Material transport system and method of controlling a material transport system

Abstract

The application provides a material conveying system and a control method of the material conveying system. The material conveying system comprises a vacuum generating device and a suction device. The vacuum generating device is communicated with the suction device and is used for forming a vacuum negative pressure inside the suction device. The suction device is used for suctioning materials by vacuum. The suction device is provided with a rear end throttling member. The rear end throttling member is used for reducing a flow passage sectional area, so as to accelerate the formation of a vacuum environment inside the suction device. The vacuum generating device is used for starting before the suction device performs a material suction operation. The vacuum generating device is used for completing the construction of a preset vacuum degree by the action of the rear end throttling member before the materials reach a suction area of the suction device. The material conveying system can accelerate the formation of the vacuum environment inside the suction device, so as to improve the vacuum establishment efficiency.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, and in particular to a material transport system and a control method for the material transport system. Background Technology

[0002] Material handling is the most common application scenario in automated equipment. Material handling systems generally include vacuum pumps, compressors, and suction cups. Suction cups are used for picking up and placing materials. Vacuum pumps are used to create a vacuum in the suction cups, allowing them to pick up materials. Compressors are used to fill the suction cups with air, breaking the vacuum and allowing the materials to detach.

[0003] However, existing material handling systems have low vacuum breaking efficiency when the distribution pipelines are narrow and long, which affects the productivity of automated equipment. Summary of the Invention

[0004] This application provides a material transport system and its control method. The material transport system can accelerate the formation of a vacuum environment within the adsorption device, thereby improving the vacuum establishment efficiency.

[0005] In a first aspect, embodiments of this application provide a material transport system. The material transport system includes a vacuum generating device and an adsorption device. The vacuum generating device is connected to the adsorption device and is used to create a vacuum negative pressure inside the adsorption device. The adsorption device is used to adsorb materials through vacuum. The adsorption device is equipped with a rear-end throttling device, which is used to reduce the flow cross-sectional area to accelerate the formation of a vacuum environment inside the adsorption device. The vacuum generating device is activated before the adsorption device performs the material adsorption operation, and through the action of the rear-end throttling device, the adsorption device completes the construction of a preset vacuum degree before the material reaches its adsorption area.

[0006] In this embodiment, before the adsorption device performs the material adsorption operation, the material transport system can first control the vacuum generating device to form a vacuum negative pressure inside the adsorption device, and increase the pre-vacuum degree of the pipeline between the vacuum generating device and the adsorption device through the rear throttling device, thereby reducing the volume of the low vacuum chamber between the rear throttling device and the adsorption device. This helps to accelerate the formation of the vacuum environment inside the adsorption device, so that the adsorption device can complete the construction of the preset vacuum degree before the material arrives at its adsorption area, thereby shortening the total time for vacuum establishment and improving the vacuum establishment efficiency of the material transport system.

[0007] In some possible implementations, the adsorption device has an adsorption channel, and a rear-end throttling element is disposed within the adsorption channel.

[0008] In this embodiment, the rear-end throttling element is housed within the structural components of the adsorption device itself. This allows for efficient use of the space within the adsorption device, eliminating the need for additional structural components in the material transport system to accommodate the rear-end throttling element. This simplifies the material transport system's structure and helps reduce its overall volume.

[0009] In some possible implementations, the adsorption channel has a first end near the vacuum generating device and a second end near the material, and the distance between the rear throttling element and the first end is greater than the distance between the rear throttling element and the second end.

[0010] It is understood that in this embodiment, the rear throttling device is located close to the material, that is, the pipeline between the rear throttling device and the adsorption device can be shortened, thereby reducing the volume of the low vacuum chamber between the rear throttling device and the adsorption device. This is beneficial to further accelerate the formation of the vacuum environment in the adsorption device, shorten the total time for vacuum establishment, and improve the vacuum establishment efficiency of the material transport system.

[0011] In some possible implementations, the rear-end throttling element is disposed at the second end, and the end of the rear-end throttling element is flush with the second end. This flush end arrangement ensures the flatness of the adsorption surface and improves the adsorption capacity of the first adsorption element.

[0012] In some possible implementations, an installation position is provided within the adsorption channel, and the rear-end throttling element is disposed at the installation position. This facilitates the positioning of the rear-end throttling element and simplifies its assembly.

[0013] In some possible implementations, the rear throttling element is integrally formed with the adsorption channel, thereby simplifying the manufacturing process of the material transport system.

[0014] In some possible implementations, the rear throttling element is located at the mounting position, and the rear throttling element is a cylindrical hole.

[0015] In this embodiment, the damping characteristics of the rear-end throttling device can be used to accelerate the formation of a vacuum environment within the adsorption device. Furthermore, the rear-end throttling device can be housed within the structural components of the material transport system itself, thereby making efficient use of the space of the adsorption device within the material transport system, simplifying the structure of the material transport system, and reducing its overall volume.

[0016] In addition, the orifice diameter of the back-end throttling device can be set according to the requirements of viscous flow conduction, so that the back-end throttling device has a suitable orifice diameter. This is beneficial to ensure that other branches connected in parallel can still provide effective adsorption force when a branch pipeline is damaged, so as to ensure the reliability and stability of the material transportation system.

[0017] In some possible implementations, the rear-end throttling element is a throttling valve, with one end connected to the vacuum generating device and the other end connected to the adsorption device.

[0018] In this embodiment, the material transport system can control the flow cross-section by adjusting the throttle valve. The orifice diameter of the throttle valve is easily adjustable, facilitating the adjustment of the downstream throttling element to a suitable diameter. The orifice diameter of the downstream throttling element can be set according to the requirements of viscous flow conductance, ensuring that the downstream throttling element has a suitable diameter. This is beneficial in ensuring that other branches connected in parallel can still provide effective adsorption force when a branch pipeline is damaged, thereby guaranteeing the reliability and stability of the material transport system.

[0019] In some possible implementations, the material transport system further includes a compressor, a filter element, and a one-way valve. The first end of the filter element is connected to the vacuum generating device and the compressor, and the second end of the filter element is connected to the adsorption device. The first end of the one-way valve is connected to the vacuum generating device and the compressor, and the second end of the one-way valve is connected to the adsorption device. The one-way valve and the filter element are connected in parallel. The gas drawn by the vacuum generating device forms a negative vacuum pressure inside the adsorption device after passing through the filter element and the one-way valve. The gas generated by the compressor forms a positive pressure inside the adsorption device after passing through the filter element.

[0020] In this embodiment, when the vacuum generating device evacuates the adsorption device, it can do so through two paths: a one-way valve and a filter, which helps to accelerate the vacuum build-up rate. When the compressor breaks the vacuum in the adsorption device, the one-way valve allows the gas to flow through the filter to the adsorption device, thus ensuring that the gas flowing from the compressor to the adsorption device is relatively pure and will not contaminate the material placed on the adsorption device.

[0021] In some possible implementations, the adsorption device includes a first adsorption device and a second adsorption device, which are connected in parallel. The material transport system also includes a first front-end throttling device, which is located in the pipeline between the vacuum generating device and the first adsorption device. The first front-end throttling device is used to reduce the flow cross-sectional area to reduce the pressure interference of the first adsorption device on the second adsorption device.

[0022] In this embodiment, the material transport system can reduce the flow cross-sectional area by using a first front-end throttling device to control the gas flow rate. This reduces the flow rate of gas passing through the first front-end throttling device, thereby limiting the flow consumption of the pipeline between the vacuum generating device and the first adsorption device. This reduces the pressure interference of the first adsorption device on the second adsorption device. Thus, when a fault or leak occurs in the pipeline between the vacuum generating device and the first adsorption device, the impact on the gas flow rate of other pipelines connected in parallel (e.g., the pipeline where the second adsorption device is located) is controllable. The material transport system exhibits superior reliability and stability.

