thereby completely separating the material head 6 from the rod body 7 and achieving the purpose of picking up the material head 6.

[0118] In this embodiment, the suction force between the material head 6 and the rod body 7 is overcome by rotating the component 231 to drive the pulling component 233 to rotate and abut against the exposed end face of the material head 6, and using the telescopic component 232 to drive the material head 6 to separate from the rod body 7, so that the cut material head 6 can be removed from the rod body 7 very quickly and conveniently.

[0119] The rotating component 231 is a rotary cylinder, but it can also be a motor or other structures. They will not be listed here, as long as they are structures that can drive the pulling component 233 to rotate.

[0120] The telescopic component 232 can be a telescopic cylinder, or a hydraulic cylinder or other structures. They will not be listed here. Any structure that can drive the rotating mechanism to perform telescopic movements is acceptable.

[0121] The fixed end of the telescopic component 232 is fixedly mounted on the positioning plate 236. The rotating component 231 is positioned on the positioning frame 235. The telescopic end of the telescopic component 232 is connected to the connecting plate 234, and the connecting plate 234 is connected to the positioning frame 235. In this embodiment, the telescopic end of the telescopic component 232 can drive the connecting plate 234 to perform telescopic movements, thereby synchronously driving the positioning frame 235, the rotating component 231, and the pulling component 233 to perform telescopic movements.

[0122] The pulling assembly 233 includes a connecting rod 2333 and a stop rod 2331. The connecting rod 2333 is arranged along the extension and retraction direction of the telescopic assembly 232 and is connected to the rotation output end of the rotating mechanism. The stop rod 2331 is perpendicularly connected to the connecting rod 2333 and rotates in the vertical plane under the drive of the rotating mechanism. In this embodiment, the stop rod 2331 has a certain length, which can accommodate material heads 6 of different diameters and limit the material head 6 to prevent it from slipping during the transfer process.

[0123] To facilitate replacement of the stop lever 2331, the stop lever 2331 and the connecting rod 2333 are detachably connected. When the diameter of the material head 6 to be removed is too small, and the stop lever 2331 cannot contact the end face of the material head 6 after rotation, the stop lever 2331 can be disassembled and replaced with a stop lever 2331 of a different specification to meet the usage requirements. When the stop lever 2331 is damaged, it can also be disassembled and replaced.

[0124] More specifically, the stop lever 2331 is positioned on the positioning head 2332, and the positioning head 2332 is sleeved on the connecting rod 2333 and locked to the connecting rod 2333.

[0125] The distance between the stop bar 2331 and the connecting plate 234 is greater than or equal to the axial length of the material head 6. The stop bar 2331 and the connecting plate 234 form a space for accommodating the material head 6. When the stop bar 2331 is inserted into the misaligned position between the material head 6 and the rod body 7, the material head 6 can contact the side wall of the connecting plate 234 or have a certain distance from the side wall of the connecting plate 234, so as to ensure that the material head 6 can be removed normally.

[0126] The positioning frame 235 includes a rotating mechanism positioning frame 2351. The rotating mechanism positioning frame 2351 is configured as a semi-enclosed frame structure, and a positioning cavity is provided on the rotating mechanism positioning frame 2351, in which the rotating component 231 is positioned. The rotating mechanism positioning frame 2351 provided in this embodiment can provide a certain degree of protection for the rotating component 231.

[0127] The positioning frame 235 also includes a connecting rod positioning frame 2352. The connecting rod positioning frame 2352 extends along the side wall of the rotating mechanism positioning frame 2351, and the connecting rod 2333 moves through the rotating mechanism positioning frame 2351 and is rotatably mounted on the connecting rod positioning frame 2352. More specifically, a bearing seat 23521 is provided on the connecting rod positioning frame 2352, and the connecting rod 2333 is rotatably mounted on the bearing seat 23521 via a bearing. In this embodiment, the connecting rod positioning frame 2352 supports the middle part of the connecting rod 2333, ensuring the stability of the connecting rod 2333.

[0128] In some embodiments, the material head picking device further includes a material head clamping mechanism 22. The material head clamping mechanism 22 is mounted on the frame 27 and is adapted to clamp the material head after the end face of the material head is misaligned with the end face of the material bar. In this embodiment, clamping the material head after the end face of the material head is misaligned with the end face of the material bar can prevent the material head 6 from shifting position when the pulling component 233 pulls the material head 6, thus better ensuring the normal pulling of the material head 6 and preventing the material head 6 from slipping.

[0129] The material head clamping mechanism 22 includes a material head clamping block 221, a clamping block connecting plate 222, and a clamping block driving assembly 223. A pair of material head clamping blocks 221 are provided, with the two material head clamping blocks 221 located on opposite sides of the material head support block 24. A pair of clamping block connecting plates 222 are provided, with the two clamping block connecting plates 222 respectively connected to the two material head clamping blocks 221. The clamping block driving assembly 223 is perpendicular to the clamping block connecting plates 222, and its driving end is connected to one or both clamping block connecting plates 222. Under the drive of the driving end of the clamping block driving assembly 223, the distance between the two material head clamping blocks 221 changes. In this embodiment, the clamping block driving assembly 223 can be a cylinder or a hydraulic cylinder, or other structures capable of telescopic movement.

[0130] In some embodiments, the opposing surfaces of the two material head clamping blocks 221 are respectively set as inclined surfaces, and the two inclined surfaces are symmetrical about the material head support block 24. In this embodiment, setting the material head clamping blocks 221 as inclined surfaces can adapt to a variety of different specifications of material heads, making the material head clamping mechanism 22 more adaptable.

[0131] In some embodiments, the top of the material head support block 24 is provided with a support protrusion 241, the shape of which is adapted to the shape of the material head, thereby providing better support for the material head. The material head support block 24 cooperates with the two material head clamping blocks 221 to position the material head in three directions, effectively positioning the material head after it is acquired.

[0132] In some embodiments, the sheet picking device 28 includes a connecting frame 281, a rotating bracket 282, and a rotary drive assembly. The connecting frame 281 is mounted on the frame 27 of the sheet picking device. The rotating bracket 282 is rotatably mounted on the connecting frame 281 and is equipped with a suction cup 284. The rotary drive assembly is connected to the rotating bracket 282 and is adapted to drive the rotating bracket 282 to rotate. The rotary drive assembly is a rotary motor 283. In this embodiment, the sheet picking device 28 is positioned on the frame 27 of the sheet picking device via the connecting frame 281, thereby fixing the relative positions of the sheet picking device and the sheet picking device.

