Sheet material conveying method and device

Abstract

The invention discloses a sheet material conveying method which is suitable for a sheet material conveying device. The sheet material conveying device comprises belt type conveying modules which are continuously arranged, the front portion is a feeding conveying module, the rear portion is a functional conveying module, and the last belt type conveying module is used for discharging. Each belt type conveying module is in an independent judgment and independent operation mode, each belt type conveying module adjusts the starting time of the belt type conveying module according to the state of the belt type conveying module and the state of the adjacent downstream belt type conveying module, and therefore when an empty sheet position appears, the belt type conveying module can be automatically started. And the movement time of the belt type conveying module, the station action time of the belt type conveying module and the time surplus of a circulation period can be utilized for tracking, so that empty sheet positions are filled, and downstream equipment is ensured to smoothly receive materials.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of material conveying, and particularly relates to a conveying method and device for sheet material. BACKGROUND

[0002] Currently, in the automatic equipment of the photovoltaic industry, when multiple cell conveying lines continuously convey cell sheets, the widely used conveying step is: all cell conveying lines of the stations are simultaneously triggered to start; after the cell sheets of each station move to the position, the movement is stopped; then each station performs work; after the work of each station is completed, the cell sheet belt conveying lines of each station are triggered to start again. In this way, the cell conveying of the automatic equipment is completed to realize different processing procedures and functions.

[0003] Although this method has uniform and high stability when conveying cell sheets, due to the different functions of some special stations, such as buffering, removing, and carrying and feeding, the cell sheet belt conveying lines of the stations are prone to be empty, which in turn affects the feeding rhythm of the downstream equipment and seriously affects the CT and time efficiency of the production line. Under the background of the requirements of the current photovoltaic industry for the time efficiency and intelligent development of the equipment, the production demand cannot be met. SUMMARY

[0004] In view of the above defects or improvement needs of the prior art, the present application provides a conveying method and device for sheet material.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, a conveying method for sheet material is provided, which is suitable for a sheet material conveying device. The sheet material conveying device includes n1+n2 continuously arranged belt conveying modules, and n2≥n1≥2; wherein the upstream n1 belt conveying modules are used as feeding conveying modules, each feeding conveying module is used to accept feeding of the carrying module and convey downstream; the downstream n2 belt conveying modules are used as function conveying modules, which are used to receive the upstream material, complete the corresponding function, and then convey downstream; and the last belt conveying module is also used to accept the downstream equipment to feed at a certain feeding rhythm. Each belt conveying module is numbered from small to large along the conveying direction of the belt conveying module, and the start-stop logic of each belt conveying module is as follows: The start trigger signal of the first belt conveying module is that the second belt conveying module is in a moving state; The start trigger signal of the second to the n1 belt conveying module is that the current belt conveying module has no material, or the current belt conveying module has material and the adjacent downstream belt conveying module is in a moving state; The start trigger signal of the n1+1 to the n1+n2-1 belt conveying module is that the current belt conveying module has no material, or the current belt conveying module has material and completes the function action, and the adjacent downstream belt conveying module is in a moving state; The start trigger signal of the nth1+n2 belt conveying module is that the current belt conveying module has no material, or the current belt conveying module has material and the function action is completed, and meanwhile, the allowed discharging signal of the downstream equipment is received; The stop trigger signal of the first belt conveying module is that the first to nth1 belt conveying modules all have no material; meanwhile, the feeding of the carrying module is triggered; The stop trigger signal of the second to nth1 belt conveying modules is that the first to nth1 belt conveying modules all have no material; When the material is conveyed to the specified position of the current belt conveying module, the current belt conveying module stops.

[0006] According to the above method, the material is stopped when being conveyed to the specified position of the current belt conveying module, and the movement of the current belt conveying module is controlled to achieve the above method.

[0007] According to the above method, after each belt conveying module receives the start trigger signal, it accelerates to the conveying speed at the first acceleration, and then uniformly conveys at the conveying speed, and then decelerates to the specified position at the second acceleration.