[0023] In some possible implementations, the material transport system includes a valve, with a first end of the valve connected to a vacuum generating device, a second end of the valve connected to a first adsorption device, a third end of the valve connected to a second adsorption device, and a first front-end throttling element disposed in the pipeline connecting the vacuum generating device and the valve.

[0024] It is understood that in this embodiment, by controlling the valve, the first end of the valve can be connected to the second end, and / or the first end of the valve can be connected to the third end, thereby realizing the parallel connection of the first adsorption device and the second adsorption device. Furthermore, the vacuum generating device can be connected to the first front-end throttling device via a valve. The first front-end throttling device can limit the flow consumption of the pipeline between the vacuum generating device and the first adsorption device, thereby reducing the gas pressure interference of the first adsorption device on the second adsorption device. Thus, when a fault or leak occurs in the pipeline between the vacuum generating device and the first adsorption device, the impact on the gas flow rate of the pipeline containing the second adsorption device is controllable. The material transport system exhibits good reliability and stability.

[0025] In some possible implementations, the material transport system includes a valve, with a first end of the valve connected to a vacuum generating device, a second end of the valve connected to a first adsorption device, a third end of the valve connected to a second adsorption device, and a first front-end throttling element disposed at the second end of the valve.

[0026] It is understood that in this embodiment, by controlling the valve, the first end of the valve can be connected to the second end, and / or the first end of the valve can be connected to the third end, thereby realizing the parallel arrangement of the first adsorption device and the second adsorption device. Furthermore, the vacuum generating device can be connected to the first front-end throttling device through the second end of the valve. The first front-end throttling device can limit the flow consumption of the pipeline between the vacuum generating device and the first adsorption device, thereby reducing the gas pressure interference of the first adsorption device on the second adsorption device. Thus, when a fault or leak occurs in the pipeline between the vacuum generating device and the first adsorption device, the impact on the gas flow rate of the pipeline containing the second adsorption device is controllable. The material transport system exhibits good reliability and stability.

[0027] In some possible implementations, the first front-end throttling element is disposed in the pipeline connecting the vacuum generating device and the valve, and the first front-end throttling element is a throttling valve.

[0028] In this embodiment, the material transport system can control the flow cross-section by adjusting a throttle valve. The orifice diameter of the throttle valve is easily adjustable, facilitating the adjustment of the first front-end throttling element to a suitable orifice diameter. The orifice diameter of the first front-end throttling element can be set according to the requirements of viscous flow conductance, ensuring that the first front-end throttling element has a suitable orifice diameter. This is beneficial in ensuring that other branches connected in parallel can still provide effective adsorption force when a branch pipeline is damaged, thereby guaranteeing the reliability and stability of the material transport system. In some examples, the first throttling element can be a needle valve.

[0029] In some possible implementations, the first front-end throttling element is integrally formed with the pipeline, thereby simplifying the manufacturing process of the material transport system.

[0030] In some possible implementations, a first front-end throttling element is disposed in the valve, the valve including a valve seat and a valve, the valve seat and the valve being fixedly connected, and the first front-end throttling element being disposed in the valve seat.

[0031] In this embodiment, the first front-end throttling device can be located within the structural components of the material transport system itself. The first front-end throttling device can make reasonable use of the space of the valve seat of the material transport system, so that the material transport system does not need to set up additional structural components to install the first front-end throttling device, making the structure of the material transport system simpler and helping to reduce the overall volume of the material transport system.

[0032] In some possible implementations, the valve seat is provided with a vent hole, and the first front-end throttling element is disposed in the vent hole.

[0033] In this embodiment, by setting the first front-end throttling element in the vent hole of the valve seat, the structure of the material transport system can be simplified. On the other hand, when the vacuum generating device evacuates the first adsorption device through the vent hole of the valve, the vacuum generating device can accelerate the formation of vacuum negative pressure in the first adsorption device and improve the vacuum building efficiency of the first adsorption device through the action of the first front-end throttling element in the vent hole.

[0034] Secondly, embodiments of this application also provide a control method for a material transport system. The control method for the material transport system is applied to the aforementioned material transport system, which includes a robotic arm and a compressor connected in parallel with a vacuum generating device. The adsorption device includes a first adsorption device and a second adsorption device connected in parallel. The second adsorption device has a second rear-end throttling device. The second adsorption device is connected to the robotic arm. The second adsorption device is used to grab material, and the first adsorption device is used to store material. The control method for the material transport system includes: before controlling the second adsorption device to grab material from the first adsorption device, controlling the vacuum generating device to connect with the second adsorption device and starting the vacuum generating device; reducing the flow cross-sectional area through the second rear-end throttling device to accelerate the formation of a vacuum negative pressure inside the second adsorption device; and when a preset vacuum degree is reached inside the second adsorption device, controlling the second adsorption device to grab material from the first adsorption device.

[0035] In this embodiment, before controlling the second adsorption device to perform material adsorption, the vacuum generating device is connected to the second adsorption device and activated. The vacuum generating device can reduce the flow cross-sectional area through the second rear throttling element, accelerating the formation of a vacuum negative pressure inside the second adsorption device. When the second adsorption device reaches a preset vacuum level, it adsorbs the material. Thus, by controlling the vacuum generating device to evacuate the second adsorption device before adsorbing the material, a vacuum state can be established in advance, shortening the time from when the material comes into contact with the second adsorption device to when it is adsorbed. This reduces the time consumed by vacuum adsorption, thereby reducing the time when the material is adsorbed by the second adsorption device and improving the efficiency of the material transport system. For example, the material transport system can control the second solenoid valve to open, and the vacuum generating device can connect to the second adsorption device through the second solenoid valve to create a vacuum negative pressure inside the second adsorption device.

[0036] In some possible implementations, the process of controlling the second adsorption device to grab material from the first adsorption device includes: controlling the compressor to connect to the first adsorption device; controlling the compressor to operate to generate positive pressure inside the first adsorption device.

[0037] In this embodiment, during the material handling operation of the second adsorption device, both the first and second adsorption devices adsorb the same material. When a preset vacuum level is reached inside the second adsorption device, a positive pressure is created inside the first adsorption device by controlling the compressor, allowing the material to detach from the first adsorption device and be adsorbed by the second adsorption device, thus completing the material handling operation.

[0038] In some possible implementations, the material transport system includes a third adsorption device arranged in parallel with the first and second adsorption devices. The third adsorption device is provided with a third rear-end throttling device. After controlling the second adsorption device to grab material from the first adsorption device, the system includes controlling the second adsorption device to move to the third adsorption device. Before controlling the second adsorption device to move to the third adsorption device, the system includes: controlling a vacuum generating device to connect with the third adsorption device and activating the vacuum generating device; reducing the flow cross-sectional area through the third rear-end throttling device to accelerate the formation of a vacuum negative pressure inside the third adsorption device; and controlling the third adsorption device to adsorb material when a preset vacuum degree is reached inside the third adsorption device.

[0039] In this embodiment, before controlling the third adsorption device to perform material adsorption, the vacuum generating device is connected to the third adsorption device and activated. The vacuum generating device can reduce the flow cross-sectional area through the third rear throttling device, accelerating the formation of a vacuum negative pressure inside the third adsorption device. When the third adsorption device reaches a preset vacuum level, it adsorbs the material. Thus, by controlling the vacuum generating device to evacuate the third adsorption device before adsorbing the material, a vacuum state can be established in advance, shortening the time from when the material comes into contact with the third adsorption device to when it is adsorbed. This reduces the time consumed by vacuum adsorption, thereby reducing the time when the material is adsorbed by the third adsorption device and improving the efficiency of the material transport system. For example, the material transport system can control the opening of the third solenoid valve, allowing the vacuum generating device to connect to the third adsorption device through the third solenoid valve to create a vacuum negative pressure inside the third adsorption device.

