Graphite boat carrying method and device, electronic equipment and computer readable storage medium

Abstract

The invention provides a graphite boat carrying method and device, electronic equipment and a computer readable storage medium, and belongs to the field of solar photovoltaics. The method comprises the following steps that: a film coating and rewinding machine obtains the state of an offline graphite boat, carries the offline graphite boat to a boat rewinding machine, and calls a goods shelf carrying robot at the same time to carry a goods shelf to the boat rewinding machine; the boat dumping machine is used for transplanting the offline graphite boat to the goods shelf, the goods shelf to be carried is lifted to the graphite boat correcting machine, the second control system judges whether the offline graphite boat is in a normal offline state or not, if yes, the graphite boat on the goods shelf to be carried is processed according to a first processing flow, and if not, the graphite boat on the goods shelf to be carried is processed; and the to-be-carried goods shelf carrying the graphite boats reaching the on-line use standard is carried from the graphite boat correcting machine to the boat reversing machine, and the composite robot is called to carry the graphite boats reaching the on-line use standard from the boat reversing machine to the film coating and piece reversing machine. According to information interaction between the first control system and the second control system, the processing efficiency of the graphite boat is improved.

Description

Technical Field

[0001] This application relates to the field of solar photovoltaics, and more particularly to a method, apparatus, electronic device, and computer-readable storage medium for transporting a graphite boat. Background Technology

[0002] In the field of solar photovoltaics, graphite boats are silicon wafer carriers that can be used multiple times, but require cleaning and maintenance after each use. Currently, all aspects from the production line to the maintenance area are handled manually, and the usage of graphite boats requires manual completion of paper inspection forms. As the industry has developed, the output of supporting equipment has been continuously increasing, and the variety of products has also been growing, making manual handling and statistics increasingly burdensome and inefficient. Summary of the Invention

[0003] To address the aforementioned technical problems, embodiments of this application provide a graphite boat transport method, apparatus, electronic device, and computer-readable storage medium.

[0004] In a first aspect, embodiments of this application provide a method for transporting a graphite boat, the method comprising:

[0005] The coating and wafer-turning machine obtains the status of the graphite boats that have been taken off the production line, and obtains the registration information of the graphite boats that have been taken off the production line from the first control system, and transmits the registration information to the second control system;

[0006] According to the registration information, the second control system calls a composite robot to transport the off-line graphite boat to the boat-reversing machine, and simultaneously calls a shelf-transfer robot to transport the shelf to the boat-reversing machine;

[0007] The inverting machine transfers the off-line graphite boat to the shelf, binds the boat number of the off-line graphite boat to the shelf number of the shelf, and transmits the binding information to the first control system;

[0008] The second control system obtains the binding information from the first control system to determine the shelf to be transported, and calls the shelf transport robot to lift the shelf to be transported to the graphite boat alignment machine, and the graphite boat alignment machine loosens the nuts on the graphite boat on the shelf to be transported;

[0009] The second control system determines whether the status of the offline graphite boat is normal offline. If so, it calls the shelf handling robot to process the graphite boat on the shelf to be transported according to the first processing flow, and obtains the shelf to be transported containing graphite boats that have met the online use standard, and obtains the information of the first processing flow.

[0010] The second control system calls and controls the shelf handling robot to travel to the target area according to the information of the first processing flow, and moves the shelf to be transported carrying the graphite boat that has met the online use standard to the graphite boat calibration machine. The graphite boat calibration machine tightens the nuts on the graphite boat on the shelf to be transported.

[0011] The second control system calls the shelf handling robot to move the shelf carrying the graphite boat that has met the online use standard from the graphite boat calibration machine to the boat reversing machine, and calls the composite robot to move the graphite boat that has met the online use standard from the boat reversing machine to the coating and film reversing machine.

[0012] In one embodiment, the processing of the graphite boat on the shelf to be transported according to the first processing flow includes:

[0013] The shelving transport robot transports the shelving to be transported to the graphite boat cleaning machine, the graphite boat cleaning machine cleans the off-line graphite boat, and the graphite boat cleaning machine transmits the cleaning completion signal to the second control system.

[0014] The second control system calls the shelf handling robot to move the shelf to be moved to the graphite boat dryer to dry the graphite boat that has been taken off the production line. The graphite boat dryer transmits the drying completion signal to the second control system.

[0015] If the checkpoint cycle of the offline graphite boat is less than a preset threshold, the signal that the offline graphite boat does not need to be replaced is transmitted to the second control system.

[0016] In one embodiment, the method further includes: if the checkpoint cycle of the off-line graphite boat is greater than or equal to a preset threshold, the second control system calls the shelf handling robot to move the shelf to be moved to the graphite boat checkpoint machine, the graphite boat checkpoint machine changes the checkpoint of the off-line graphite boat, and after the checkpoint change is completed, the graphite boat checkpoint machine transmits the checkpoint change completion signal to the second control system.

[0017] In one embodiment, before processing the graphite boat on the shelf to be moved according to the first processing flow, the method further includes:

[0018] If the status of the offline graphite boat is abnormal offline, then the second processing procedure is performed on the shelf to be moved.

[0019] After the second processing step is completed, the first processing step is performed. The second processing step involves moving the shelf to be moved to the manual maintenance station for maintenance.