[0008] According to the above method, a position sensor is arranged at a specific distance in front of the specified position of each belt conveying module, and after each belt conveying module receives the start trigger signal, it accelerates to the conveying speed at the set first acceleration, and then uniformly conveys at the conveying speed, and is set to uniformly convey first and then decelerate at the second acceleration for a specific length, or decelerate at the second acceleration for a specific length, to stop at the specified position.

[0009] According to the above method, the distance between the specified positions of adjacent belt conveying modules is s, the conveying speed is v, the first acceleration is a, the second acceleration is -a, the average time for each function conveying module to complete the corresponding function is t2, and the downstream equipment CT is t. When feeding, q empty slots are formed, k is the serial number of the belt conveying module located upstream of the first empty slot, and The number p of times of receiving material by the downstream equipment in one feeding cycle is calculated according to the following relationship:

[0010] According to the calculated P, when It is judged that the tracking of the feeding conveying module is completed, and the tracking satisfies the following formula: ; , and ; When It is judged that the tracking of the function conveying module is completed, and the tracking satisfies the following formula: , and .

[0011] Detecting whether the belt conveying module has material by the sensor.

[0012] Detecting the motion state of the driving unit of the belt conveying module to determine whether the belt conveying module is in a motion state.

[0013] According to another aspect of the present application, a sheet material conveying device is provided, comprising n1+n2 belt conveying modules arranged in series, n2≥n1≥2; wherein the upstream n1 belt conveying modules are used as upstream conveying modules, each of which is used to receive material from upstream equipment and convey it downstream; the downstream n2 belt conveying modules are used as functional conveying modules, which are used to receive material from upstream, complete corresponding functions and then convey it downstream, and the last belt conveying module is also used to receive material from downstream equipment at a certain material receiving rhythm. The sheet material conveying device further comprises a control unit, which is used to control the start and stop of each belt conveying module to realize the sheet material conveying method.

[0014] According to the above device, n1 is 2-4 and n2 is 3-7.

[0015] According to another aspect of the present application, a computer device is provided, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to realize the steps of the method.

[0016] According to another aspect of the present application, a computer readable storage medium is provided, which stores a computer program, wherein the computer program is executed by a processor to realize the steps of the method.

[0017] Overall, compared with the prior art, the above technical solutions conceived by the present application can achieve the following beneficial effects: 1. The present application adopts the mode of independent judgment and independent operation of each belt conveying module, and each belt conveying module adjusts the start time of itself in combination with the state of itself and the adjacent downstream belt conveying module, so that when an empty sheet position appears, the belt conveying module can be used to chase the sheet by using the motion time of the belt conveying module and the time surplus of the position action time and the cycle period, thereby filling the empty sheet position and ensuring that the downstream equipment receives material smoothly.

[0018] 2. The motion parameter information of each conveying module is coordinated to realize chasing of the sheet in the upstream conveying module or the functional conveying module.

[0019] 3. The logic judgment of the present application is simple, and no additional components are needed, thereby reducing the waiting time of irrelevant position judgment. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a device state diagram of a no empty sheet case provided by an embodiment of the present application.

[0021] Figure 2 is a device state diagram of an empty sheet case provided by an embodiment of the present application.

[0022] Figure 3 is a device state diagram of a chasing sheet case provided by an embodiment of the present application.

[0023] Figure 4 is a device state diagram of a chasing sheet completion case provided by an embodiment of the present application.

[0024] Figure 5 is a device state diagram of a waiting for next feeding case provided by an embodiment of the present application.

[0025] In the figure: 101-first belt conveying module, 102-second belt conveying module, 103-third belt conveying module, 104-fourth belt conveying module, 105-fifth belt conveying module, 106-sixth belt conveying module, 107-seventh belt conveying module, 108-eighth belt conveying module; 201-first sheet material, 202-second sheet material, 203-third sheet material, 204-fourth sheet material, 205-fifth sheet material, 206-sixth sheet material, 207-seventh sheet material, 208-eighth sheet material. DETAILED DESCRIPTION

[0026] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as there is no conflict.

[0027] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0028] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" or "third" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly and specifically limited. The present application provides a kind of sheet material conveying method and equipment, according to equipment processing procedure and function, each station battery piece conveying line is independently judged, independently runs, and the pursuit of battery piece is completed in operation, to realize intelligent, efficient, fast reach next station.