[0040] In some possible implementations, the process of controlling the adsorption of material by the third adsorption device includes: controlling the compressor to connect with the second adsorption device; controlling the compressor to operate to generate positive pressure inside the second adsorption device.

[0041] In this embodiment, during the discharge operation of the second adsorption device, both the second and third adsorption devices adsorb the same material. When the third adsorption device reaches a preset vacuum level, a positive pressure is created inside the second adsorption device by controlling the compressor, so that the material can detach from the second adsorption device and be adsorbed by the third adsorption device, thus completing the discharge operation.

[0042] In some possible implementations, the first adsorption device is provided with a first rear-end throttling device. After controlling the second adsorption device to grab material from the first adsorption device, the process includes: controlling the vacuum generating device to connect with the first adsorption device and starting the vacuum generating device; reducing the flow cross-sectional area through the first rear-end throttling device to accelerate the formation of a vacuum negative pressure inside the first adsorption device; and controlling the first adsorption device to adsorb material when the preset vacuum degree is reached inside the first adsorption device.

[0043] In this embodiment, before controlling the first adsorption device to perform material adsorption, the vacuum generating device is connected to the first adsorption device and activated. The vacuum generating device can reduce the flow cross-sectional area through the first rear throttling element, accelerating the formation of a vacuum negative pressure inside the first adsorption device. When the first adsorption device reaches a preset vacuum level, the first adsorption device is controlled to adsorb material. Thus, by controlling the vacuum generating device to evacuate the first adsorption device in advance before adsorbing material, a vacuum state can be established in advance, shortening the time from when the material comes into contact with the first adsorption device to when it is adsorbed. This reduces the time consumed by vacuum adsorption, thereby reducing the time when the material is adsorbed by the first adsorption device and improving the working efficiency of the material transport system. For example, the material transport system can control the opening of the first solenoid valve, and the vacuum generating device can be connected to the first adsorption device through the first solenoid valve to form a vacuum negative pressure inside the first adsorption device. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0045] Figure 1A This is a schematic diagram of the structure of an existing material transport system;

[0046] Figure 1B Establish a timeline for the vacuum of existing material handling systems;

[0047] Figure 2 This is a schematic diagram of the structure of a material transport system provided in an embodiment of this application;

[0048] Figure 3 yes Figure 2 The diagram shows a structural schematic of the material transport system in some embodiments.

[0049] Figure 4 yes Figure 3 The diagram shows a partial structural exploded view of the material transport system in some embodiments.

[0050] Figure 5AA schematic diagram comparing the vacuum levels of existing material transport systems and the material transport system distribution pipelines provided in this application under steady state.

[0051] Figure 5B This is a diagram showing the vacuum build-up efficiency of the material transport system provided in this application;

[0052] Figure 6 yes Figure 2 The diagram shows a structural schematic of the material transport system in some other embodiments;

[0053] Figure 7 This is a flowchart of a control method for a material transport system provided in an embodiment of this application;

[0054] Figure 8 This is a flowchart of a control method for a material transport system provided in an embodiment of this application. Figure 2 ;

[0055] Figure 9 This is a flowchart of a control method for a material transport system provided in an embodiment of this application. Figure 3 ;

[0056] Figure 10 This is a flowchart of a control method for a material transport system provided in an embodiment of this application. Figure 4 ;

[0057] Figure 11 This is flowchart five of a control method for a material transport system provided in an embodiment of this application;

[0058] Figure 12 This is a flowchart of a control method for a material transport system provided in an embodiment of this application. Figure 6 .

[0059] Explanation of reference numerals in the attached figures:

[0060] 100 - Material handling system;

[0061] 101-Pneumatic control box;

[0062] 10 - Vacuum generation device;

[0063] 11-First pressure regulating valve;

[0064] 20-Compressor;

[0065] 21-Second pressure regulating valve;

[0066] 30 - Adsorption device;

[0067] 31-First adsorption device; 311-First adsorption channel; 311a-First end of the first adsorption channel; 311b-Second end of the first adsorption channel; 32-Second adsorption device; 320-Second adsorption channel; 33-Third adsorption device;

[0068] 321-Robotic Arm;

[0069] 40 - Valve;

[0070] 41-First solenoid valve;

[0071] 411-Valve seat; 412-Valve; 413-Vent hole;

[0072] 42 - Second solenoid valve; 43 - Third solenoid valve;

[0073] 50-Diverter;

[0074] 51-First through hole; 52-Second through hole; 53-Third through hole; 54-Fourth through hole; 55-Fifth through hole; 56-Sixth through hole;

[0075] 60 - Check valve;

[0076] 61-First check valve; 611-First end of the first check valve; 612-Second end of the first check valve; 62-Second check valve; 621-First end of the second check valve; 622-Second end of the second check valve; 63-Third check valve; 631-First end of the third check valve; 632-Second end of the third check valve;

[0077] 70 - Filter element;

[0078] 71-First filter element; 711-First end of the first filter element; 712-Second end of the first filter element; 72-Second filter element; 721-First end of the second filter element; 722-Second end of the second filter element; 73-Third filter element; 731-First end of the third filter element; 732-Second end of the third filter element;

[0079] 80a - Front-end throttling device;

[0080] 81-First front-end throttling device; 811-First end of the first front-end throttling device; 812-Second end of the first front-end throttling device; 83-Second front-end throttling device; 85-Third front-end throttling device;

[0081] 80b - Back-end throttling device;

[0082] 82-First rear-end throttling device; 821-First end of the first rear-end throttling device; 822-Second end of the first rear-end throttling device; 84-Second rear-end throttling device; 86-Third rear-end throttling device;

[0083] 91 - First pressure sensor; 92 - Second pressure sensor; 93 - Third pressure sensor. Detailed Implementation

[0084] The embodiments of this application are described below with reference to the accompanying drawings.

[0085] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. In the embodiments of this application, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," "third," and "fourth" may explicitly or implicitly include one or more of that feature. The term "multiple" refers to at least two.

[0086] In the embodiments of this application, "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0087] The term "one-piece molding" refers to the process of forming one of two parts, in which the part is connected to the other part without the need for further processing (such as bonding, welding, snap-fit, screw connection) to join the two parts together.

[0088] References or phrases such as "some embodiments" described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as "in some embodiments," "in other embodiments," "in still others," "in yet others," etc., appearing in different parts of this specification do not necessarily refer to the same embodiments, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0089] To facilitate understanding of the material transport system provided in the embodiments of this application, the relevant terms used in this application are explained as follows:

[0090] Vacuum: A gas pressure lower than standard atmospheric pressure. In this application, it refers to conventional plant vacuum (-95 kPa to -10 kPa).

[0091] Positive pressure: The gas pressure is higher than the standard atmospheric pressure.

[0092] Vacuuming: Vacuuming refers to removing gas from a container, leaving little or no gas inside, thus achieving a vacuum state.

[0093] Breaking the vacuum: Breaking the vacuum refers to breaking the vacuum state inside a container, that is, opening the valve of a container that has been evacuated and filling it with air.

[0094] Vacuum build-up time: The time required from the moment the material comes into contact with the adsorption device until the gas pressure between the adsorption device and the material reaches the vacuum threshold.

[0095] Vacuum breaking time: The time required to switch from a vacuum state to a positive pressure state.

[0096] Solenoid valve: A fundamental component of automation for controlling the flow of fluid.

[0097] Two-position three-way solenoid valve: a type of solenoid valve structure. Two-position means that the solenoid valve has two inlet positions that connect to vacuum and atmosphere. Three-way means that the solenoid valve has three ports: two inlets and one outlet. One of the two inlets can be connected to the outlet.

[0098] Pressure regulating valve: A component that regulates the outlet pressure of a fluid.

[0099] Micro-hole component: A structural component with micro-holes that can provide a specified local pressure loss for gas passages.