[0020] In one embodiment, invoking the shelf-moving robot includes:

[0021] The second control system allocates the shelf handling robot according to the status of the shelf handling robot, the position of the shelf handling robot, the time when the handling task is generated, and the position of each machine. The machine positions include the position of the inverting machine, the position of the washing machine, the position of the dryer, the position of the graphite boat check point machine, and the position of the graphite boat alignment machine.

[0022] In one embodiment, the method further includes:

[0023] The second control system determines whether the composite robot or the shelf handling robot is in an idle state. If so, it determines whether the battery level of the composite robot or the shelf handling robot is lower than a preset battery threshold. If so, it generates a charging task and no longer generates handling tasks.

[0024] In one embodiment, the method further includes:

[0025] The first control system receives the graphite boat number, maintenance record, and maintenance parts information transmitted by the manual maintenance station.

[0026] Secondly, embodiments of this application provide a graphite boat transport system, the graphite boat transport system comprising:

[0027] The acquisition module is used to acquire the status of the graphite boats that have come off the production line through the coating and casting machine, acquire the registration information of the graphite boats that have come off the production line from the first control system, and transmit the registration information to the second control system.

[0028] The first handling module is used to call a composite robot to transport the off-line graphite boat to the boat-reversing machine according to the registration information through the second control system, and at the same time call a shelf handling robot to transport the shelf to the boat-reversing machine;

[0029] The transplanting module is used to transplant the off-line graphite boat to the shelf via the boat-turning machine, bind the boat number of the off-line graphite boat to the shelf number of the shelf, and transmit the binding information to the first control system;

[0030] The lifting module is used to obtain the binding information from the first control system through the second control system to determine the shelf to be transported, and to call the shelf transport robot to lift the shelf to be transported to the graphite boat alignment machine, wherein the graphite boat alignment machine loosens the nuts on the graphite boat on the shelf to be transported.

[0031] The processing module is used to determine whether the status of the offline graphite boat is normal offline through the second control system. If so, the module calls the shelf handling robot to process the graphite boat on the shelf to be transported according to the first processing flow, so as to obtain the shelf to be transported containing graphite boats that have reached the online use standard, and obtain the information of the first processing flow.

[0032] The second handling module, through the second control system, calls and controls the shelf handling robot to travel to the target area according to the information of the first processing flow, and transports the shelf to be handled, which carries the graphite boat that has met the online use standard, to the graphite boat calibration machine, and the graphite boat calibration machine tightens the nuts on the graphite boat on the shelf to be handled.

[0033] The third handling module is used to call the shelf handling robot through the second control system to move the shelf carrying the graphite boat that has reached the online use standard from the graphite boat calibration machine to the boat reversing machine, and to call the composite robot to move the graphite boat that has reached the online use standard from the boat reversing machine to the coating and film reversing machine.

[0034] Thirdly, embodiments of this application provide an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the computer program executes the graphite boat transport method provided in the first aspect when the processor is running.

[0035] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when run on a processor, executes the graphite boat transport method provided in the first aspect.

[0036] The graphite boat handling method provided in this application involves a coating decoupling machine acquiring the status of the off-line graphite boats and obtaining their registration information from a first control system, transmitting the registration information to a second control system. The second control system, based on the registration information, calls a composite robot to transport the off-line graphite boats to a decoupling machine, and simultaneously calls a shelf handling robot to transport the shelf to the decoupling machine. The decoupling machine transfers the off-line graphite boats to the shelf, binds the boat number of the off-line graphite boat to the shelf number, and transmits the binding information to the first control system. The second control system obtains the binding information from the first control system to determine the shelf to be transported, and calls the shelf handling robot to lift the shelf to be transported to a graphite boat alignment machine. The graphite boat alignment machine loosens the nuts on the graphite boats on the shelf to be transported. The system determines whether the status of the offline graphite boats is normal. If so, it invokes the shelf-moving robot to process the graphite boats on the shelf according to the first processing flow, obtaining a shelf containing graphite boats that have met the online usage standard, and acquiring information from the first processing flow. The second control system, based on the information from the first processing flow, invokes and controls the shelf-moving robot to travel to the target area, transporting the shelf containing the graphite boats that have met the online usage standard to the graphite boat calibration machine. The graphite boat calibration machine tightens the nuts on the graphite boats on the shelf. The second control system then invokes the shelf-moving robot to transport the shelf containing the graphite boats that have met the online usage standard from the graphite boat calibration machine to the boat reversing machine, and invokes the composite robot to transport the graphite boats that have met the online usage standard from the boat reversing machine to the coating and film reversing machine. This application improves the processing efficiency of graphite boats by utilizing the information interaction between the first and second control systems and by selecting different robots for transportation. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation on the scope of protection of this application. In the various drawings, similar components are numbered similarly.

[0038] Figure 1 A schematic flowchart of a graphite boat transport method provided in an embodiment of this application is shown.

[0039] Figure 2 This paper shows another schematic flowchart of the graphite boat handling method provided in an embodiment of this application;

[0040] Figure 3The statistical results interface of the shelf handling robot in the second control system provided in this application embodiment is shown;

[0041] Figure 4 A schematic diagram of the graphite boat transport system provided in an embodiment of this application is shown.