[0029] According to one aspect of the present application, the embodiment provides a sheet material conveying device, comprising n1+n2 continuously arranged belt conveying modules, n2≥n1≥2, a certain spacing is provided between adjacent belt conveying modules. Wherein, the upstream n1 belt conveying modules are used as feeding conveying modules, each feeding conveying module is used to accept the feeding of handling module and convey downstream, and at least one feeding station is provided on each feeding conveying module. The downstream n2 belt conveying modules are used as function transmission modules, which are used to receive the upstream material, complete the corresponding function and convey downstream, and one function station is provided on each function transmission module. The last belt conveying module is also used to accept the downstream equipment to unload at a certain feeding rhythm.

[0030] In some embodiments, each feeding station is provided with a handling module on the side, which carries the material from the upstream equipment or material storage equipment, such as a box, and places it on the feeding conveying module. The moving direction of the handling module is perpendicular to the conveying direction of the belt conveying module.

[0031] Each function transmission module is provided with a function module, such as a punching module or an AOI test module, etc., to perform functions such as punching and AOI detection.

[0032] The sheet material conveying device further comprises a control unit for controlling the start and stop of each belt conveying module to realize the following sheet material conveying method.

[0033] The sheet material conveying method specifically includes: sequentially numbering from small to large along the conveying direction of the belt conveying module, and the start-stop logic of each belt conveying module is as follows: The start trigger signal of the first belt conveying module is that the second belt conveying module is in motion.

[0034] The start trigger signal of the second to the n1 belt conveying module is that: the current belt conveying module has no material, or the current belt conveying module has material, and at the same time, the adjacent downstream belt conveying module is in motion.

[0035] The start trigger signal of the nth1+1 to nth1+n2-1 belt conveying module is that the current belt conveying module is empty, or the current belt conveying module is not empty and the functional action is completed, and the adjacent downstream belt conveying module is in a moving state.

[0036] The start trigger signal of the nth1+n2 belt conveying module is that the current belt conveying module is empty, or the current belt conveying module is not empty and the functional action is completed, and the downstream equipment receives the permission signal.

[0037] The stop trigger signal of the first belt conveying module is that the first to nth1 belt conveying modules are empty, and the feeding module is triggered to feed at the same time.

[0038] The stop trigger signal of the second to nth1 belt conveying modules is that the first to nth1 belt conveying modules are empty.

[0039] When the material is conveyed to the specified position of the current belt conveying module, the current belt conveying module stops.

[0040] When the material is conveyed to the specified position of the current conveying module, the current conveying module stops, which can be achieved by controlling the movement of the current conveying module, such as controlling the acceleration time and acceleration, constant speed time, deceleration time and deceleration, etc. The specified position is usually the middle of the current belt conveying module, and can also be the station of the current belt conveying module. When the belt conveying module is a feeding conveying module, its station is a feeding station; when the belt conveying module is a functional conveying module, its station is a functional station.

[0041] More specifically, after each belt conveying module receives the start trigger signal, it accelerates to the conveying speed at a first acceleration, and uniformly conveys at the conveying speed, and then decelerates to the specified position at a second acceleration.

[0042] In some preferred embodiments, it can also include compensating movement to reach a specific position.

[0043] Specifically, a position sensor is arranged at a specific distance before the specified position of each belt conveying module, and when the position sensor detects that the sheet material reaches, the material conveying is controlled to a specific length. In this way, the material reaching the specified position can be more accurately controlled. More specifically, after each belt conveying module receives the start trigger signal, it accelerates to the conveying speed at a set first acceleration, and uniformly conveys at the conveying speed, and is set to uniformly convey first and then decelerate at a second acceleration for a specified distance, or decelerate at a second acceleration for a specified distance, to reach the specified position.

[0044] In some embodiments, the motion state of the belt conveying module is determined by the motor motion state of the belt conveying module. The current belt conveying module has material or no material, which is determined by a sensor detection, such as a capacitive sensor.