[0100] Throttling valve: The orifice of a throttle valve is adjustable and can provide a specified local pressure loss for a pipeline.

[0101] One-way valve: A component that allows fluid to flow in a fixed direction and prevents backflow.

[0102] It is understood that the specific embodiments described herein are merely illustrative of related embodiments and not intended to limit the scope of those embodiments. Furthermore, it should be noted that, for ease of description, only the parts relevant to the embodiments are shown in the accompanying drawings.

[0103] It is understood that, without conflict, the embodiments and features described in this application can be combined with each other.

[0104] The present application will now be described in detail with reference to the accompanying drawings and embodiments.

[0105] Please see Figure 1A , Figure 1A This is a schematic diagram of an existing material transport system.

[0106] Material handling systems are primarily used for handling and transporting various materials, and are widely applied in multiple fields, such as the semiconductor industry. A material handling system can include: an air source, solenoid valves, distribution pipelines, suction cups, and a robotic arm. The air source can include a vacuum pump and a compressor (atmospheric pressure). The vacuum pump is used to create a vacuum in the suction cups, and the compressor is used to break the vacuum. The solenoid valves control the opening and closing of the pipelines to achieve material adsorption and release. The distribution pipelines include the pipeline between the air source and the solenoid valves, and the pipeline between the solenoid valves and the suction cups. The robotic arm includes the robotic arm body and a material fork (suction cup) mounted on the robotic arm body. The material fork has a vacuum passage for adsorbing and releasing materials, and the robotic arm body can move the material fork and the materials to achieve material handling, which helps improve production efficiency and quality.

[0107] Please refer to the following: Figure 1A and Figure 1B , Figure 1B Establish a timeline for the vacuum of the existing material handling system.

[0108] After the previous material is released, the material fork can contact the next material. After the material fork contacts the material, the solenoid valve can be activated to control the vacuum pump to evacuate the inside of the material fork until the air pressure inside the material fork meets the material handling requirements, thus completing the vacuum establishment of the material transport system. The vacuum establishment efficiency of the material transport system is related to factors such as the conductance of the distribution pipeline, the length of the distribution pipeline, and the vacuum pressure and flow rate.

[0109] Existing material handling systems, due to the presence of components such as bearings and steel belts on the robotic arms for controlling their movement, and support shafts on the suction cups, lack the additional space to accommodate solenoid valves. This results in long distribution pipelines between the solenoid valves and the suction cups. Furthermore, the internal pipelines of the fork-type suction cups are long and thin, with low flow conductance. Consequently, the time from the fork contacting the material to the internal air pressure reaching the required level for material handling is relatively long. Figure 1B The system shown here takes a long time to focus on, which in turn affects the vacuum establishment efficiency of the material transport system.

[0110] In this embodiment, before the material adsorption operation is performed in the adsorption device, the material transport system can control the vacuum pump to create a negative vacuum pressure inside the adsorption device. A flow restrictor near the adsorption device is used to increase the pre-vacuum level of the pipeline between the vacuum pump and the suction cup, reducing the volume of the low-vacuum chamber between the flow restrictor and the suction cup. This facilitates the acceleration of the vacuum environment formation within the suction cup, allowing the suction cup to establish the preset vacuum level before the material reaches its adsorption area. This reduces the total vacuum establishment time and improves the vacuum establishment efficiency of the material transport system. The following describes this application in detail through various embodiments.

[0111] Please see Figure 2 , Figure 2 This application provides a schematic diagram of the structure of a material transport system 100.

[0112] In some embodiments, the material transport system 100 may include a vacuum generating device 10, a compressor 20, an adsorption device 30, and a valve 40. The vacuum generating device 10 creates a vacuum in its connected pipelines by drawing a vacuum. For example, the vacuum generating device 10 may be a vacuum pump. The compressor 20 can generate a positive pressure gas source to break the vacuum in its connected pipelines. The adsorption device 30 can be connected to both the vacuum generating device 10 and the compressor 20.

[0113] The adsorption device 30 may include a first adsorption device 31, a second adsorption device 32, and a third adsorption device 33. For example, the first adsorption device 31, the second adsorption device 32, and the third adsorption device 33 may all be suction cups. The second adsorption device 32 is movable and is used to grasp materials, while the positions of the first adsorption device 31 and the third adsorption device 33 can be fixed. The first adsorption device 31 and the third adsorption device 33 can be used to adsorb and temporarily store materials.

[0114] For example, the first adsorption device 31, the second adsorption device 32, and the third adsorption device 33 are connected in parallel. It is understood that in this application, the parallel connection of multiple components refers to the parallel connection of the pipelines between the multiple components. That is, the vacuum generating device 10 can simultaneously or staggeredly evacuate the pipelines between the vacuum generating device 10 and the multiple components, and the compressor 20 can simultaneously or staggeredly charge the pipelines between the compressor 20 and the multiple components. For example, the parallel connection of the first adsorption device 31, the second adsorption device 32, and the third adsorption device 33 means that the vacuum generating device 10 can simultaneously or staggeredly evacuate the pipelines between the vacuum generating device 10 and the first adsorption device 31, the vacuum generating device 10 and the second adsorption device 32, and the vacuum generating device 10 and the third adsorption device 33, and the compressor 20 can simultaneously or staggeredly charge the pipelines between the compressor 20 and the first adsorption device 31, the compressor 20 and the second adsorption device 32, and the compressor 20 and the third adsorption device 33. It is understood that, unless otherwise specified, any descriptions of multiple components connected in parallel in the following text should refer to the descriptions above.

[0115] It is understood that in the embodiments of this application, the structures of the multiple adsorption devices 30 may be the same or similar, symmetrical or partially symmetrical, or different. In this embodiment, the structures of the multiple adsorption devices 30 are the same; the basic design of the component structures of the multiple adsorption devices 30, the design of the connection relationships between components, and the design of the connection relationships between components and other structures outside the assembly can all be the same. At the same time, slight differences in the detailed structure or positional arrangement of components are allowed between the multiple adsorption devices 30. It is understood that the number and positional arrangement of the adsorption devices 30 can be reasonably selected and adjusted according to actual needs, and this application does not impose strict limitations on this.

[0116] It is understood that the material transport system 100 may also include more or fewer adsorption devices 30. For example, the material transport system 100 may include a fourth adsorption device, or the material transport system 100 may not include a second adsorption device 32 and / or a third adsorption device 33. The number and arrangement of the adsorption devices 30 can be reasonably selected and adjusted according to actual needs, and this application does not impose strict limitations on this.

[0117] In some embodiments, the material transport system 100 further includes a robotic arm 321. A second adsorption device 32 is fixed to the robotic arm 321, which can move the second adsorption device 32 relative to the first adsorption device 31 or the third adsorption device 33, thereby placing the material on the second adsorption device 32 to a designated location. For example, the second adsorption device can adsorb material from the third adsorption device 33, and after the second adsorption device 32 adsorbs material, the robotic arm 321 can move the second adsorption device 32 to the location of the first adsorption device 31 and place the material onto the first adsorption device 31. It is understood that the second adsorption device 32 can be used to pick up and place materials. In some examples, there can be multiple second adsorption devices 32 and robotic arms 321, with multiple robotic arms 321 corresponding one-to-one with multiple second adsorption devices 32.

[0118] In some embodiments, valve 40 may include a first solenoid valve 41, a second solenoid valve 42, and a third solenoid valve 43 arranged in parallel.

[0119] One end of the first solenoid valve 41, one end of the second solenoid valve 42, and one end of the third solenoid valve 43 can be connected to the vacuum generating device 10 and the compressor 20 through pipelines; the other end of the first solenoid valve 41, the other end of the second solenoid valve 42, and the other end of the third solenoid valve 43 can be connected to the first adsorption device 31, the second solenoid valve 42, and the third solenoid valve 43 through pipelines, respectively.