[0042] Icons: 400 - Graphite Boat Transport System, 401 - Acquisition Module, 402 - First Transport Module, 403 - Transplant Module, 404 - Lifting Module, 405 - Processing Module, 406 - Second Transport Module, 407 - Third Transport Module. Detailed Implementation

[0043] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0044] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0045] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0046] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0047] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0048] Example 1

[0049] This application provides a method for transporting a graphite boat.

[0050] See Figure 1 The graphite boat handling method includes steps S101-S107:

[0051] S101: The coating and casting machine obtains the status of the graphite boats that have been taken off the production line, and obtains the registration information of the graphite boats that have been taken off the production line from the first control system, and transmits the registration information to the second control system.

[0052] In this embodiment, the wafer pouring machine is a device that pours / unpours solar cells from a graphite boat and has an automatic transfer function; the coating wafer pouring machine is a device that integrates coating, wafer pouring, and automatic transfer functions, and has important applications in the semiconductor and photovoltaic industries; the first control system is a Manufacturing Execution System (MES), which is a production information management system for the workshop execution layer of manufacturing enterprises. It can intelligently manage graphite boats, production materials, and wafer pouring machines, and store information such as production capacity. It enables transparent production supervision and management, making the entire production process controllable. It can also statistically analyze and provide feedback on all information of each process of graphite boat cleaning, achieving traceability management of the cleaning process and standardization of material management. It also has the function of interacting with the scheduling system of Autonomous Mobile Robots (AMRs); the second control system is a Material Control System (MCS), which has the function of managing Intelligent Guided Vehicles (IGVs) and other equipment, that is, including the scheduling system of AMRs and the subsystems for managing other equipment.

[0053] For example, the coating and wafer-turning machine obtains the status of the graphite boats that have been taken off the production line and are ready for cleaning through manual verification. The status of the graphite boats includes normal off-line status, damage / repair status, and dust / RF status. Normal off-line status means the graphite boat has completed all tasks within its production cycle and is ready for cleaning. Damage / repair status means the graphite boat has physical damage or functional failure and needs to be sent to the manual repair department for repair. Dust / RF status means that the surface of the graphite boat has accumulated too much dust, or it may be affected by external factors such as radio frequency interference. In this case, a shielding layer, such as a metal shielding mesh or shielding plate, needs to be placed around the graphite boat to reduce radio frequency signal interference. Specifically, after the coating and wafer-turning machine obtains the status of the graphite boats, the MES system saves a QR code containing all the registration information for each graphite boat and transmits the QR code to the MCS system.

[0054] S102: The second control system, based on the registration information, calls a composite robot to transport the off-line graphite boat to the boat-reversing machine, and simultaneously calls a shelf-transfer robot to transport the shelf to the boat-reversing machine.

[0055] In this embodiment, the composite robot consists of two main parts: an Automated Guided Vehicle (AGV) body and a boat-moving robot. The boat-moving robot has two layers, each storing one sub-boat, and transports one set of boats (i.e., two sub-boats) at a time. The boat-turning machine is used to turn uncleaned graphite boats to graphite boat shelves via the composite robot in the battery workshop, and to turn graphite boats that have completed calibration to the coating and wafer-turning machine via the composite robot in the battery workshop. The shelves serve as a platform for loading and unloading graphite boats between various devices during the graphite boat cleaning process, and are lifted and operated by the shelf transport robot. The shelf transport robot is mainly used for the automatic transport and circulation of graphite boat shelves in the boat house, replacing manual loading and unloading and graphite boat transport work.

[0056] Specifically, based on the received graphite boat registration information, the MCS system invokes a composite robot to transport the off-line graphite boats from the coating and casting machine to the inverting machine. The composite robot utilizes the autonomous navigation of the AGV itself and the precise gripping function of the boat-carrying manipulator to ensure the graphite boats are safely and accurately transported to the designated position on the inverting machine, awaiting transfer to the shelf. Simultaneously, while the composite robot is transporting the off-line graphite boats from the coating and casting machine to the inverting machine, the second control system invokes a shelf-moving robot to transport empty shelves to the designated position on the inverting machine.

[0057] S103: The inverting machine transfers the off-line graphite boat to the shelf, binds the boat number of the off-line graphite boat to the shelf number of the shelf, and transmits the binding information to the first control system.

[0058] In this embodiment, when a graphite boat is unloaded from the production line and sent to the inverting machine, the inverting machine will read the boat number on the graphite boat and record the shelf number of the graphite boat after it is transferred from the inverting machine to the shelf. The inverting machine will bind the boat number and the shelf number and generate a binding information containing both of them. The binding information will be transmitted to the MES system for subsequent management and tracking.

[0059] For example, the unloading machine transfers the off-line graphite boats to the shelf and reads the boat number information corresponding to the QR code on the off-line graphite boat. After binding the boat number information with the shelf number to generate a binding record, the binding record is uploaded to the MES system. The MCS system will find a one-to-one correspondence between the boat number of the graphite boat and the shelf number recorded in the MES system, which will facilitate the subsequent determination of the shelf to be moved and the movement of the graphite boat.