[0133] When the material head picking device picks up the material head, in order to avoid interference between the suction cup 284 and the cutting machine, the suction cup 284 is moved to the first position for waiting. After the material head is removed, the rotary motor 283 rotates, driving the suction cup 284 to rotate to the second position, and after clamping the material sheet, it rotates in the opposite direction under the drive of the rotary motor 283 to remove the material head.

[0134] In some embodiments, the material handling system further includes a material handling conveying device 29, which is adapted to drive the head material handling device and the sheet material handling device 28 to move linearly to switch the material handling position. The material handling position refers to the head material handling position when the head material handling device corresponds to the discharge port of the cutter, and the sheet material handling position when the sheet material handling device 28 corresponds to the discharge port of the cutter. When the material handling conveying device 29 drives the head material handling device to correspond to the discharge port of the cutter, it is in the head material handling position; when the material handling conveying device 29 drives the sheet material handling device 28 to correspond to the discharge port of the cutter, it is in the sheet material handling position.

[0135] The material handling and conveying device 29 includes a sliding plate 293, a conveying table 291, and a rack and pinion conveying assembly. The sliding plate 293 is connected to the frame 27 of the material handling device. The top of the conveying table 291 is provided with a slide rail 292 adapted to the sliding plate 293. The rack and pinion conveying assembly is disposed between the sliding plate 293 and the conveying table 291, and is adapted to drive the sliding plate 293 to move along the conveying table 291.

[0136] The gear and rack conveyor assembly includes a conveyor motor 295, a rack 294, and a gear. The top of the conveyor table 291 is configured as a hollow cavity, and the rack 294 is arranged within this cavity, with its sides forming tooth surfaces. A drive motor mounting position is provided on the sliding plate 293, and the conveyor motor 295 is positioned at this position. A gear is connected to the output shaft of the conveyor motor 295; the gear is horizontal and meshes with the rack 294, extending into the hollow cavity of the conveyor table 291. In this embodiment, when the conveyor motor 295 is running, it can drive the sliding plate 293, the material head picking device, and the material sheet picking device 28 to move linearly along the conveyor table 291.

[0137] The specific working process of the above-mentioned material handling system 2 is as follows:

[0138] After the cutter cuts off the material head on the bar, the material handling and conveying device 29 drives the material head handling device to move to the position of the material head.

[0139] The feed head lifting mechanism 21 drives the feed head support block 24 to rise. The feed head lifting mechanism 21 adjusts the material picking height so that the feed head support block 24 moves under the feed head to catch it. Then the feed head lifting mechanism 21 rises, lifting the feed head and offsetting it from the silicon rod by a certain distance.

[0140] The rotating component 231 drives the connecting rod 2333 and the stop rod 2331 to rotate, causing the stop rod 2331 to rotate to the material head offset position.

[0141] The telescopic end of the telescopic mechanism retracts, causing the stop bar and the material head 6 to move away from the rod body 7. This continues until the material head 6 is tightened, at which point the other end of the material head 6 contacts the limiting structure, at which point the telescopic mechanism stops moving, thus clamping the material head 6.

[0142] The material handling and conveying device 29 drives the material handling device 28 to a second position that corresponds to the material feeding position of the cutting machine.

[0143] The rotary motor 283 in the sheet material handling device 28 drives the rotary support 282 and the suction cup 284 to rotate to the second position, at which point the suction cup 284 corresponds to the material feeding position of the cutting machine. The suction cup 284 is used to pick up the sheet material cut by the cutting machine. Then, the rotary motor 283 drives the rotary support 282 and the suction cup 284 to rotate in the opposite direction, causing the sheet material to separate from the material bar.

[0144] The transfer system 3 in this invention will be described in detail below.

[0145] Combination Figures 9 to 12 As shown, the transfer system 3 includes a transfer device. The material receiving device 310 has a material head support block 24 and a sample receiving structure 3102. The material head support block 24 is adapted to receive the cut material head. The sample receiving structure 3102 is adapted to receive the cut sample. Before the material tray 31 is flipped, the material tray 31 is inserted into the material head support block 24 to receive the material head; after the material tray 31 is flipped, the sample receiving box 35 and the sample receiving structure 3102 are both in a vertical state. After the sample receiving structure 3102 releases the sample, the sample receiving box 35 collects the sample.

[0146] The aforementioned transfer system allows the material handling device 310 to simultaneously handle both the material head and the sample. The transfer device and the material handling device 310 work together, enabling the transfer device to simultaneously transfer both the material head and the sample. Compared to the method of independently transferring the material head and the sample, this saves space and improves transfer efficiency.

[0147] The transfer device includes a material head transfer and picking mechanism and a first conveying mechanism 38. The material head transfer and picking mechanism is mounted on the first conveying mechanism 38. In this embodiment, after the material head is transferred by the material head transfer and picking mechanism, it is conveyed to the unloading component or other positions through the first conveying mechanism 38, thereby transferring the material head collected by the picking device.

[0148] The material head transfer and picking mechanism includes a material support fixing frame 32, a material support 31, and a material support telescopic structure 33. The material support 31 is slidably mounted on the material support fixing frame 32. The material support 31 has two support portions 311, the distance between which is sufficient to accommodate the material head support block of the picking device. The tops of the two support portions 311 are higher than the top of the material head support block, so that when the material head support block is inserted between the two support portions 311, the two support portions 311 can lift the material head. The telescopic end of the material support telescopic structure 33 is connected to the material support 31, and the fixed end of the material support telescopic structure 33 is connected to the material support fixing frame 32. When the telescopic end of the material support telescopic structure 33 extends, the material support 31 moves towards the material head support block side of the picking device, causing the material head support block to insert between the two support portions 311, thereby transferring the material head on the material head support block to the material support 31. When the telescopic end of the material support telescopic structure 33 retracts, the material support 31 drives the material head to reset.