[0120] It is understood that, in this embodiment, one end of the first solenoid valve 41, one end of the second solenoid valve 42, and one end of the third solenoid valve 43 can serve as the first end of the valve 40; the other end of the first solenoid valve 41 can serve as the second end of the valve 40; and the other end of the second solenoid valve 42 can serve as the third end of the valve 40. In this case, the first end of the valve 40 can be connected to the vacuum generating device 10 and the compressor 20. The second end of the valve 40 can be connected to the first adsorption device 31. The third end of the valve 40 can be connected to the second adsorption device 32.

[0121] The material transport system 100 can connect the first adsorption device 31 to the vacuum generating device 10 via the first solenoid valve 41 of valve 40, so that the vacuum generating device 10 creates a negative vacuum pressure inside the first adsorption device 31, or connect the first adsorption device 31 to the compressor 20 via valve 40, so that the compressor 20 creates a positive pressure inside the first adsorption device 31. The material transport system 100 can also control the connection between the second adsorption device 32 and the vacuum generating device 10 via valve 40, or control the connection between the second adsorption device 32 and the compressor 20 via valve 40. The material transport system 100 can also control the connection between the third adsorption device 33 and the vacuum generating device 10 via valve 40, or control the connection between the third adsorption device 33 and the compressor 20 via valve 40. In this embodiment, by controlling valve 40, the first end of valve 40 can be connected to the second end, and the first end of valve 40 can be connected to the third end, thereby realizing the parallel connection of the first adsorption device 31 and the second adsorption device 32. By controlling valve 40, the first end of valve 40 can be connected to the second end, and / or the first end of valve 40 can be connected to the third end, thereby realizing the parallel arrangement of the first adsorption device 31 and the second adsorption device 32. Furthermore, the vacuum generating device 10 can be connected to the first front-end throttling device 81 through the second end of valve 40. The first front-end throttling device 81 can limit the flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31, thereby reducing the gas pressure interference of the first adsorption device 31 on the second adsorption device 32. Thus, when a fault or leak occurs in the pipeline between the vacuum generating device 10 and the first adsorption device 31, the impact on the gas flow rate of the pipeline containing the second adsorption device 32 is controllable, improving the reliability and stability of the material transport system 100.

[0122] It is understood that, in this embodiment of the application, the vacuum generating device 10 can simultaneously evacuate at least one of the first adsorption device 31, the second adsorption device 32, and the third adsorption device 33, so that at least one of the first adsorption device 31, the second adsorption device 32, and the third adsorption device 33 can adsorb materials. The compressor 20 can break the vacuum in at least one of the first adsorption device 31, the second adsorption device 32, and the third adsorption device 33.

[0123] For example, at least one of the first solenoid valve 41, the second solenoid valve 42, and the third solenoid valve 43 can be a two-position three-way solenoid valve. Taking the first solenoid valve 41 as an example, one end of the first solenoid valve 41 can have two inlets, and the other end can have one outlet. The vacuum generating device 10 and the compressor 20 can be connected to the two inlets of the first solenoid valve 41 respectively, and the first adsorption device 31 can be connected to the outlet of the first solenoid valve 41. The first solenoid valve 41 can selectively connect one of the two inlets to the outlet, thereby allowing the vacuum generating device 10 to communicate with the first adsorption device 31 through the first solenoid valve 41, or allowing the compressor 20 to communicate with the first adsorption device 31 through the first solenoid valve 41. When the second solenoid valve 42 and the third solenoid valve 43 are two-position three-way solenoid valves, their configuration is described in the relevant description of the first solenoid valve 41, and will not be repeated here.

[0124] In some embodiments, the material transport system 100 may further include a diversion component 50. Valves 40 (including a first solenoid valve 41, a second solenoid valve 42, and a third solenoid valve 43) are fixedly connected to the diversion component 50.

[0125] For example, the diverter 50 may include a first through-hole 51, a second through-hole 52, a third through-hole 53, a fourth through-hole 54, a fifth through-hole 55, and a sixth through-hole 56 spaced apart. One end of the first through-hole 51 can be connected to the vacuum generating device 10, and the other end can be connected to the first solenoid valve 41. One end of the second through-hole 52 can be connected to the compressor 20, and the other end can be connected to the first solenoid valve 41. One end of the third through-hole 53 can be connected to the vacuum generating device 10, and the other end can be connected to the second solenoid valve 42. One end of the fourth through-hole 54 can be connected to the compressor 20, and the other end can be connected to the second solenoid valve 42. One end of the fifth through-hole 55 can be connected to the vacuum generating device 10, and the other end can be connected to the third solenoid valve 43. One end of the sixth through-hole 56 can be connected to the compressor 20, and the other end can be connected to the third solenoid valve 43.

[0126] In this embodiment, the vacuum generating device 10 can be connected to the first adsorption device 31, the second adsorption device 32, and the third adsorption device 33 through the first through hole 51, the third through hole 53, and the fifth through hole 55 of the flow divider 50, respectively. This allows the vacuum generating device 10 and the compressor 20 to separately evacuate the first adsorption device 31, the second adsorption device 32, and the third adsorption device 33. Similarly, the compressor 20 can be connected to the first adsorption device 31, the second adsorption device 32, and the third adsorption device 33 through the second through hole 52, the fourth through hole 54, and the sixth through hole 56 of the flow divider 50, respectively. This allows the compressor 20 to separately break the vacuum in the first adsorption device 31, the second adsorption device 32, and the third adsorption device 33.

[0127] Please see Figure 3 , Figure 3 yes Figure 2 The material transport system 100 shown is a structural schematic diagram in some embodiments.

[0128] In some embodiments, the material transport system 100 may include a one-way valve 60, a filter element 70, a front-end throttling element 80a, and a rear-end throttling element 80b. The one-way valve 60 and the filter element 70 are connected in parallel. A first end of the filter element 70 is connected to the vacuum generating device 10 and the compressor 20, and a second end of the filter element 70 is connected to the adsorption device 30. A first end of the one-way valve 60 is connected to the vacuum generating device 10 and the compressor 20, and a second end of the one-way valve 60 is connected to the adsorption device 30. Gas drawn by the vacuum generating device 10 forms a negative vacuum pressure inside the adsorption device 30 after passing through the filter element 70 and the one-way valve 60. Gas generated by the compressor 20 forms a positive pressure inside the adsorption device 30 after passing through the filter element 70. It is understood that the vacuum generating device 10 can simultaneously or staggeredly evacuate the pipeline between the vacuum generating device 10 and the one-way valve 60, and the pipeline between the vacuum generating device 10 and the filter element 70, and the compressor 20 can simultaneously or staggeredly charge the pipeline between the compressor 20 and the one-way valve 60, and the pipeline between the compressor 20 and the filter element 70. In this embodiment, when the vacuum generating device 10 evacuates the adsorption device 30, it can do so through both the one-way valve 60 and the filter element 70, which helps to accelerate the vacuum establishment rate. When the compressor 20 breaks the vacuum in the adsorption device 30, the one-way valve 60 allows the gas to flow through the filter element 70 to the adsorption device 30, thus ensuring that the gas flowing from the compressor 20 to the adsorption device 30 is relatively pure and will not contaminate the material placed on the adsorption device 30.

[0129] For example, the one-way valve 60 includes a first one-way valve 61, a second one-way valve 62, and a third one-way valve 63 arranged in parallel. The first end 611 of the first one-way valve can be connected to the first solenoid valve 41, thereby connecting the first end 611 of the first one-way valve to the vacuum generating device 10 and the compressor 20; the second end 612 of the first one-way valve can be connected to the first adsorption device 31, and the first one-way valve 61 is used to allow gas to flow from the first adsorption device 31 to the vacuum generating device 10. The first end 621 of the second one-way valve can be connected to the second solenoid valve 42, thereby connecting the first end 621 of the second one-way valve to the vacuum generating device 10 and the compressor 20; the second end 622 of the second one-way valve can be connected to the second adsorption device 32, and the second one-way valve 62 is used to allow gas to flow from the second adsorption device 32 to the vacuum generating device 10. The first end 631 of the third check valve can be connected to the third solenoid valve 43, so that the first end 631 of the third check valve can be connected to the vacuum generating device 10 and the compressor 20; the second end 632 of the third check valve can be connected to the third adsorption device 33.