[0060] S104: The second control system obtains the binding information from the first control system to determine the shelf to be transported, and calls the shelf transport robot to lift the shelf to be transported to the graphite boat alignment machine, and the graphite boat alignment machine loosens the nuts on the graphite boat on the shelf to be transported.

[0061] In this embodiment, the calibration boat machine is a device specifically designed for the calibration, testing, and maintenance of graphite boats. Through a series of precise mechanical and electrical devices, it performs operations such as positioning, clamping, testing, and adjustment of the graphite boats to achieve calibration and maintenance. Specifically, the MCS system obtains the boat number and shelf binding information from the MES system, determines the shelf to be transported based on the boat number, generates a preset path and program, and sends instructions to the shelf transport robot. The robot, according to the preset path and program, lifts and transports the shelf carrying the off-line graphite boats to the working area of ​​the graphite boat calibration machine. On the calibration machine, the machine loosens the nuts on the graphite boats on the shelf, detaching them for subsequent cleaning.

[0062] S105: The second control system determines whether the status of the offline graphite boat is normal offline. If so, it calls the shelf handling robot to process the graphite boat on the shelf to be transported according to the first processing flow, obtains the shelf to be transported containing graphite boats that have reached the online use standard, and obtains the information of the first processing flow.

[0063] In this embodiment, the MCS system obtains the offline status of the graphite boat through manual confirmation. If the offline status is normal, it directly enters the first processing flow of graphite boat cleaning, drying, and graphite boat clamp replacement. It should be noted that a clamp refers to a structure or device on the graphite boat used to clamp or fix silicon wafers or other workpieces to ensure they maintain accurate position and timing during processing. Clamps are usually designed with specific shapes and sizes to accommodate different sizes and shapes of silicon wafers or workpieces. The lifespan of graphite boat clamps typically has a preset period, such as 65 days, which is the effective time for the clamp to maintain its function and accuracy under normal use conditions. When the clamp's lifespan expires, it needs to be replaced. Manual boat dismantling refers to a method of replacing clamps; that is, when the clamp's lifespan expires or it malfunctions, the clamp on the graphite boat is manually removed and replaced with a new clamp.

[0064] Optionally, if the graphite boat is successfully taken offline, the system will invoke a shelf-mounted transport robot to move it to a designated processing area. There, it will be processed according to the first processing procedure (such as cleaning, repair, or replacement) to ensure the graphite boat meets usability standards before being put back into service, thus preventing production failures or product quality issues caused by graphite boat problems. Upon completion of processing, a shelf containing the now-usable graphite boat will be available for transport. The MCS system will then obtain information from the first processing procedure, including processing time, method, and results.

[0065] See Figure 2 In one embodiment, the processing of the graphite boat on the shelf according to the first processing flow includes steps S1051-S1053:

[0066] S1051: The shelf handling robot transports the shelf to be transported to the graphite boat cleaning machine, the graphite boat cleaning machine cleans the off-line graphite boat, and the graphite boat cleaning machine transmits the cleaning completion signal to the second control system.

[0067] In this embodiment, the shelf-moving robot receives instructions from the MCS and begins to execute the moving task, smoothly transporting the shelf to the buffer working area of ​​the graphite boat cleaning machine along a preset path. After receiving the shelf from the buffer area, the graphite boat cleaning machine immediately starts the cleaning program to perform a comprehensive cleaning operation on the off-line graphite boats on the shelf. After cleaning is completed, the graphite boat cleaning machine confirms the cleaning quality through its built-in sensors or detection system and generates a cleaning completion signal, which is then transmitted to the second control system.

[0068] S1052: The second control system calls the shelf handling robot to move the shelf to be moved to the graphite boat dryer to dry the graphite boat that has been taken off the production line. The graphite boat dryer transmits the drying completion signal to the second control system.

[0069] In this embodiment, after receiving the cleaning completion signal, the second control system, according to the preset process flow, again calls the shelf-moving robot to transport the graphite boat to the working area of ​​the graphite boat dryer along the planned path. Upon receiving the shelf, the graphite boat dryer starts the drying program, using hot air, infrared rays, or other drying technologies to quickly and evenly dry the graphite boat. Once drying is complete, the dryer generates a drying completion signal and sends it to the second control system via the communication interface.

[0070] S1053: If the checkpoint cycle of the offline graphite boat is less than a preset threshold, then the signal that the offline graphite boat does not need to be replaced is transmitted to the second control system.

[0071] In this embodiment, after receiving the drying completion signal, the second control system continues to execute the next instruction. It uses specialized equipment to detect the jamming cycle of the graphite boat. If the detection result shows that the jamming cycle is less than the preset threshold, there is no need to replace the jamming points on the graphite boat (i.e., the jamming structure is still in good working condition). The signal that the offline graphite boat does not need to replace the jamming points is transmitted to the second control system, and the shelf is directly moved to the boat-turning machine.

[0072] In one embodiment, the method further includes: if the checkpoint cycle of the off-line graphite boat is greater than or equal to a preset threshold, the second control system calls the shelf handling robot to move the shelf to be moved to the graphite boat checkpoint machine, the graphite boat checkpoint machine changes the checkpoint of the off-line graphite boat, and after the checkpoint change is completed, the graphite boat checkpoint machine transmits the checkpoint change completion signal to the second control system.