[0045] In some embodiments, after each belt conveying module receives a start trigger signal, it accelerates to a conveying speed v with a first acceleration a, uniformly conveys at the conveying speed v, decelerates with a second acceleration -a, and stops at a specified position.

[0046] The distance between the specified positions of adjacent belt conveying modules is s, the average time for each functional conveying module to perform a corresponding function is t2, the number of times of receiving material by the downstream equipment in one feeding cycle is p, and the CT of the downstream equipment is t (i.e., receiving a piece of material from the downstream conveying module every t time). In this embodiment, the specified position is the station of the current belt conveying module. Each belt conveying module has one station, when the belt conveying module is a feeding conveying module, its station is a feeding station; when the belt conveying module is a functional conveying module, its station is a functional station.

[0047] When feeding, if more than one feeding conveying module fails to feed due to various reasons, an empty piece position will be formed. When feeding, q empty piece positions are formed, k is the serial number of the belt conveying module located upstream of the first empty piece position, and For example, two empty piece positions are formed, and the first empty piece position is located on the second belt conveying module, then k = 2-1 = 1. According to the following relationship, the number of times of receiving material by the downstream equipment p in one feeding cycle is calculated:

[0048] According to the calculated P, when , it is determined that the feeding conveying module completes the piece chasing, and the piece chasing satisfies the following formula: ; , and ; When , it is determined that the functional conveying module completes the piece chasing, and the piece chasing satisfies the following formula: , and .

[0049] Let m be the mth functional conveying module that completes the piece chasing, and .

[0050] Generally, the number of downstream equipment CT, functional modules, the distance between adjacent stations, the average time of functional transmission module executing corresponding functions is fixed, and the maximum conveying speed of the conveying module is also fixed. According to the above formula, the number of feeding conveying modules, the first acceleration, the second deceleration and the conveying speed are set, so that the sheet material conveying device can complete the chasing. Of course, under other working conditions, for example, limited space, or small friction of sheet material, etc., the sheet material conveying device can complete the chasing by reasonable configuration of the above parameters.

[0051] In addition, it should be noted that when reaching a specific position through compensation movement, the uniform speed time and the deceleration time may have a slight change, but through the accurate setting of the sensor position, this slight change can be ignored, and the setting of the material conveying device and the expression of the above formula are not affected.

[0052] In some preferred embodiments, n1 is 2-4, and n2 is 3-7.

[0053] The application will be further described below with reference to specific examples and accompanying drawings.

[0054] Example 1: As shown in Figure 1 , n1 = n2 = 4, the first belt conveying module 101, the second belt conveying module 102, the third belt conveying module 103, the fourth belt conveying module 104, the fifth belt conveying module 105, the sixth belt conveying module 106, the seventh belt conveying module 107 and the eighth belt conveying module 108 are sequentially arranged along the sheet discharging direction (i.e. the conveying direction of the belt conveying module).

[0055] Among them, the first belt conveying module 101, the second belt conveying module 102, the third belt conveying module 103 and the fourth belt conveying module 104 are feeding conveying modules, each feeding conveying module is provided with one feeding station, and there are four feeding stations in total. Each feeding station corresponds to a carrying module for carrying sheet material to the corresponding feeding station. When the first to the nth belt conveying module are all empty, each carrying module is triggered to feed the corresponding feeding station at the same time.

[0056] The fifth belt conveying module 105, the sixth belt conveying module 106, the seventh belt conveying module 107 and the eighth belt conveying module 108 are functional transmission modules, which are used to receive upstream material and convey downstream after completing the corresponding function. Since the eighth belt conveying module 108 is located at the last, it is also used to accept downstream equipment to unload at a certain material receiving rhythm. Each functional transmission module is provided with one functional station, and the sheet material completes the corresponding function at the functional station.

[0057] The conveying step distance (i.e. the distance between adjacent stations) s = 280 mm, the conveying speed v = 800 mm / s, the first acceleration a = 8000 mm / s 2 , the second acceleration -a = -8000 mm / s 2 . Each functional conveying module performs a corresponding function for an average time t2= 0.1 s, and the downstream equipment CT is t = 0.75 s.