[0130] For example, the filter element 70 includes a first filter element 71, a second filter element 72, and a third filter element 73 arranged in parallel. The first end 711 of the first filter element can be connected to the first solenoid valve 41, thereby connecting the first end 711 of the first filter element to the vacuum generating device 10 and the compressor 20; the second end 712 of the first filter element can be connected to the first adsorption device 31. The first filter element 71 can be an air filter, used to block particles and impurities in the gas from passing through it, making the gas passing through the first filter element 71 relatively pure and less likely to contaminate the material transport system 100 and the materials. The first end 721 of the second filter element can be connected to the second solenoid valve 42, thereby connecting the first end 721 of the second filter element to the vacuum generating device 10 and the compressor 20; the second end 722 of the second filter element can be connected to the second adsorption device 32. The second filter element 72 can make the gas passing through the second filter element 72 relatively pure. The first end 731 of the third filter element can be connected to the third solenoid valve 43, thereby connecting the first end 731 of the third filter element to the vacuum generating device 10 and the compressor 20. The second end 732 of the third filter element can be connected to the third adsorption device 33. The third filter element 73 can ensure that the gas passing through it is relatively pure.

[0131] In this embodiment, the first one-way valve 61 and the first filter element 71 are connected in parallel. The material transport system 100 may include a first state and a second state. When the material transport system 100 is in the first state, the vacuum generating device 10 operates continuously. The vacuum generating device 10 can be connected to the first end 611 of the first one-way valve and the first end 711 of the first filter element through the first solenoid valve 41, so that the gas drawn by the vacuum generating device 10 forms a vacuum negative pressure inside the first adsorption device 31 after passing through the first filter element 71 and the first one-way valve 61. At this time, the vacuum generating device 10 can be connected to the gas path of the first adsorption device 31 through the first one-way valve 61 and the first filter element 71. The gas drawn by the vacuum generating device 10 forms a vacuum negative pressure inside the first adsorption device 31 after passing through the first filter element 71 and the first one-way valve 61.

[0132] When the material transport system 100 is in the second state, the compressor 20 continues to operate to provide a gas source. The first one-way valve 61 can prevent gas from flowing from the compressor 20 to the first adsorption device 31. The compressor 20 can be connected to the first end 711 of the first filter element through the first solenoid valve 41. At this time, the compressor 20 can be connected to the gas path of the first adsorption device 31 through the first filter element 71. The gas generated by the compressor 20 forms a positive pressure inside the first adsorption device 31 after passing through the first filter element 71, and pollutant particles and impurities in the gas flowing to the first adsorption device 31 can be blocked by the first filter element 71. In this way, it can be ensured that the gas flowing from the compressor 20 to the first adsorption device 31 is relatively pure and will not contaminate the material placed on the first adsorption device 31. For example, the first filter element 71 can prevent particles in the atmosphere and particles generated during the switching friction of the spindle of the first solenoid valve 41 from flowing to the first adsorption device 31 during the process of breaking the vacuum of the first adsorption device 31 using the compressor 20, and thus avoid them adhering to the surface of the material and causing contamination.

[0133] It is understood that, in this embodiment, when the vacuum generating device 10 evacuates the first adsorption device 31, the gas in the pipeline can simultaneously flow to the vacuum generating device 10 through the first one-way valve 61 and the first filter element 71. The vacuum generating device 10 can evacuate the adsorption device through both the first one-way valve 61 and the first filter element 71, which helps to accelerate the vacuum establishment rate. When the compressor 20 breaks the vacuum in the first adsorption device 31, the first one-way valve 61 allows the gas in the pipeline to flow to the first adsorption device 31 through the first filter element 71, thus ensuring that the gas flowing from the compressor 20 to the first adsorption device 31 is relatively pure and will not contaminate the material placed on the first adsorption device 31.

[0134] It is understandable that the basic design of the second one-way valve 62 and the second filter element 72, the third one-way valve 63 and the third filter element 73, and their connection with other structures can all refer to the relevant schemes of the first one-way valve 61 and the first filter element 71. At the same time, slight differences in detailed structure or positional arrangement between the second one-way valve 62 and the second filter element 72, the third one-way valve 63 and the third filter element 73 and the first one-way valve 61 and the first filter element 71 are permissible. Specific details will not be elaborated here.

[0135] Please continue reading. Figure 3 and Figure 4 , Figure 4 yes Figure 3 The material transport system 100 shown is partially exploded in some embodiments.

[0136] In some embodiments, the front-end throttling device 80a includes at least one of a first front-end throttling device 81, a second front-end throttling device 83, and a third front-end throttling device 85. The first front-end throttling device 81 can be disposed in the pipeline connecting the vacuum generating device 10 and the valve 40, thereby allowing the first front-end throttling device 81 to be disposed in the pipeline between the vacuum generating device 10 and the first adsorption device 31. The vacuum generating device 10 can be connected to the first front-end throttling device 81 via the valve 40.

[0137] In some embodiments, the first front-end throttling element 81 may be disposed on the first solenoid valve 41, that is, the first front-end throttling element 81 may be disposed on the second end of the valve 40. For example, Figure 4 The diagram mainly shows the structure of the first solenoid valve 41 and the first front-end throttling element 81. For example, the valve 40 includes a valve seat 411 and a valve 412. The valve seat 411 and valve 412 are fixedly connected. The first front-end throttling element 81 can be disposed in the valve seat 411. In this embodiment, the first front-end throttling element 81 can be disposed within the structural components of the material transport system 100 itself. The first front-end throttling element 81 can make reasonable use of the space of the valve seat 411 of the first solenoid valve 41 in the material transport system 100, thus eliminating the need for additional structural components in the material transport system 100 to install the first front-end throttling element 81. This simplifies the structure of the material transport system 100 and helps reduce its overall volume.

[0138] For example, a vent hole 413 may be provided in the valve seat 411. The first front-end throttling element 81 is disposed in the vent hole 413 of the valve seat 411. By disposing the first front-end throttling element 81 in the vent hole 413 of the valve seat 411, the structure of the material transport system 100 can be simplified. On the other hand, when the vacuum generating device 10 evacuates the first adsorption device 31 through the vent hole 413 of the valve 40, the vacuum generating device 10 can accelerate the formation of a vacuum negative pressure in the first adsorption device 31 through the action of the first front-end throttling element 81 in the vent hole 413, thereby improving the vacuum establishment efficiency of the first adsorption device 31.

[0139] In some other embodiments, the first front-end throttling element 81 is integrally formed with the first pipeline to simplify the manufacturing process of the material transport system 100. The first pipeline is the pipeline between the vacuum generating device 10 and the first adsorption device 31.

[0140] For example, the first front-end throttling element 81 can be disposed in the first through hole 51 of the diverter 50. One end of the first front-end throttling element 81 can be connected to the vacuum generating device 10. For example, one end of the first front-end throttling element 81 can be connected to the vacuum generating device 10 through a pipeline, or one end of the first front-end throttling element 81 can be connected to the vacuum generating device 10 through a pipeline and other structural components (such as valves). The other end of the first front-end throttling element 81 can be connected to the first solenoid valve 41, so that the other end of the first front-end throttling element 81 can be connected to the first end 611 of the first one-way valve and the first end 711 of the first filter element. In this embodiment, the first front-end throttling element 81 can be disposed within the structural components of the material transport system 100 itself. The first front-end throttling element 81 can make reasonable use of the space of the diverter 50 of the material transport system 100, so that the material transport system 100 does not need to be provided with additional structural components to install the first front-end throttling element 81, making the structure of the material transport system 100 simpler and helping to reduce the overall volume of the material transport system 100.