[0073] In this embodiment, the graphite boat checkpoint machine is mainly used to replace the checkpoints on the graphite boat. If the detection result shows that the checkpoint cycle is greater than or equal to a preset threshold, the checkpoints on the graphite boat need to be replaced. A shelf handling robot is invoked to move the shelf to the working area of ​​the graphite boat checkpoint machine. The graphite boat checkpoint machine will then initiate the checkpoint replacement operation, including unloading the old checkpoint, cleaning the checkpoint installation location, installing the new checkpoint, and performing necessary debugging and calibration. When the checkpoint replacement operation is completed, the graphite boat checkpoint machine will send a "checkpoint replacement complete" signal to the second control system.

[0074] In one embodiment, before processing the graphite boat on the shelf to be moved according to the first processing procedure, the method further includes: if the status of the offline graphite boat is abnormal offline, then performing a second processing procedure on the shelf to be moved; after the second processing procedure is completed, the first processing procedure is performed again, wherein the second processing procedure is to move the shelf to be moved to the manual maintenance station for maintenance.

[0075] In this embodiment, after a graphite boat completes its production task and comes off the production line, its status is checked to manually determine whether it is a normal off-line or an abnormal off-line due to some reason (such as damage, malfunction, etc.). If the graphite boat is a normal off-line, it will be processed according to the established first processing procedure, including placing the graphite boat on a shelf, waiting to be sent to the cleaning and drying equipment, and subsequent possible checkpoint periodic checks and replacements. If the graphite boat is an abnormal off-line, the second processing procedure needs to be initiated, that is, the shelf containing the abnormally off-line graphite boat is moved to the manual repair station. At the manual repair station, technicians conduct a detailed inspection and repair of the graphite boat. After the repair is completed, the repaired graphite boat is put back on the shelf and sent back to the buffer area to be cleaned, and the first processing procedure continues.

[0076] S106: The second control system calls and controls the shelf handling robot to travel to the target area according to the information of the first processing flow, and moves the shelf to be transported carrying the graphite boat that has reached the online use standard to the graphite boat calibration machine. The graphite boat calibration machine tightens the nuts on the graphite boat on the shelf to be transported.

[0077] In this embodiment, after the first processing step, the graphite boat meets the standards for online use. Optionally, based on the information from the first processing step, i.e., whether the graphite boat is only cleaned and dried or there is a possibility of changing the checkpoint after cleaning and drying, the MCS system needs to call the optimal shelf handling robot according to the different processing areas where the graphite boat is located, to transport the shelf carrying the processed graphite boat to the graphite boat calibration machine, and perform a nut tightening operation on the calibration machine to fix the graphite boat on the shelf for subsequent operations.

[0078] S107: The second control system calls the shelf handling robot to move the shelf carrying the graphite boat that has met the online use standard from the graphite boat calibration machine to the boat reversing machine, and calls the composite robot to move the graphite boat that has met the online use standard from the boat reversing machine to the coating and film reversing machine.

[0079] In this embodiment, after the calibration and testing of the graphite boat calibration machine, the second control system calls a shelf-moving robot to transport the shelf containing the graphite boats that have met the standards for online use from the graphite boat calibration machine to the inverting machine. On the inverting machine, the composite robot, according to the instructions of the second control system, lifts the graphite boats from the shelf and transports them to the working area of ​​the coating and inverting machine. The coating and inverting machine, according to the production plan and process requirements, puts the graphite boats back into production for coating or other processing, completing the entire processing flow of the graphite boats. This ensures that the graphite boats can be successfully put back into production, improving production efficiency and product quality.

[0080] In one embodiment, the invocation of the shelf handling robot includes: the second control system allocating the shelf handling robot according to the status of the shelf handling robot, the position of the shelf handling robot, the time when the handling task is generated, and the positions of each machine, wherein the machine positions include the positions of the inverting machine, the washing machine, the dryer, the graphite boat checkpoint machine, and the graphite boat alignment machine.

[0081] In this embodiment, see Figure 3This is the statistical results interface for the shelving handling robots in the MCS system. Specifically, the system allocates shelving handling robots based on their status (busy, abnormal, charging, and idle), location, task generation time, and machine location. The robot status is the primary factor determining whether a robot can be deployed. A robot may be busy, idle, under maintenance, or charging; it will only be considered for a new handling task when it is idle. Second, the robot's location is also considered. The MCS system obtains the real-time location of each robot to assign it to the nearest machine location requiring handling, reducing robot movement time and energy consumption, and improving overall work efficiency. Third, the task generation time is also considered. If a task has a very tight time requirement, the system may prioritize assigning the nearest robot in good condition to perform the task. Fourth, the machine locations are also considered, including the locations of the inverting machine, washing machine, dryer, graphite boat checkpoint machine, and graphite boat alignment machine. The MCS system needs to rationally allocate robots for handling based on the machine location requirements.

[0082] In one embodiment, the method further includes: the second control system determining whether the composite robot or the shelf handling robot is in an idle state; if so, determining whether the battery level of the composite robot or the shelf handling robot is lower than a preset battery threshold; if so, generating a charging task and no longer generating handling tasks.