[0149] The aforementioned material head transfer and picking mechanism, through the insertion and cooperation of two support parts 311 on the material tray 31 with the material head support block, transfers the material head on the material head support block of the picking device to the material tray 31. The shape of the material head will not affect the picking state of the material tray 31. Therefore, this embodiment can adapt to material heads of different shapes, making the transfer of material heads more convenient.

[0150] In some embodiments, the material support fixing frame 32 is provided with a guide rail slider 331, and the material support 31 is provided with a groove that matches the guide rail slider 331.

[0151] In some embodiments, the material support telescopic structure 33 is a cylinder 332, but the material support telescopic structure 33 is not limited to a cylinder, and may also be a hydraulic cylinder or other telescopic drive structure.

[0152] In some embodiments, a sample collection box 35 is provided at one end of the material holder fixing frame 32 relative to the material holder 31. The sample collection box 35 is suitable for collecting samples, thereby enabling the device to transfer samples while transferring the material head.

[0153] Because the material head is placed in a flat, curved sidewall position when the material picking device picks up the material, and is also placed flat with a curved sidewall after being collected by the material holder 31, in order to facilitate the collection of the material head and to determine whether the incoming material is a material head by height detection, the material holder fixing frame 32 is set on the flipping mechanism 34 in this embodiment. The flipping mechanism 34 is set on the fixing plate 37. The flipping mechanism 34 is adapted to drive the material holder 31 and the material head to flip, so that the end face of the material head is placed downward, which facilitates the transportation of the material head and makes it less likely to fall off during transportation. On the other hand, the flipping mechanism 34 can also drive the sample collection box 35 to flip, so that the sample collection box 35 can be flipped to a vertical position, so that it corresponds to the position where the sample picking structure 3102 releases the sample, which facilitates the collection of the sample.

[0154] In some embodiments, the flipping mechanism 34 includes a flipping guide block 341 and a flipping motor. The flipping guide block 341 is connected to the material tray 31 and is rotatably connected to the fixed plate 37 via a rotating shaft. One end of the rotating shaft is connected to the flipping motor. When the flipping motor is started, it can drive the rotating shaft to rotate, thereby causing the flipping guide block 341 and the material tray 31 to flip.

[0155] In some embodiments, at least two material support fixing plates 342 are provided on the side wall of the material support fixing frame 32 away from the material support telescopic structure 33. The material support fixing plates 342 are adapted to receive the material head when the material support 31 is flipped, so that the flipped material head can still be received by this device and then conveyed to other positions through the first conveying mechanism 38.

[0156] During the tip-over process, after the material support 31 receives the tip-over, if the tip-over is too short, the tip-over and the material support fixing plate 342 are not in contact. If the material support 31 and the tip-over are flipped directly at this time, the tip-over will drop rapidly, easily causing it to slip off the material support fixing plate 342. To solve this problem, in some embodiments, the material support fixing plate 342 is connected to the material support moving plate 344 via a telescopic cylinder. Before the material support 31 is flipped, the telescopic cylinder drives the material support moving plate 344 to contact the end face of the tip-over; when the material support 31 is flipped, the telescopic cylinder is depressurized. At this time, the telescopic cylinder is in the form of a sliding rod, so that the tip-over slides down to the position of the material support fixing plate 342 under its own weight. At this time, the telescopic cylinder plays a role in buffering the tip-over, preventing the tip-over from falling too fast.

[0157] In some embodiments, two baffle plates 343 are respectively provided on both sides of the material holder fixing frame 32, which can block the material head after the material holder 31 picks up the material head and when the material head is flipped, so as to prevent the material head from slipping off the material head transfer and picking mechanism.

[0158] In some embodiments, a rotating mechanism 36 is provided at the bottom end of the fixed plate 37, and the rotating mechanism 36 is mounted on the first conveying mechanism 38 via a movable frame 39. The rotating mechanism 36 can drive the material tray 31 and the material head on the material tray 31 to rotate horizontally, thereby enabling the material tray 31 to pick up material heads at different positions.

[0159] The specific working process of the above-mentioned transfer system is as follows:

[0160] The slewing mechanism 36 can control the picking direction of the material tray 31 to determine the collection of head material / tail material. When it is necessary to collect head material, the slewing mechanism 36 drives the material tray 31 to rotate to the position corresponding to the head material picking device; when it is necessary to collect tail material, the slewing mechanism 36 drives the material tray 31 to rotate to the position corresponding to the tail material picking device.

[0161] The first conveying mechanism 38 moves the material tray 31 to a position corresponding to the material head support block 24 of the material taking device 310.

[0162] The material tray telescopic structure 33 drives the material tray 31 to extend from the material tray fixing frame 32, so that the material head support block 24 is inserted between the two support parts 311 of the material tray 31, and the material head 6 on the material head support block 24 is forked off through the two support parts 311.

[0163] The material support telescopic structure 33 retracts, causing the material support 31 to reset.

[0164] The rotating motor rotates, controlling the material tray 31 and the material head to rotate to a vertical position, so that the material head abuts against the material tray fixing plate 342. The suction cup of the sample picking structure 3102 releases the sample, and the sample falls into the sample collection box 35.

[0165] The feeding system 4 in this invention will be described in detail below.

[0166] Combination Figures 13 to 21 As shown, this embodiment discloses a feeding system, including a sorting device 41, a sample collection mechanism 42, and a third conveying mechanism 44. The sample collection mechanism 42 is disposed on the side of the sample lifting mechanism 415, and is adapted to collect the samples lifted by the sample lifting mechanism 415. The third conveying mechanism 44 is connected to the discharge end of the second conveying mechanism 412, and is provided with a waiting area 442, which is adapted to collect the material head.

[0167] The above-mentioned feeding system uses a sample collection mechanism 42 to screen out the material head and sample pieces. The sample collection mechanism 42 can collect the sample pieces lifted by the sample lifting mechanism 415. The third conveying mechanism 44 can receive the material head that is not lifted by the sample lifting mechanism 415, thereby realizing the screening and collection of the material head and sample pieces.

[0168] It should be noted that in this embodiment, the material head is the head material after cutting the head of the silicon rod or the tail material after cutting the tail of the silicon rod, and the sample is a silicon wafer.