[0058] When each carrying module simultaneously feeds the corresponding feeding station at a certain feeding cycle, as shown in Figure 1 , the first to eighth strip conveying modules 101-108 are respectively provided with the first to eighth sheet materials 201-208, and there is no empty sheet at this time.

[0059] The calculation shows that the sheet conveying time of each strip conveying module is = 0.45 s.

[0060] Since t1+ t2= 0.55 s < t = 0.75 s, the time consumed by each strip conveying module at each step is less than the docking downstream equipment cycle period, so the conveying cycle period of the device is always stable and meets the production requirement conveying cycle period.

[0061] Example Two: The structure and principle of this embodiment are the same as those of Example One, and the difference lies in that when the first strip conveying module 101, the second strip conveying module 102, and the fourth strip conveying module 104 correspondingly carrying modules simultaneously feed the corresponding feeding station, while the third strip conveying module 103 corresponds to the carrying module which is suspended. As shown in Figure 2 , it can be found that the first strip conveying module 101 and the second strip conveying module 102 are respectively provided with the first sheet material 201 and the second sheet material 202, and the third strip conveying module 103 is not provided with sheet material, and the fourth to eighth strip conveying modules 104-108 are respectively provided with the third to seventh sheet materials 203-207.

[0062] It should be noted that the third strip conveying module 103 corresponds to the carrying module which is suspended, which means that this time the corresponding feeding station is not fed, for example, the feeding position of the upstream equipment or the feeding position of the material storage equipment corresponding to this carrying module has no material. For example, the material in the material box as the material storage equipment is used up, and the replacement of the new storage material box has not been completed. After the replacement of the new storage material box is completed, the corresponding carrying module can complete the feeding next time.

[0063] The conveying step distance (i.e. the distance between adjacent stations) s = 280 mm, the conveying speed v = 800 mm / s, the first acceleration a = 8000 mm / s 2, the second acceleration -a = -8000mm / s 2 Each functional transmission module performs a corresponding function average time t2=0.1s, the downstream device CT is t=0.75s.

[0064] At this time, the loading time forms q=1 empty sheet position, k=3-1=2.

[0065] The calculation of each belt type transmission module sheet transmission time =0.45s. Satisfies .

[0066] According to the formula, the sheet tracking state is judged:

[0067] The above known parameters are substituted into the formula to obtain p 1.2, so p is 2.

[0068] Since =2, the loading transmission module cannot complete the sheet tracking.

[0069] According to the formula Judgment, the functional transmission module can complete the sheet tracking.

[0070] Let m be the mth functional transmission module to complete the sheet tracking, and =1, that is, the first functional transmission module completes the sheet tracking, that is, the fifth belt type transmission module 105 completes the sheet tracking.

[0071] The specific process is as follows: When the downstream device works with a conveying cycle period of t=0.75s, the state of each belt type transmission module in the first working cycle is as follows: The eighth belt type transmission module 108: the downstream sheet, triggers the eighth belt type transmission module 108 to start, the seventh sheet material 207 flows to the downstream device, and stops conveying and completes the corresponding function until the sixth sheet material 206 reaches the functional station of the eighth belt type transmission module 108. The overall time is 0.45s+0.1s<0.75s.

[0072] The seventh belt type transmission module 107: since the eighth belt type transmission module 108 triggers to start, the seventh belt type transmission module 107 is triggered to start synchronously, and the sixth sheet material 206 is conveyed to the eighth belt type transmission module 108, and the fifth sheet material 205 reaches the functional station of the seventh belt type transmission module 107 and performs the corresponding function module action. The overall time is 0.45s+0.1s<0.75s.

[0073] The sixth belt conveying module 106: due to the triggering of the seventh belt conveying module 107, the sixth belt conveying module 106 is triggered to start synchronously, and the fifth sheet material 205 is conveyed to the seventh belt conveying module 107 until the fourth sheet material 204 reaches the functional station of the sixth belt conveying module 106, and the corresponding functional module action is performed, and the overall time is 0.45s + 0.1s < 0.75s.