[0083] In this embodiment, the MCS system detects whether the composite robot or the shelf-moving robot is in an idle state. An idle state means the robot is not currently performing any tasks and has not been assigned any new tasks. When the robot is in an idle state, the system further determines whether its battery level is below a preset threshold. If the robot's battery level is below the preset threshold, the MCS system generates a charging task for the robot and instructs it to go to the nearest charging station or charging pile for charging. After the robot is assigned a charging task or is charging, the MCS system will not assign it any new handling tasks to avoid task failures or robot downtime due to insufficient battery power.

[0084] In one embodiment, the method further includes: the first control system receiving the graphite boat number, maintenance record, and maintenance parts information transmitted by the manual maintenance station.

[0085] In this embodiment, when a graphite boat is sent to the manual repair station for repair, the technician will check and record the boat number, repair record (including the reason, steps, results, etc. of the repair), and information on the repair parts used. The above information will be compiled into a complete repair record and transmitted to the MES system. In this way, the MES system can keep track of the repair status of the graphite boat in real time, including which graphite boats are under repair, the progress of the repair, and which parts are used.

[0086] The graphite boat handling method provided in this embodiment involves a coating wafer decoupling machine acquiring the status of off-line graphite boats and obtaining their registration information from a first control system, transmitting the registration information to a second control system. The second control system, based on the registration information, invokes a composite robot to transport the off-line graphite boat to a decoupling machine, and simultaneously invokes a shelf handling robot to transport the shelf to the decoupling machine. The decoupling machine transfers the off-line graphite boat to the shelf, binds the boat number of the off-line graphite boat to the shelf number, and transmits the binding information to the first control system. The second control system obtains the binding information from the first control system to determine the shelf to be transported, and invokes the shelf handling robot to lift the shelf to be transported to a graphite boat alignment machine. The graphite boat alignment machine loosens the nuts on the graphite boats on the shelf to be transported. The system determines whether the status of the offline graphite boats is normal. If so, it invokes the shelf-moving robot to process the graphite boats on the shelf according to the first processing flow, obtaining a shelf containing graphite boats that have met the online usage standard, and acquiring information from the first processing flow. The second control system, based on the information from the first processing flow, invokes and controls the shelf-moving robot to travel to the target area, transporting the shelf containing the graphite boats that have met the online usage standard to the graphite boat calibration machine. The graphite boat calibration machine tightens the nuts on the graphite boats on the shelf. The second control system then invokes the shelf-moving robot to transport the shelf containing the graphite boats that have met the online usage standard from the graphite boat calibration machine to the boat reversing machine, and invokes the composite robot to transport the graphite boats that have met the online usage standard from the boat reversing machine to the coating and film reversing machine. This application improves the processing efficiency of graphite boats by utilizing the information interaction between the first and second control systems and by selecting different robots for transportation.

[0087] Example 2

[0088] Furthermore, embodiments of this application provide a graphite boat handling system applied to electronic devices.

[0089] like Figure 4 As shown, the graphite boat transport system 400 includes:

[0090] The acquisition module 401 is used to acquire the status of the graphite boat that has been taken off the production line through the coating and casting machine, acquire the registration information of the graphite boat that has been taken off the production line from the first control system, and transmit the registration information to the second control system.

[0091] The first handling module 402 is used to call a composite robot to transport the off-line graphite boat to the boat-reversing machine according to the registration information through the second control system, and at the same time call a shelf handling robot to transport the shelf to the boat-reversing machine.

[0092] The transplanting module 403 is used to transplant the off-line graphite boat to the shelf via the boat-turning machine, bind the boat number of the off-line graphite boat to the shelf number of the shelf, and transmit the binding information to the first control system.

[0093] The lifting module 404 is used to obtain the binding information from the first control system through the second control system to determine the shelf to be transported, and to call the shelf transport robot to lift the shelf to be transported to the graphite boat alignment machine, wherein the graphite boat alignment machine loosens the nuts on the graphite boat on the shelf to be transported.

[0094] The processing module 405 is used to determine whether the status of the offline graphite boat is normal offline through the second control system. If so, the robot is called to process the graphite boat on the shelf to be transported according to the first processing flow to obtain the shelf to be transported containing graphite boats that have reached the online use standard and to obtain the information of the first processing flow.

[0095] The second handling module 406 is used to call and control the shelf handling robot to travel to the target area according to the information of the first processing flow through the second control system, and to transport the shelf to be handled carrying the graphite boat that has reached the online use standard to the graphite boat calibration machine, and the graphite boat calibration machine tightens the nuts on the graphite boat on the shelf to be handled.

[0096] The third handling module 407 is used to call the shelf handling robot through the second control system to move the shelf carrying the graphite boat that has reached the online use standard from the graphite boat calibration machine to the boat reversing machine, and to call the composite robot to move the graphite boat that has reached the online use standard from the boat reversing machine to the coating and film reversing machine.

[0097] The processing module 405 is further configured to: transport the shelf to be transported to the graphite boat cleaning machine via the shelf handling robot; clean the graphite boat that has been taken off the production line; and transmit a cleaning completion signal to the second control system. The second control system then calls the shelf handling robot to transport the shelf to be transported to the graphite boat dryer to dry the graphite boat that has been taken off the production line. The graphite boat dryer transmits a drying completion signal to the second control system. If the checkpoint cycle of the graphite boat that has been taken off the production line is less than a preset threshold, a signal indicating that the graphite boat does not need to have its checkpoint replaced is transmitted to the second control system.