[0141] In this embodiment, since the first front-end throttling element 81 can reduce the flow cross-sectional area, the flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31 can be limited by setting the first front-end throttling element 81, thereby reducing the pressure interference of the first adsorption device 31 on the second adsorption device 32. Thus, when a fault or leak occurs in the pipeline between the vacuum generating device 10 and the first adsorption device 31, the impact on the gas flow of other parallel gas paths (e.g., the pipeline between the vacuum generating device 10 and the second adsorption device 32) is controllable. Similarly, when a fault or leak occurs in the pipeline between the vacuum generating device 10 and the second adsorption device 32, the impact on other parallel pipelines (e.g., the pipeline between the vacuum generating device 10 and the first adsorption device 31) is controllable. The material transport system 100 exhibits better stability.

[0142] In some embodiments, the first front-end throttling element 81 can be a small orifice, the orifice diameter of which can be set according to the required conductance of the viscous flow orifice. The first end 811 of the first front-end throttling element can be connected to the vacuum generating device 10 via a pipeline, and the second end 812 of the first front-end throttling element can be connected to the first adsorption device 31 via a pipeline. If the pressure (absolute pressure) of the first end 811 of the first front-end throttling element is P1, and the pressure (absolute pressure) of the second end 812 of the first front-end throttling element is P2, then the ratio x1 of the pressure of the first end 811 to the pressure of the second end 812 of the first front-end throttling element is P1 / P2. Based on the known conductance U required for system stability... n.20℃ The area A of the small hole in the first front-end throttling element 81 can be calculated. 01 For example, if the pressure at the first end 811 of the first front-end throttling device is P1 = 30 kPa, and the pressure at the second end 812 of the first front-end throttling device is P2 = 40 kPa, then the ratio of the pressure at the first end 811 to the pressure at the second end 812 of the first front-end throttling device, x1, is 0.75. Based on the known system conductance U required for stability... n.20℃ The area A of the small hole in the first front-end throttling element 81 can be calculated. 01 :

[0143]

[0144] Conductivity is a physical quantity used to describe the ability of a vacuum pipe to carry gas, and its unit is liters per second (L / s). Under steady conditions, conductivity is equal to the flow rate of the pipe divided by the pressure difference between the two ends of the pipe, and is represented by the symbol "U".

[0145] For example, the second front-end throttling element 83 can be disposed in the third through hole 53 of the flow divider 50. One end of the second front-end throttling element 83 can be connected to the vacuum generating device 10, and the other end of the second front-end throttling element 83 can be connected to the second solenoid valve 42, thereby connecting the other end of the second front-end throttling element 83 to the first end 621 of the second one-way valve and the first end 721 of the second filter element. In some other examples, the second front-end throttling element 83 can also be disposed in the second solenoid valve 42. In this embodiment, the basic design of the structure of the second front-end throttling element 83 and the design of its connection relationship with other structures can refer to the relevant scheme of the first front-end throttling element 81. At the same time, slight differences in the detailed structure or positional arrangement of the second front-end throttling element 83 and the first front-end throttling element 81 are allowed. Specific details will not be elaborated here.

[0146] For example, the third front-end throttling element 85 can be disposed in the fifth through hole 55 of the flow divider 50. One end of the third front-end throttling element 85 can be connected to the vacuum generating device 10, and the other end of the third front-end throttling element 85 can be connected to the third solenoid valve 43, thereby connecting the other end of the third front-end throttling element 85 to the first end 631 of the third check valve and the first end 731 of the third filter element. In some other examples, the third front-end throttling element 85 can also be disposed in the third solenoid valve 43. In this embodiment, the basic design of the structure of the third front-end throttling element 85 and the design of its connection relationship with other structures can refer to the relevant scheme of the first front-end throttling element 81. At the same time, slight differences in the detailed structure or positional arrangement of the third front-end throttling element 85 and the first front-end throttling element 81 are allowed. Specific details will not be elaborated here.

[0147] In some embodiments, the rear-end throttling device is used to reduce the flow cross-sectional area to accelerate the formation of a vacuum environment within the adsorption device. The vacuum generating device is activated before the adsorption device performs material adsorption operations, and through the action of the rear-end throttling device, the adsorption device establishes a preset vacuum level before the material reaches its adsorption area. Before the adsorption device performs material adsorption operations, the material transport system can first control the vacuum generating device to create a negative vacuum pressure inside the adsorption device, and increase the pre-vacuum level of the pipeline between the vacuum generating device and the adsorption device through the rear-end throttling device. This reduces the volume of the low-vacuum chamber between the rear-end throttling device and the adsorption device, which helps to accelerate the formation of a vacuum environment within the adsorption device, allowing the adsorption device to establish a preset vacuum level before the material reaches its adsorption area. This helps to shorten the total vacuum establishment time and improve the vacuum establishment efficiency of the material transport system.

[0148] Please continue reading. Figure 3 In some embodiments, the rear-end throttling element 80b includes at least one of a first rear-end throttling element 82, a second rear-end throttling element 84, and a third rear-end throttling element 86. The first rear-end throttling element 82 is disposed in the first adsorption device 31. The first rear-end throttling element 82 can be used to reduce the flow area to accelerate the formation of a vacuum environment within the first adsorption device 31.

[0149] In some embodiments, the adsorption device 30 has an adsorption channel, and the rear-end throttling element 80b is disposed within the adsorption channel. For example, the first adsorption device 31 has a first adsorption channel 311, and the first rear-end throttling element 82 can be disposed within the first adsorption channel 311. The first adsorption channel 311 of the first rear-end throttling element 82 can be connected to the vacuum generating device 10. For example, the first adsorption channel 311 of the first rear-end throttling element 82 can be connected to the vacuum generating device 10 via a pipeline, or the first adsorption channel 311 of the first rear-end throttling element 82 can be connected to the vacuum generating device 10 via a pipeline and other structural components (such as valves). The rear-end throttling element is disposed within the structural components of the adsorption device itself. In this way, the rear-end throttling element can make reasonable use of the space of the adsorption device, so that the material transport system does not need to set up additional structural components to install the rear-end throttling element, making the structure of the material transport system simpler and helping to reduce the overall volume of the material transport system.

[0150] For example, the first end 311a of the first adsorption channel is close to the vacuum generating device, and the second end 311b of the first adsorption channel is close to the material. The distance between the first rear throttling device 82 and the first end 311a of the first adsorption channel is greater than the distance between the first rear throttling device 82 and the second end 311b of the first adsorption channel, that is, the first rear throttling device 82 is closer to the second end 311b of the first adsorption channel. Since the second end 311b of the first adsorption channel is closer to the material, a vacuum can be established in advance near the material by setting the first rear throttling device. It can be understood that setting the first rear throttling device 82 close to the material is beneficial to reducing the volume of the low vacuum chamber, thereby further accelerating the formation of the vacuum environment in the first adsorption device 31, shortening the total time for vacuum establishment, and improving the vacuum establishment efficiency of the material transport system.

[0151] In some examples, the first rear-end throttling element 82 is disposed at the second end 311b of the first adsorption channel, and the end of the first rear-end throttling element 82 is flush with the second end 311b of the first adsorption channel. In this way, the volume of the low-vacuum chamber can be reduced to a large extent, thereby significantly shortening the total time required to establish a vacuum.

[0152] In some examples, the first rear-end throttling element 82 can be a cylindrical orifice. It is understood that the first rear-end throttling element 82 can be a small orifice. A mounting position (not shown) is provided within the first adsorption channel 311. The first rear-end throttling element 82 is positioned at the mounting position. This facilitates the positioning of the first rear-end throttling element 82. The assembly of the first rear-end throttling element 82 is relatively simple.