[0169] In some embodiments, the sample collection mechanism 42 includes a sample collection structure 421, a paddle structure 422, and a lifting structure 423. Both the paddle structure 422 and the lifting structure 423 are mounted on the second frame 425. The sample collection structure 421 is located on one side of the second conveying mechanism 412, and a feed inlet 4213 is provided on the side wall opposite to the second conveying mechanism 412. The paddle structure 422 and the sample collection structure 421 are respectively located on opposite sides of the second conveying mechanism 412, and the paddle structure 422 is adapted to push the samples on the second conveying mechanism 412 into the sample collection structure 421. The telescopic end of the lifting structure 423 is connected to the bottom wall of the sample collection structure 421. When the telescopic end of the lifting structure 423 extends or retracts, it drives the sample collection structure 421 to rise or fall, thereby changing the collection position of the sample collection structure 421.

[0170] The aforementioned sample collection mechanism 42 transports samples to the desired position via a second conveying mechanism 412. A prying mechanism 422 then pries the samples from the second conveying mechanism 412 into the cavity of the sample collection structure 421. Simultaneously, the sample collection structure 421 is raised and lowered via a lifting mechanism 423, ensuring that the area within the sample collection structure 421 that can hold samples always corresponds to the position of the prying mechanism 422, thus enabling continuous sample collection. Compared to the current manual sample collection method, this embodiment automatically collects samples throughout the entire process, significantly improving collection efficiency and reducing manual labor.

[0171] The paddle mechanism 422 includes a paddle claw 4221, a paddle drive assembly 4223, and a driven rod 42424. The fixed end of the paddle drive assembly 4223 is mounted on the second frame 425, and the telescopic end of the paddle drive assembly 4223 is connected to the paddle claw 4221. The telescopic direction of the paddle drive assembly 4223 corresponds to the feeding direction. One end of the driven rod 42424 is connected to the paddle claw 4221, and the other end of the driven rod 42424 is slidably mounted on the second frame 425. The driven rod 42424 is parallel to the telescopic direction of the paddle drive assembly 4223. In this embodiment, when the paddle drive assembly 4223 retracts, it drives the paddle claw 4221 to move in the feeding direction, paddles the sample into the feed inlet 4213 of the lifting structure 423, thus feeding the sample. In this embodiment, the paddle drive assembly 4223 is a paddle cylinder, and the paddle cylinder and the driven rod 42424 are located on both sides of the sample collection structure, respectively. However, the paddle drive assembly 4223 is not limited to a paddle cylinder, and other telescopic drive assemblies may also be used.

[0172] The driven rod 42424 is slidably mounted on the driven rod positioning seat 42425, and the driven rod positioning seat 42425 is mounted on the second frame 425.

[0173] The side wall of the pawl 4221 corresponding to the feed inlet 4213 is provided with a pawl pad 4222, which plays a role in buffering and protecting the sample.

[0174] Furthermore, the paddle pad 4222 has a groove on the side near the feed inlet 4213. The groove gradually expands from the side away from the feed inlet 4213 to the side near the feed inlet 4213, thus accommodating samples of different diameters. The paddle pad 4222 is V-shaped, but not limited to V-shape, and can also be other shapes.

[0175] The lifting structure 423 includes a third cylinder 4231 and a guide assembly 4232. The telescopic end of the third cylinder 4231 is connected to the sample collection structure 421, and the fixed end of the third cylinder 4231 is mounted on the second frame 425. The guide assembly 4232 is positioned between the sample collection structure 421 and the second frame 425, and serves to guide the lifting and lowering of the sample collection structure. When the piston rod of the third cylinder 4231 extends, it can drive the sample collection structure 421 to rise; when the piston rod of the third cylinder 4231 retracts, it can drive the sample collection structure 421 to fall.

[0176] The third cylinder 4231 is an adjustable stroke cylinder. The lifting structure 423 also includes a lifting limit structure 424, which is adapted to limit the lifting stroke of the third cylinder 4231 to ensure that after each lifting and lowering of the third cylinder 4231, a storage chamber on the sample collection structure 421 corresponds to the position of the paddle claw 4221.

[0177] The lifting and limiting structure 424 includes a segmented plate 4244, a positioning rod 4243, and a segmented drive assembly 4241. The top end of the segmented plate 4244 is connected to the sample collection structure 421, and the segmented plate 4244 is mounted on the sample collection structure 421. The segmented plate 4244 has segmented holes 4246. Figure 6 As shown, the segmented hole 4246 has a reciprocatingly alternating transverse hole segment 42461 and a vertical hole segment 42462. A positioning rod 4243 is perpendicular to the segmented hole 4246 and is slidably fitted within the segmented hole 4246. The telescopic end of the segmented drive assembly 4241 is connected to the positioning rod 4243 and is adapted to drive the positioning rod 4243 to extend and retract laterally along the transverse hole segment 42461.

[0178] Furthermore, the guide assembly 4232 includes a fixing part 42321 and a connecting rod part 42322. The fixing part 42321 is fixedly mounted on the sample collection structure 421, and the segment plate 4244 is fixedly mounted on the fixing part 42321. The connecting rod part 42322 is vertically mounted on the second frame 425, and the fixing part 42321 is slidably mounted on the connecting rod part 42322, enabling it to move up and down on the connecting rod 2333.

[0179] Furthermore, the lifting and limiting structure 424 also includes positioning guide rods 4242. Two positioning guide rods 4242 are provided, one end of each rod connecting to the two ends of the positioning rod 4243 extending out of the segmented hole 4246, and the other end connecting to the frame. In this embodiment, the positioning guide rods 4242 serve as auxiliary guides, preventing the positioning rod 4243 from slipping out of the segmented hole 4246 during sliding.

[0180] The sample collection structure 421 is a sample collection box. The sample collection box includes a box body 4211, inside which multiple partitions 4212 are arranged, dividing the sample collection box into several storage chambers arranged vertically at intervals. A horizontal perforation 42461 is parallel to the partitions 4212. Each vertical perforation 42462 corresponds to a storage chamber, and the height of the vertical perforation 42462 is the same as the height of its corresponding storage chamber. Therefore, each time the third cylinder 4231 raises the sample collection box, the height is the same as the height of the vertical perforation 42462. That is, each time the third cylinder 4231 raises the storage chamber of the sample collection box to the position corresponding to the pawl 4221, ensuring the accuracy of sample feeding.