[0098] The processing module 405 is further configured to determine if the checkpoint cycle of the off-line graphite boat is greater than or equal to a preset threshold. In this case, the second control system calls the shelf handling robot to move the shelf to be moved to the graphite boat checkpoint machine. The graphite boat checkpoint machine changes the checkpoint of the off-line graphite boat. After the checkpoint change is completed, the graphite boat checkpoint machine transmits the checkpoint change completion signal to the second control system.

[0099] The processing module 405 is further configured to determine if the status of the offline graphite boat is abnormal offline, and then perform a second processing procedure on the shelf to be moved; after the second processing procedure is completed, the first processing procedure is performed, wherein the second processing procedure is to move the shelf to be moved to the manual maintenance position for maintenance.

[0100] The lifting module 404 is also used to allocate the shelf handling robot according to the status of the shelf handling robot, the position of the shelf handling robot, the time when the handling task is generated, and the position of each machine through the second control system. The machine positions include the position of the inverting machine, the position of the washing machine, the position of the dryer, the position of the graphite boat check point machine, and the position of the graphite boat alignment machine.

[0101] The graphite boat handling system 400 also includes a charging module, which is used to determine whether the composite robot or the shelf handling robot is in an idle state through the second control system. If so, it determines whether the battery level of the composite robot or the shelf handling robot is lower than a preset battery threshold. If so, it generates a charging task and no longer generates handling tasks.

[0102] The graphite boat handling system 400 also includes a receiving module for receiving the boat number, maintenance record, and maintenance parts information of the graphite boat transmitted by the manual maintenance station through the first control system.

[0103] The graphite boat handling system 400 provided in this embodiment can realize the graphite boat handling method provided in Embodiment 1. To avoid repetition, it will not be described again here.

[0104] The graphite boat handling system provided in this embodiment includes a coating wafer decoupling machine acquiring the status of off-line graphite boats and obtaining their registration information from a first control system, transmitting the registration information to a second control system. The second control system, based on the registration information, calls a composite robot to transport the off-line graphite boat to a decoupling machine, and simultaneously calls a shelf handling robot to transport the shelf to the decoupling machine. The decoupling machine transfers the off-line graphite boat to the shelf, binding the boat number of the off-line graphite boat to the shelf number, and transmitting the binding information to the first control system. The second control system obtains the binding information from the first control system to determine the shelf to be transported, and calls the shelf handling robot to lift the shelf to be transported to a graphite boat alignment machine. The graphite boat alignment machine loosens the nuts on the graphite boats on the shelf to be transported. The system determines whether the status of the offline graphite boats is normal. If so, it invokes the shelf-moving robot to process the graphite boats on the shelf according to the first processing flow, obtaining a shelf containing graphite boats that have met the online usage standard, and acquiring information from the first processing flow. The second control system, based on the information from the first processing flow, invokes and controls the shelf-moving robot to travel to the target area, transporting the shelf containing the graphite boats that have met the online usage standard to the graphite boat calibration machine. The graphite boat calibration machine tightens the nuts on the graphite boats on the shelf. The second control system then invokes the shelf-moving robot to transport the shelf containing the graphite boats that have met the online usage standard from the graphite boat calibration machine to the boat reversing machine, and invokes the composite robot to transport the graphite boats that have met the online usage standard from the boat reversing machine to the coating and film reversing machine. This application improves the processing efficiency of graphite boats by utilizing the information interaction between the first and second control systems and by selecting different robots for transportation.

[0105] Example 3

[0106] Furthermore, this application provides an electronic device, including a memory and a processor. The memory stores a computer program, which executes the graphite boat transport method provided in Embodiment 1 when the computer program is run on the processor.

[0107] The electronic device provided in this embodiment of the invention can execute the steps of the graphite boat transport method provided in the above-described method embodiment 1. To avoid repetition, these steps will not be repeated here.

[0108] Example 4

[0109] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the graphite boat transport method provided in Embodiment 1.

[0110] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0111] The computer-readable storage medium provided in this embodiment can implement the graphite boat transportation method provided in Embodiment 1. To avoid repetition, it will not be described again here.

[0112] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal that includes that element.