[0074] The fifth belt conveying module 105: due to the triggering of the sixth belt conveying module 106, the fifth belt conveying module 105 is triggered to start synchronously, and the fourth sheet material 204 is conveyed to the sixth belt conveying module 106 until the third sheet material 203 reaches the functional station of the fifth belt conveying module 105, and the corresponding functional module action is performed, and the overall time is 0.45s + 0.1s < 0.75s.

[0075] The fourth belt conveying module 104: due to the triggering of the fifth belt conveying module 105, the fourth belt conveying module 104 is triggered to start synchronously, and the third sheet material 203 is conveyed to the fifth belt conveying module 105, and when the third sheet material 203 reaches the fifth belt conveying module 105, the second sheet material 202 just reaches the third belt conveying module 103, at this time 0.45s has passed, and the fourth belt conveying module 104 is empty, so it continues to be in motion.

[0076] The third belt conveying module 103: the third belt conveying module 103 is empty and continues to move until the second sheet material 202 reaches the feeding station of the third belt conveying module 103, at which time 0.45s has passed. Since the fourth belt conveying module 104 is in motion, the third belt conveying module 103 is started again to convey the second sheet material 202 to the fourth belt conveying module 104 for chasing. Since 0.45 + 0.45 > 0.75s, the second sheet material 202 has not yet reached the feeding station of the fourth belt conveying module 104.

[0077] The second belt conveying module 102: the third belt conveying module 103 is in motion, and the second belt conveying module 102 is triggered to move synchronously to convey the second sheet material 202 to the third belt conveying module 103 until the first sheet material 201 reaches the feeding station of the second belt conveying module 102, at which time 0.45s has passed. Since the third belt conveying module 103 is in motion, the second belt conveying module 102 is started again to continue conveying the first sheet material 201 to the third belt conveying module 103 for chasing.

[0078] The first belt conveying module 101: the second belt conveying module 102 is in a moving state, and the first belt conveying module 101 is triggered to move synchronously, so as to convey the first sheet material 201 to the second belt conveying module 102. After that, the first belt conveying module 101 is empty and continues to move.

[0079] In the first working cycle, the first sheet material 201 and the second sheet material 202 are not moved in place, and the real-time situation is as shown in the figure. Figure 3

[0080] When the downstream equipment continues to work at a conveying cycle period of 0.75 s, in the second working cycle, the state of each conveying module is as follows: The eighth belt conveying module 108: the downstream material triggers the eighth belt conveying module 108 to start, and the sixth sheet material 206 flows to the downstream equipment until the fifth sheet material 205 reaches the unloading station of the eighth belt conveying module 108, stops conveying, and completes the corresponding function for 0.1 s. The overall time is 0.45 s+0.1 s<0.75 s.

[0081] The seventh belt conveying module 107: since the eighth belt conveying module 108 is triggered to start, the seventh belt conveying module 107 is triggered to start synchronously, and the fifth sheet material 205 is conveyed to the eighth belt conveying module 108 until the fourth sheet material 204 reaches the function station of the seventh belt conveying module 107 and performs the corresponding function module action. The overall time is 0.45 s+0.1 s<0.75 s.

[0082] The sixth belt conveying module 106: since the seventh belt conveying module 107 is triggered to start, the sixth belt conveying module 106 is triggered to start synchronously, and the fourth sheet material 204 is conveyed to the seventh belt conveying module 107 until the third sheet material 203 reaches the function station of the sixth belt conveying module 106 and performs the corresponding function module action. The overall time is 0.45 s+0.1 s<0.75 s.

[0083] The fifth belt conveying module 105: since the sixth belt conveying module 106 is triggered to start, the fifth belt conveying module 105 is triggered to start synchronously, and the third sheet material 203 is conveyed to the sixth belt conveying module 106 until the second sheet material 202 reaches the function station of the fifth belt conveying module 105 and performs the corresponding function module action. The second sheet material 202 needs to move from the second belt conveying module 102 to the fifth belt conveying module 105 for a total of 0.45*3, and it needs 0.1 s to perform the corresponding function in the fifth belt conveying module, so the total time is 0.45*3+0.1<0.75*2.