[0181] In this embodiment, the horizontal hole segment 42461 and the vertical hole segment 42462 are alternately arranged. Therefore, before the third cylinder 4231 needs to drive the sample collection structure 421 to rise, the segmented drive assembly 4241 needs to drive the positioning rod 4243 to move laterally to the vertical hole segment 42462, and then drive the sample collection structure 421 to rise through the third cylinder 4231. When the third cylinder 4231 drives the sample collection structure 421 and the segmented plate 4244 to rise to the position where they abut against the positioning rod 4243, the positioning rod 4243 is limited by the bottom end position of the vertical hole segment 42462. At this time, the piston rod of the third cylinder 4231 also stops rising. At this time, a certain storage chamber on the sample collection structure 421 is directly opposite the position of the paddle claw 4221. When the pawl 4221 pushes the sample into the inlet 4213 of the sample collection structure 421, and the position of the next storage chamber is switched, the segmented drive assembly 4241 needs to drive the positioning rod 4243 to move laterally to the inlet end of the next vertical hole segment 42462, and repeat this action. The above-mentioned lifting and limiting structure 424 can effectively control the lifting position of the third cylinder 4231, making the lifting position of the third cylinder 4231 and the upward movement position of each storage chamber more accurate. This ensures that each time the third cylinder 4231 lifts the sample collection structure 421, the position of the previous storage chamber of the sample collection structure 421 corresponds to that of the pawl 4221, thereby ensuring that the pawl 4221 can accurately push the sample into the storage chamber of the sample collection structure 421.

[0182] In some embodiments, the third conveying mechanism 44 is connected to the discharge end of the second conveying mechanism 412 via a feeding transition mechanism 43. The feeding transition mechanism 43 operates synchronously with the second conveying mechanism 412, and the feeding transition mechanism 43 and the third conveying mechanism 44 operate independently. In this embodiment, the feeding transition mechanism 43 serves to transition the material head. Because the feeding transition mechanism 43 and the third conveying mechanism 44 operate independently, the third conveying mechanism 44 can remain stationary while the second conveying mechanism 412 is in motion. The third conveying mechanism 44 can collect the material head and temporarily store it.

[0183] The material feeding transition mechanism 43 includes a second conveyor belt 431, a third conveyor belt 432, a first rotating shaft, and a second rotating shaft. The first rotating shaft and the second rotating shaft are respectively rotatably mounted on the frame of the third conveying mechanism 44. The second conveyor belt 431 is sleeved between the first rotating shaft and the drive shaft of the second conveying mechanism 412. Two third conveyor belts 432 are sleeved on the first rotating shaft and the second rotating shaft. The second conveyor belt 431 is located between the two third conveyor belts 432.

[0184] In some embodiments, proximity switches 441 are respectively provided at the beginning and end of the third conveying mechanism 44. When the two proximity switches 441 detect the material head signal at the same time, it indicates that the material head in the waiting area of ​​the third conveying mechanism 44 is full and the material head can be unloaded, and the third conveying mechanism 44 performs the unloading action.

[0185] This embodiment discloses a sorting device, including a first frame 411, a second conveying mechanism 412, an incoming material detection mechanism 413, and a sample lifting mechanism 415. The second conveying mechanism 412 is mounted on the first frame 411, with one side being the inlet and the other side being the outlet. The incoming material detection mechanism 413 is mounted on the first frame 411 near the inlet of the second conveying mechanism 412, and is adapted to identify the material entering the second conveying mechanism 412. The sample lifting mechanism 415 is positioned below the middle of the second conveying mechanism 412 and is offset from it.

[0186] In the aforementioned sorting device, when the incoming material detection mechanism 413 detects that the material is a feed head, the second conveying mechanism 412 transmits the feed head to the discharge end, where it is then collected by the third conveying mechanism 44 connected to the discharge end. When the incoming material detection mechanism 413 detects that the material is a sample, the sample lifting mechanism 415 lifts the sample to detach it from the second conveying mechanism 412, facilitating its removal from the second conveying mechanism 412. In this embodiment, the incoming material detection mechanism 413 and the sample lifting mechanism 415 cooperate to screen the feed heads and samples, and work with the sample collection mechanism 42 to collect the samples, and with the third conveying mechanism 44 to temporarily store and collect the samples. Compared to manual sorting of feed heads and samples, this embodiment can quickly sort feed heads and samples, improving sorting efficiency and further enhancing the collection efficiency of feed heads and samples.

[0187] In some embodiments, the incoming material detection mechanism 413 includes a support 4131, a signal transmitter 4132, and a signal receiver 4133. The support 4131 is mounted on a first frame 411 near the feed end of the second conveying mechanism 412. The signal transmitter 4132 is mounted on one side wall of the support 4131. The signal receiver 4133 is mounted on the other side wall of the support 4131, and is positioned opposite to the signal transmitter 4132. The signal receiver 4133 receives signals emitted by the signal transmitter 4132, and the signal transmitter 4132 and signal receiver 4133 constitute a through-beam switch. The signal receiver 4133 receives signals from the signal transmitter 4132 when incoming material is detected.

[0188] The signal transmitter 4132 and the signal receiver 4133 are positioned at a height higher than the material sheet but lower than the material head. When a sample sheet arrives, its height is lower than the height of the signal transmitter 4132 and the signal receiver 4133, and the signal receiver 4133 can detect the signal, thus identifying the incoming material as a sample sheet. When the material head arrives, because the height of the material head exceeds the height of the signal transmitter 4132 and the signal receiver 4133, the signal emitted by the signal transmitter 4132 is blocked, thus identifying the incoming material as a material head.

[0189] In some embodiments, the second conveying mechanism 412 includes a drive shaft, a driven shaft, a drive motor 4126, a linkage assembly, a first rotating wheel 41422, a second rotating wheel 4123, and a first conveyor belt 4121. The drive shaft is connected to the drive motor 4126 via the linkage assembly. Two first rotating wheels 41422 are coaxially connected to the drive shaft, and two second rotating wheels 4123 are coaxially connected to the driven shaft. A first conveyor belt 4121 is respectively fitted between the two first rotating wheels 41422 and the two second rotating wheels 4123, with a gap between the two first conveyor belts 4121. The linkage assembly includes a third rotating wheel 4144, a fourth rotating wheel 4125, and a transmission chain 4127. The third rotating wheel 4144 is coaxially connected to the first rotating wheel 41422, the fourth rotating wheel 4125 is rotatably mounted on the first frame 411, a transmission chain 4127 is sleeved between the third rotating wheel 4144 and the fourth rotating wheel 4125, and the fourth rotating wheel 4125 is connected to the output shaft of the drive motor 4126.