[0113] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0114] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for transporting a graphite boat, characterized in that, The method includes: The coating and wafer-turning machine obtains the status of the graphite boats that have been taken off the production line, and obtains the registration information of the graphite boats that have been taken off the production line from the first control system, and transmits the registration information to the second control system; According to the registration information, the second control system calls a composite robot to transport the off-line graphite boat to the boat-reversing machine, and simultaneously calls a shelf-transfer robot to transport the shelf to the boat-reversing machine; The inverting machine transfers the off-line graphite boat to the shelf, binds the boat number of the off-line graphite boat to the shelf number of the shelf, and transmits the binding information to the first control system; The second control system obtains the binding information from the first control system to determine the shelf to be transported, and calls the shelf transport robot to lift the shelf to be transported to the graphite boat alignment machine, and the graphite boat alignment machine loosens the nuts on the graphite boat on the shelf to be transported; The second control system determines whether the status of the offline graphite boat is normal offline. If so, it calls the shelf handling robot to process the graphite boat on the shelf to be transported according to the first processing flow, and obtains the shelf to be transported containing graphite boats that have met the online use standard, and obtains the information of the first processing flow. The second control system calls and controls the shelf handling robot to travel to the target area according to the information of the first processing flow, and moves the shelf to be transported carrying the graphite boat that has met the online use standard to the graphite boat calibration machine. The graphite boat calibration machine tightens the nuts on the graphite boat on the shelf to be transported. The second control system calls the shelf handling robot to move the shelf carrying the graphite boat that has met the online use standard from the graphite boat calibration machine to the boat reversing machine, and calls the composite robot to move the graphite boat that has met the online use standard from the boat reversing machine to the coating and film reversing machine.

2. The method according to claim 1, characterized in that, The process of handling the graphite boats on the shelf to be moved according to the first processing procedure includes: The shelving transport robot transports the shelving to be transported to the graphite boat cleaning machine, the graphite boat cleaning machine cleans the off-line graphite boat, and the graphite boat cleaning machine transmits the cleaning completion signal to the second control system. The second control system calls the shelf handling robot to move the shelf to be moved to the graphite boat dryer to dry the graphite boat that has been taken off the production line. The graphite boat dryer transmits the drying completion signal to the second control system. If the checkpoint cycle of the offline graphite boat is less than a preset threshold, the signal that the offline graphite boat does not need to be replaced is transmitted to the second control system.

3. The method according to claim 2, characterized in that, The method further includes: If the checkpoint cycle of the off-line graphite boat is greater than or equal to a preset threshold, the second control system calls the shelf handling robot to move the shelf to be moved to the graphite boat checkpoint machine. The graphite boat checkpoint machine changes the checkpoint of the off-line graphite boat. After the checkpoint change is completed, the graphite boat checkpoint machine transmits the checkpoint change completion signal to the second control system.

4. The method according to claim 1, characterized in that, Before processing the graphite boat on the shelf to be moved according to the first processing procedure, the method further includes: If the status of the offline graphite boat is abnormal offline, then the second processing procedure is performed on the shelf to be moved. After the second processing step is completed, the first processing step is performed. The second processing step involves moving the shelf to be moved to the manual maintenance station for maintenance.

5. The method according to claim 1, characterized in that, The invocation of the shelf handling robot includes: The second control system allocates the shelf handling robot according to the status of the shelf handling robot, the position of the shelf handling robot, the time when the handling task is generated, and the position of each machine. The machine positions include the position of the inverting machine, the position of the washing machine, the position of the dryer, the position of the graphite boat check point machine, and the position of the graphite boat alignment machine.

6. The method according to claim 5, characterized in that, The method further includes: The second control system determines whether the composite robot or the shelf handling robot is in an idle state. If so, it determines whether the battery level of the composite robot or the shelf handling robot is lower than a preset battery threshold. If so, it generates a charging task and no longer generates handling tasks.

7. The method according to claim 4, characterized in that, The method further includes: The first control system receives the graphite boat number, maintenance record, and maintenance parts information transmitted by the manual maintenance station.

8. A graphite boat transport system, characterized in that, The system includes: The acquisition module is used to acquire the status of the graphite boats that have come off the production line through the coating and casting machine, acquire the registration information of the graphite boats that have come off the production line from the first control system, and transmit the registration information to the second control system. The first handling module is used to call a composite robot to transport the off-line graphite boat to the boat-reversing machine according to the registration information through the second control system, and at the same time call a shelf handling robot to transport the shelf to the boat-reversing machine; The transplanting module is used to transplant the off-line graphite boat to the shelf via the boat-turning machine, bind the boat number of the off-line graphite boat to the shelf number of the shelf, and transmit the binding information to the first control system; The lifting module is used to obtain the binding information from the first control system through the second control system to determine the shelf to be transported, and to call the shelf transport robot to lift the shelf to be transported to the graphite boat alignment machine, wherein the graphite boat alignment machine loosens the nuts on the graphite boat on the shelf to be transported. The processing module is used to determine whether the status of the offline graphite boat is normal offline through the second control system. If so, the module calls the shelf handling robot to process the graphite boat on the shelf to be transported according to the first processing flow, so as to obtain the shelf to be transported containing graphite boats that have reached the online use standard, and obtain the information of the first processing flow. The second handling module, through the second control system, calls and controls the shelf handling robot to travel to the target area according to the information of the first processing flow, and transports the shelf to be handled, which carries the graphite boat that has met the online use standard, to the graphite boat calibration machine, and the graphite boat calibration machine tightens the nuts on the graphite boat on the shelf to be handled. The third handling module is used to call the shelf handling robot through the second control system to move the shelf carrying the graphite boat that has reached the online use standard from the graphite boat calibration machine to the boat reversing machine, and to call the composite robot to move the graphite boat that has reached the online use standard from the boat reversing machine to the coating and film reversing machine.

9. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program that executes the graphite boat transport method according to any one of claims 1 to 7 when the processor is running.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when run on a processor, executes the graphite boat transport method according to any one of claims 1 to 7.

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