[0084] ​The fourth belt conveying module 104: when the second sheet material 202 reaches the fourth belt conveying module 104 station, at this time, the current cycle time is 0.45+0.45-0.75=0.15s. Since the fifth belt conveying module 105 is in a moving state at 0.15s, the fourth belt conveying module 104 is triggered to start synchronously, and the second sheet material 202 is conveyed to the fifth belt conveying module 105. After another 0.45s, the second sheet material 202 reaches the fifth belt conveying module 105, and the first sheet material 201 reaches the feeding station of the fourth belt conveying module 104 and stops. The total time is 0.15s+0.45s<0.75s.

[0085] The third belt conveying module 103: the third belt conveying module 103 continues to move, and the second sheet material 202 continues to be transmitted to the fourth belt conveying module 104 until the first sheet material 201 moves to the feeding station of the third belt conveying module 103 and stops. At this time, the current cycle time is 0.45+0.45-0.75=0.15s. Since the fourth belt conveying module 104 is in a moving state at 0.15s, the third belt conveying module 103 is continuously started, so that the first sheet material 201 is transmitted to the fourth belt conveying module 104, and the third belt conveying module 103 continues to be in a moving state.

[0086] The second belt conveying module 102: continuously in a moving state until the first sheet material 201 is transmitted to the feeding position of the third belt conveying module 103, and the second belt conveying module 102 is empty and continues to move.

[0087] The first belt conveying module 101: the first belt conveying module 101 is empty and continues to move.

[0088] At this time, the first to fourth belt conveying modules are all empty, and the first to fourth belt conveying modules are all stopped, and the upstream equipment is triggered to feed.

[0089] When the downstream equipment works at a conveying cycle period of t=0.75s, in the third working cycle, the function and the discharging are continued according to the conventional logic, and the final result is as shown in Figure 5 .

[0090] At this time, the first to fourth belt conveying modules are all empty, and the first to fourth belt conveying modules are all stopped, and the upstream equipment is triggered to feed.

[0091] It should be noted that the present application is described by taking examples one and two as examples, wherein example one is a case without missing sheets, and there is no need to chase the sheets, and example two is a case of missing one sheet, and the chasing of the sheets is completed. For other cases, for example, missing two sheets, the same is also applicable, and will not be described in example one.

[0092] Under the traditional transmission mode, all belt conveying modules are started at the same time, and stop moving when the sheet material of each belt conveying module reaches the set position, and the corresponding related workstations are operated. After all the workstations are operated, all the conveying modules are started together to convey the silicon wafer. At this time, the silicon wafer can be conveyed within the specified movement cycle, but the no-material condition of the conveying module cannot be handled, thereby affecting the downstream equipment.

[0093] After the transmission mode of the present application is adopted, the sum of the movement time of each conveying module and the work station action time is less than the conveying cycle period t of the downstream equipment, so each conveying module can complete the conveying movement action and the work station action within the cycle period t, and there is a surplus in time.

[0094] The present application saves irrelevant parts, irrelevant workstation waiting time, and the like. The belt conveying module does not need to be synchronized as a whole, and the current belt conveying module can be automatically filled with the missing module to complete the missing module wafer tracking and material filling according to the state of the module itself and the movement state of the next module.

[0095] The conveying module logic judgment of the present application is simple, and only needs to judge the state of itself and the movement state of the next module. If the module workstation is empty, the module workstation continues to move and waits for the material. If the module workstation has material, the module workstation performs self-action. If the module workstation self-action is not completed, the module workstation self-action is completed first. After the module workstation self-action is completed, whether the work station moves or not is judged according to the movement state of the next work station.

[0096] The present application is widely applicable to two or more conveying modules.

[0097] Based on the above scheme, the present application further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method when executing the computer program.

[0098] According to another aspect of the present application, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the method.

[0099] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0100] It should be noted that the various steps / components described in the present application can be split into more steps / components or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components, as required by implementation, to achieve the objectives of the present application.