[0190] In some embodiments, a sample blocking mechanism 414 is also provided between the two first conveyor belts 4121. When the incoming material detection mechanism 413 detects that the material is a sample, the telescopic end of the sample blocking mechanism 414 extends out of the first conveyor belt 4121 to block the sample, thereby slowing down the conveying speed of the sample and keeping the position of the sample after being lifted by the sample lifting mechanism 415 consistent, so as to ensure the accuracy of sample feeding.

[0191] The sample blocking mechanism 414 includes a first cylinder 4141, a first connecting plate 4142, and a sample stop bar 4143. The first cylinder 4141 extends and retracts vertically, and the piston rod end of the first cylinder 4141 is connected to the first connecting plate 4142. At least one sample stop bar 4143 is provided and positioned on the first connecting plate 4142. When the incoming material detection mechanism 413 detects that the material is a sample, the piston rod of the first cylinder 4141 extends, causing the sample stop bar 4143 to extend from the first conveyor belt 4121 to block the sample, so that the sample lifting mechanism 415 can lift the sample.

[0192] In some embodiments, the sample lifting mechanism 415 is disposed between two first conveyor belts 4121. Figure 3As shown, the sample lifting mechanism 415 includes a second cylinder 4151, a second connecting plate 4152, a lifting rod 4153, and a top plate pad 4154. The piston rod of the second cylinder 4151 is connected to the second connecting plate 4152. The second connecting plate 4152 is connected to a positioning block 4155 positioned on the first frame 411 via a telescopic rod 4156. At least one lifting rod 4153 is provided at the top of the second connecting plate 4152, and a top plate pad 4154 is provided on the lifting rod 4153. In this embodiment, the top plate pad 4154 can be configured as an elastic top plate pad, which reduces the impact on the sample when it comes into contact with the sample, thus providing a buffer protection for the sample.

[0193] The specific working process of the above-mentioned feeding system is as follows:

[0194] The material enters the feed end position of the second conveying mechanism 412, and the second conveying mechanism 412 transports the material to the incoming material detection mechanism 413, and the signal transmitter 4132 sends out a signal.

[0195] When the second conveyor 412 is conveying a material head, the material head blocks the signal emitted by the signal transmitter 4132, and the signal receiver 4133 cannot receive the signal. The signal receiver 4133 feeds back the detection signal to the controller in real time, and the controller determines that the material at this time is a material head. The controller issues a continue conveying command, and the second conveyor 412 continues to drive the material head to the unloading transition mechanism 43, and then enters the waiting area of ​​the third conveyor to stop and temporarily store the material head. At the same time, the feeding end of the second conveyor 412 continues to feed material to avoid work stoppage.

[0196] When the second conveying mechanism 412 conveys a sample piece, the signal emitted by the signal transmitter 4132 is transmitted from above the sample piece to the signal receiver 4133. The signal receiver 4133 feeds back the detection signal to the controller in real time, and the controller determines that the material at this time is a sample piece. The controller issues a material blocking command, controlling the piston rod of the first cylinder 4141 to extend. The first cylinder 4141 drives the sample piece blocking rod 4143 to rise, blocking the sample piece. Then the controller issues a material lifting command, controlling the piston rod of the second cylinder 4151 to extend, lifting the sample piece, and thus the second conveying mechanism 412 stops conveying the sample piece. Then the controller issues a sample piece collection command, and the controller controls the paddle drive assembly 4223 of the paddle structure 422 to operate, using the paddle claw 4221 to push the sample piece into the storage chamber of the sample piece collection structure 421, thereby collecting the sample piece. After completing one sample collection, the controller sends a lifting command to the third cylinder 4231, which controls the sample collection structure 421 to rise by the height of one storage chamber, so that the next storage chamber is aligned with the pawl 4221 to facilitate the collection of the next sample. When the sample collection structure 421 is full of samples, the samples are unloaded.

[0197] Current collection boxes typically only allow for stacking silicon wafers. However, since silicon wafers are cut from silicon rods using a cutting fluid, directly stacking the cut wafers into the collection box is detrimental to their drying process. To address this issue, a combination of... Figure 20 and Figure 21 As shown, this embodiment improves the sample collection box. The interior of the box body 4211 is configured as a hollow cavity. At least one partition 4212 is provided, which is disposed inside the hollow cavity and divides the hollow cavity into at least two storage chambers. One end of the storage chamber is a feed inlet 4213, and the other end is a discharge outlet 4214. At least one ventilation hole 4215 is provided, which penetrates the partition 4212 and one wall of the box body 4211, and the ventilation hole 4215 and the partition 4212 are at an angle. A blowing structure 4216 is disposed at the junction of the ventilation hole 4215 and the wall of the box body 4211, and the blowing structure 4216 is adapted to blow drying gas into each storage chamber.

[0198] The aforementioned sample collection box divides the box body 4211 into multiple storage chambers, each containing individual samples. A drying gas is supplied to each chamber via a blowing structure 4216, thus drying the samples as they are placed into the chambers, improving sample quality. The samples within each chamber are relatively independent, eliminating the possibility of cross-contamination, and the samples are easily retrieved.

[0199] In some embodiments, the partition 4212 is horizontally inserted into the hollow cavity so that the storage cavities are spaced apart in the vertical direction.

[0200] In some embodiments, the ventilation hole 4215 is perpendicular to the partition 4212. The ventilation hole 4215 is located at the center of the partition 4212, so that the air blown by the air blowing structure into the storage chamber diffuses from the center to the surrounding area, so that the blown air can quickly fill the entire storage chamber and speed up the drying process.

[0201] In some embodiments, the storage order of the samples in each storage chamber is as follows: storage chambers farther from the blowing structure 4216 store samples layer by layer towards the storage chambers closer to the blowing structure 4216. When the first sample is stored in a storage chamber, the blowing structure 4216 blows air onto the sample to dry it. When the second sample is placed in, it covers the first sample, and the air blown by the blowing structure 4216 blows directly onto the second sample to dry it. This process is repeated for each sample, and the blowing structure 4216 dries each sample sequentially.

[0202] In a preferred embodiment, the storage chambers are arranged sequentially from bottom to top, and the samples are stored in the order from bottom to top.

[0203] In some embodiments, the air-blowing structure 4216 includes an air-blowing pipe and a blower. The air-blowing pipe is located at the junction of the ventilation hole 4215 and the wall of the housing 4211. The blower is connected to the air-blowing pipe.

[0204] In some embodiments, a heating component is provided on the air blowing pipe, which can heat the air inside the air blowing pipe, so that the air blowing pipe blows out hot air, further accelerating the drying effect.

[0205] In some embodiments, a mounting bracket is provided at the junction of the ventilation hole 4215 and the wall of the housing 4211, and the air blowing pipe is mounted on the mounting bracket.

[0206] In some embodiments, a door panel 4217 is hinged to the side wall of the housing 4211, and the door panel 4217 is adapted to control the opening and closing of the discharge port 4214. When the door panel 4217 is closed, the discharge port 4214 is not connected to the inlet port 4213, and sample pieces are stored at this time. When the door panel 4217 is open, the discharge port 4214 is connected to the inlet port 4213, and sample pieces can be discharged at this time.

[0207] The specific embodiments of the present invention will now be described in detail with reference to the truncation system of the second aspect of the present invention.

[0208] It should be noted that the truncation system of the second aspect of the present invention is only a preferred embodiment of the present invention. The truncation system of the present invention can adopt the truncation system of the second aspect of the present invention or other structures. For ease of explanation, the truncation system of the second aspect of the present invention will be described in detail below.

[0209] This embodiment discloses a cutting system, including a cutting machine and an automatic material handling system. The cutting machine is suitable for cutting rods using diamond wire. The automatic material handling system is suitable for collecting the cut ends and samples from the cutting machine.

[0210] The specific embodiments of the present invention will now be described in detail with reference to the automatic material handling method of the third aspect of the present invention.

[0211] It should be noted that the automatic material handling method of the third aspect of the present invention is only a preferred embodiment of the present invention. The automatic material handling method of the present invention can adopt the automatic material handling method of the third aspect of the present invention or other structures. For ease of explanation, the automatic material handling method of the third aspect of the present invention will be described in detail below.

[0212] This embodiment discloses an automatic material handling method, including the following steps:

[0213] The operation mode of the two material handling systems 2 is controlled based on the position of the cutting rod of the cutter.

[0214] When the cutter cuts the head of the bar, the material handling system 2 on the side closest to the head is controlled to dock with the head, and the cut head is controlled to be misaligned with the bar and to separate the head from the bar, thus obtaining the head; when the cutter cuts the sample, the material handling system 2 on the side closest to the sample is controlled to move to the sample position and obtain the sample.

[0215] The control transfer system 3 moves to the docking position of the material handling system 2 for acquiring the material head and / or sample to acquire the material head and / or sample.

[0216] The material head and / or sample piece are transferred to the sorting device 41 by the transfer system 3 for sorting of the material head and sample piece; the sorted material piece is collected by the sample piece collection mechanism 42, and the sorted material head is collected by the third conveying mechanism 44.

[0217] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An automated picking system, characterized by The application relates to a material taking device for a material rod, and comprises the following parts: a base (1); two material taking systems (2) movably arranged on the base (1), wherein the material taking system (2) comprises a material head taking device and a material piece taking device (28), the material head taking device controls the dislocation of the cut material head and the material rod and drives the separation of the material head and the material rod to obtain the material head, and the material piece taking device (28) is suitable for obtaining the sample piece after cutting; one of the material taking systems (2) is suitable for obtaining the head material and the sample piece near the side of the head material, and the other material taking system (2) is suitable for obtaining the tail material and the sample piece near the side of the tail material; a transfer system (3) movably arranged on the base (1), wherein the transfer system (3) is arranged between the two material taking systems (2) and can be moved to the docking position of any material taking system (2) to obtain the material head and / or the sample piece, and the transfer system (3) can transfer the obtained material head and / or sample piece to a material discharging system (4); the material discharging system (4) is arranged at the end of the base (1), and the material discharging system (4) comprises a sorting device (41), a sample piece collecting mechanism (42) and a third conveying mechanism (44), the sorting device (41) sorts the material head and the sample piece, the sample piece collecting mechanism (42) collects the sample piece sorted by the sorting device (41), and the third conveying mechanism (44) collects the material head sorted by the sorting device (41).

2. The automated retrieval system of claim 1, wherein, The material head taking device comprises: a rack (27); a material head supporting block (24) suitable for supporting the material head; a material head lifting mechanism (21), wherein the fixed end of the material head lifting mechanism (21) is arranged on the rack (27), the telescopic end of the material head lifting mechanism (21) is connected with the material head supporting block (24), the material head lifting mechanism (21) drives the material head supporting block (24) and the material head to ascend, so that the end face of the material head is dislocated from the end face of the material rod; a material taking mechanism (23) arranged on the telescopic end of the material head lifting mechanism (21), wherein the material taking mechanism (23) has a pulling part and a telescopic part; when the end face of the material head is dislocated from the end face of the material rod, the pulling part of the material taking mechanism (23) abuts against the dislocated end face of the material head and drives the separation of the material head and the material rod under the driving of the telescopic part.

3. The automatic picking system according to claim 2, characterized in that, The material taking mechanism (23) is a rotary material taking mechanism, and the rotary material taking mechanism comprises: at least one pulling assembly (233), which is the pulling part of the rotary material taking mechanism; at least one rotating assembly (231), wherein the rotating output end of the rotating assembly (231) is connected with the pulling assembly (233), and the pulling assembly (233) is inserted into the position where the end face of the material head (6) is dislocated from the end face of the rod body (7) under the driving of the rotating assembly. A telescopic assembly (232) is a telescopic part of the rotary material taking mechanism, and a fixed end of the telescopic assembly (232) is connected with the rotary assembly (231); after the pulling assembly (233) is rotated to be inserted into the position where the end surface of the material head (6) is misaligned with the end surface of the rod body (7), the telescopic assembly (232) drives the pulling assembly (233) and the material head (6) to move away from the rod body (7).