[0101] Those skilled in the art will easily understand that the above description is only the preferred embodiment of the present application and is not intended to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of conveying a sheet material, suitable for use with a sheet material conveying device, the method comprising: The sheet material conveying device comprises n1+n2 continuously arranged belt conveying modules, n2≥n1≥2; wherein, the upstream n1 belt conveying modules are used as feeding conveying modules, each feeding conveying module is used for receiving feeding of the carrying module and conveying downstream; the downstream n2 belt conveying modules are used as function conveying modules, used for receiving the upstream material, completing the corresponding function and conveying downstream, and the last belt conveying module is also used for receiving the downstream equipment to unload at a certain feeding rhythm; the belt conveying modules are numbered from small to large along the conveying direction, and the start-stop logic of each belt conveying module is as follows: ​ The start trigger signal of the first belt conveying module is that the second belt conveying module is in a moving state; The start trigger signal of the second to the n1th belt conveying module is that the current belt conveying module is empty, or the current belt conveying module has material and the adjacent downstream belt conveying module is in a moving state; The start trigger signal of the n1+1th to the n1+n2-1th belt conveying module is that the current belt conveying module is empty, or the current belt conveying module has material and completes the function action, and the adjacent downstream belt conveying module is in a moving state; The start trigger signal of the n1+n2th belt conveying module is that the current belt conveying module is empty, or the current belt conveying module has material and completes the function action, and the downstream equipment receives the permission unloading signal; The stop trigger signal of the first belt conveying module is that the first to the n1th belt conveying modules are all empty; and the carrying module is triggered to feed; The stop trigger signal of the second to the n1th belt conveying modules is that the first to the n1th belt conveying modules are all empty; When the material is conveyed to the specified position of the current belt conveying module, the current belt conveying module stops.

2. The method of claim 1, wherein: The current belt conveying module is controlled to move to achieve the stop when the material is conveyed to the specified position of the current belt conveying module.

3. The method of claim 1, wherein: After each belt conveying module receives the start trigger signal, it accelerates to the conveying speed at a first acceleration, uniformly conveys at the conveying speed, and decelerates to the specified position at a second acceleration.

4. The conveying method of the sheet material according to claim 1 or 3, characterized in that: A position sensor is arranged at a specific distance before the specified position of each belt conveying module, each belt conveying module receives the start trigger signal, accelerates to the conveying speed at the set first acceleration, uniformly conveys at the conveying speed, and is set to uniformly move a specific length at the second acceleration after reaching the position sensor, or decelerate a specific length at the second acceleration, and stop at the specified position.

5. The method of claim 3, wherein: The distance between the specified positions of the adjacent belt conveying modules is s, the conveying speed is v, the first acceleration is a, the second acceleration is -a, the average time for each function conveying module to complete the corresponding function is t2, and the downstream equipment CT is t; When the material is fed, q empty positions are formed, k is the serial number of the adjacent belt conveying module located upstream of the first empty position, and The number of times p that the downstream equipment receives the material in one feeding cycle is calculated according to the following relationship: According to the calculated P, when , it is judged that the feeding and conveying module completes the tracking of the film, and the tracking of the film satisfies the following formula: ； , and ; When , it is judged that the function transmission module completes the chasing piece, and the chasing piece satisfies the following formula: , and .

6. The method of claim 1, wherein: Whether the belt conveying module has material is detected by the sensor; Whether the belt conveying module is in a moving state is determined by detecting the movement state of the driving unit of the belt conveying module.

7. A sheet material conveying apparatus characterized by: The sheet material conveying device comprises n1+n2 continuously arranged belt conveying modules, n2≥n1≥2; wherein the upstream n1 belt conveying modules are used as upstream conveying modules, each of which is used for receiving upstream equipment and conveying downstream; the downstream n2 belt conveying modules are used as functional conveying modules, which are used for receiving upstream materials, completing corresponding functions and conveying downstream, and the last belt conveying module is also used for receiving downstream equipment and discharging at a certain discharging rhythm. The sheet material conveying device further comprises a control unit, which is used for controlling the start and stop of each belt conveying module to realize the sheet material conveying method in any one of claims 1-6.

8. A sheet material conveying apparatus according to claim 7, wherein: n1 is 2-4, and n2 is 3-7. 9.A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to realize the steps of the method in any one of claims 1-7.

10. A computer readable storage medium having stored thereon a computer program, characterized in that: The computer program is executed by the processor to realize the steps of the method in any one of claims 1-7.

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