4. The automatic picking system according to claim 2, characterized in that, The material head material taking device further comprises: A material head clamping mechanism (22) is arranged on the rack (27), and the material head clamping mechanism (22) is suitable for clamping the material head after the end surface of the material head is misaligned with the end surface of the rod.

5. The automatic picking system according to claim 1, characterized in that, The material piece material taking device (28) comprises: A connecting rack (281) is arranged on the rack (27) of the material head material taking device; A rotary support (282) is rotatably arranged on the connecting rack (281), and a suction disc (284) is arranged on the rotary support (282); A rotary driving assembly is connected with the rotary support (282), and the rotary driving assembly is suitable for driving the rotary support (282) to rotate.

6. The automatic picking system according to any one of claims 2-5, characterized in that, The transfer system (3) comprises: A material tray fixing rack (32); A material tray (31) is slidably arranged on the material tray fixing rack (32), and the material tray (31) has two support portions (311), the interval of the two support portions (311) can accommodate the material head support block of the material taking device, and the top end of the two support portions (311) is higher than the top end of the material head support block; a sample collection box (35) is arranged on one end of the material tray fixing rack (32) relative to the material tray (31), and the sample collection box (35) is suitable for collecting the sample; A material tray telescopic structure (33) is connected with the material tray (31) at a telescopic end, and is connected with the material tray fixing rack (32) at a fixed end; when the telescopic end of the material tray telescopic structure (33) is extended, the material tray (31) moves to the side of the material head support block of the material taking device, and the material head support block is inserted between the two support portions (311), so as to transfer the material head on the material head support block to the material tray (31); when the telescopic end of the material tray telescopic structure (33) is retracted, the material tray (31) drives the material head to reset; A first conveying mechanism (38) is arranged on the material head transfer material taking mechanism.

7. The automatic picking system according to claim 6, characterized in that, The material tray fixing rack (32) is arranged on a turnover mechanism (34), the turnover mechanism (34) is arranged on a fixed plate (37), and the turnover mechanism (34) is suitable for driving the material tray (31) and the material head to turn over; And / or, a rotary mechanism (36) is arranged at the bottom end of the fixed plate (37), the rotary mechanism (36) is arranged on the first conveying mechanism (38) through a moving rack (39), and the rotary mechanism (36) is suitable for driving the material tray (31) and the material head on the material tray (31) to rotate horizontally.

8. The automatic picking system according to claim 6, characterized in that, The material tray (31) and the sample collecting box (35) are lifted by lifting mechanisms; when the material tray (31) is inserted into the feeding port position of the sorting device (41) and is lowered, the material head on the material tray (31) is transferred to the sorting device (41); when the sample collecting box (35) is inserted into the feeding port position of the sorting device (41) and is lowered, the sample on the sample collecting box (35) is transferred to the sorting device (41).

9. The automatic retrieval system of claim 1, wherein, The sorting device (41) comprises: a first rack (411); a second conveying mechanism (412) provided on the first rack (411), one side of the second conveying mechanism (412) being a feeding end and the other side of the second conveying mechanism (412) being a discharging end; a material detection mechanism (413) provided on the first rack (411) close to the feeding end of the second conveying mechanism (412), the material detection mechanism (413) being adapted to identify the material entering the second conveying mechanism (412); a sample lifting mechanism (415) provided below the intermediate position of the second conveying mechanism (412) and arranged in a staggered manner with the second conveying mechanism (412); when the material detection mechanism (413) detects that the material is a material head, the second conveying mechanism (412) transmits the material head to the discharging end; when the material detection mechanism (413) detects that the material is a sample, the sample lifting mechanism (415) lifts the sample to make the sample separate from the second conveying mechanism (412).

10. The automated retrieval system of claim 9, wherein, The material detection mechanism (413) comprises: a support (4131) provided on the first rack (411) close to the feeding end of the second conveying mechanism (412); a signal transmitter (4132) provided on one side wall of the support (4131); a signal receiver (4133) provided on the other side wall of the support (4131), the signal receiver (4133) being arranged opposite to the signal transmitter (4132), and the signal receiver (4133) receiving the signal emitted by the signal transmitter (4132); the signal transmitter (4132) and the signal receiver (4133) are arranged at a height higher than the height of the material sheet and lower than the height of the material head.

11. The automated retrieval system of claim 9, wherein, The sample collecting mechanism (42) comprises: a sample collecting structure (421) provided on one side of the second conveying mechanism (412), the sample collecting structure (421) being provided with a feeding port (4213) on the side wall opposite to the second conveying mechanism (412); A push piece structure (422) is arranged on both sides of the second conveying mechanism (412) respectively with the sample collecting structure (421), and the push piece structure (422) is suitable for pushing the sample on the second conveying mechanism (412) into the sample collecting structure (421); A lifting structure (423) is connected with the bottom wall of the sample collecting structure (421), and the lifting structure (423) drives the sample collecting structure (421) to lift or lower when the telescopic end of the lifting structure (423) moves, so as to change the collecting position of the sample collecting structure (421).

12. A severing system characterized by, It comprises: A cutting machine suitable for cutting the rod; The automatic sample taking system according to any one of claims 1-11 is suitable for collecting the tail and the sample after the cutting of the cutting machine.

13. An automated picking method, characterized by The method is based on the automatic sample taking system according to any one of claims 1-11, and comprises the following steps: Controlling the operation mode of the two sample taking systems (2) based on the position of the cutting machine cutting the rod; When the cutting machine cuts the tail of the rod, the sample taking system (2) close to the tail is controlled to be connected with the tail, the tail after cutting is controlled to be misaligned with the rod and to separate the tail from the rod, and the tail is obtained; when the cutting machine cuts the sample, the sample taking system (2) close to the sample is controlled to move to the position of the sample and to obtain the sample; Controlling the transfer system (3) to move to the connection position of the sample taking system (2) to obtain the tail and / or the sample; Transferring the tail and / or the sample to the sorting device (41) by the transfer system (3) to sort the tail and the sample; the sorted sample is collected by the sample collecting mechanism (42), and the sorted tail is collected by the third conveying mechanism (44).

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