[0153] In other examples, the first rear throttling element 82 may also be integrally formed with the first adsorption channel 311, thereby simplifying the manufacturing process of the material transport system 100.

[0154] In this embodiment of the application, by setting a first rear throttling device 82, the first adsorption device 31 can utilize the damping characteristics of the first rear throttling device 82 to increase the pre-vacuum level of the pipeline between the vacuum generating device 10 and the first adsorption device 31 before contacting the material, thereby reducing the volume of the low vacuum chamber, which helps to shorten the total time for vacuum establishment and improve the vacuum establishment efficiency of the material transport system 100.

[0155] like Figure 5A As shown, Figure 5A A comparison of the vacuum levels in the distribution pipelines of an existing material handling system and the material handling system 100 provided in this application under steady-state conditions is presented. For example, Figure 5A The darker the color, the higher the vacuum level.

[0156] like Figure 5A As shown in (a), the existing material handling system does not have a small orifice (i.e., it does not have a rear-end throttling device). Due to the long distribution pipeline and small flow conductance, the time from when the material fork contacts the material to when the air pressure inside the material fork meets the material handling requirements is relatively long (i.e., Figure 1B The system shown has insufficient attention time, and the vacuum level in the distribution pipeline is inadequate. Figure 5A As shown in (b), the material transport system 100 of this application improves the flow conduction by setting a small hole in the transmission and distribution pipeline (that is, setting a rear throttling device 80b), thereby shortening the system's attention time, that is, shortening the time from when the adsorption device 30 comes into contact with the material to when the internal air pressure value of the adsorption device 30 meets the material handling requirements, and is also conducive to improving the vacuum degree of the pipeline at the front end of the small hole (that is, the end near the vacuum generating device 10).

[0157] Furthermore, since the first rear-end throttling element 82 reduces the flow area, the flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31 can be limited by setting the first rear-end throttling element 82, thereby reducing the gas pressure interference of the first adsorption device 31 on the second adsorption device 32 and the third adsorption device 33. In this way, when the pipeline between the vacuum generating device 10 and the first adsorption device 31 fails or leaks, the impact on the gas flow of other pipelines connected in parallel with it (such as the pipeline between the vacuum generating device 10 and the second adsorption device 32, and the pipeline between the vacuum generating device 10 and the third adsorption device 33) is controllable.

[0158] In some embodiments, when the first rear end throttling element 82 is a cylindrical orifice, the orifice diameter of the first rear end throttling element 82 can be set according to the requirements of viscous flow orifice conduction.

[0159] The first end 821 of the first rear throttling device can be connected to the vacuum generating device 10 via a pipeline, while the second end 822 of the first rear throttling device is located away from the vacuum generating device 10. The pressure (absolute pressure) of the first end 811 of the first front throttling device is P1, and the pressure (absolute pressure) of the second end 822 of the first rear throttling device is P4. Therefore, the ratio x2 of the pressure of the first end 811 of the first front throttling device to the pressure of the second end 822 of the first rear throttling device is P1 / P4. Based on the known flow conductance U required for the stability of the first end 811 of the first front throttling device... n.20℃ The flow rate Q passing through the first back-end throttling device 82 can be calculated equivalently. n.20℃ Thus, the orifice area A of the first rear throttling element 82 can be calculated. 02 For example, if the pressure at the first end 811 of the first front-end throttling device is P1 = 40 kPa, and the pressure at the second end 822 of the first rear-end throttling device is P4 = 101 kPa, then the ratio of the pressure at the first end 811 of the first front-end throttling device to the pressure at the second end 822 of the first rear-end throttling device, x2, is 0.4. Based on the known flow conductance U required for the stability of the first end 811 of the first front-end throttling device... n.20℃ The area A of the small hole in the first rear throttling element 82 can be obtained. 02 :

[0160]

[0161] It is understood that in some other embodiments, the material transport system 100 may not include the first front-end throttling element 81. In this case, the orifice area A of the first rear-end throttling element 82 can be determined based on the ratio x2 of the pressure P3 at the first end of the first rear-end throttling element and the pressure P4 at the second end of the first rear-end throttling element, as well as the known conductance required for system stability. 02 For example, if the pressure at the first end of the first rear throttling device is P3 = 30 kPa and the pressure at the second end of the first rear throttling device is P4 = 40 kPa, then the ratio of the pressure at the first end of the first rear throttling device to the pressure at the second end of the first rear throttling device, x2, is 0.75. Based on the known system conductance U required for stability... n.20℃ The area A of the small hole in the first rear throttling element 82 can be obtained. 02 :

[0162]

[0163] Based on the orifice area A of the first rear throttling element 82 mentioned above... 02The calculation formula shows that the lower the conductivity, the smaller the orifice diameter of the first rear throttling device 82. By designing the orifice diameter of the first rear throttling device 82, the smaller the orifice diameter, the lower the vacuum flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31, and thus the higher the pre-vacuum degree of the pipeline between the vacuum generating device 10 and the first adsorption device 31.

[0164] For example, the second rear-end throttling element 84 can be disposed in the second adsorption device 32. For example, the second adsorption device 32 can be provided with a second adsorption channel 320, and the second rear-end throttling element 84 can be disposed within the first adsorption channel 311. One end of the second rear-end throttling element 84 can be connected to the second end 622 of the second one-way valve and the second end 722 of the second filter element, thereby allowing one end of the second rear-end throttling element 84 to be connected to the vacuum generating device 10. In this embodiment, the basic design of the structure of the second adsorption device 32 and the second rear-end throttling element 84, as well as the design of their connection relationships with other structures, can refer to the relevant schemes of the first adsorption device 31 and the first rear-end throttling element 82. At the same time, it is permissible for the second adsorption device 32 and the second rear-end throttling element 84 to differ slightly from the first adsorption device 31 and the first rear-end throttling element 82 in terms of detailed structure or positional arrangement. Specific details will not be elaborated here.

[0165] In this embodiment, by setting a second rear-end throttling device 84, the second adsorption device 32 can utilize the damping characteristics of the second rear-end throttling device 84 to increase the pre-vacuum level of the pipeline between the vacuum generating device 10 and the second adsorption device 32 before contacting the material, thereby reducing the volume of the low-vacuum chamber, which helps to shorten the total time for vacuum establishment and improve the vacuum establishment efficiency of the material transport system 100.

[0166] Furthermore, since the second rear-end throttling element 84 reduces the flow area, the flow consumption of the pipeline between the vacuum generating device 10 and the second adsorption device 32 can be limited, thereby reducing the pressure interference of the second adsorption device 32 on the first adsorption device 31. Thus, when a fault or leak occurs in the pipeline between the vacuum generating device 10 and the second adsorption device 32, the impact on the gas flow of other pipelines connected in parallel with it (such as the pipeline between the vacuum generating device 10 and the first adsorption device 31, and the pipeline between the vacuum generating device 10 and the third adsorption device 33) is controllable.

[0167] For example, the third rear-end throttling element 86 can be disposed in the second adsorption device 32. For example, the second adsorption device 32 can be provided with a second adsorption channel 320, and the second rear-end throttling element 84 can be disposed within the first adsorption channel 311. One end of the second rear-end throttling element 84 can be connected to the second end 622 of the second one-way valve and the second end 722 of the second filter element, thereby allowing one end of the second rear-end throttling element 84 to be connected to the vacuum generating device 10. In this embodiment, the basic design of the structure of the second adsorption device 32 and the second rear-end throttling element 84, as well as the design of their connection relationships with other structures, can refer to the relevant schemes of the first adsorption device 31 and the first rear-end throttling element 82. At the same time, it is permissible for the second adsorption device 32 and the second rear-end throttling element 84 to differ slightly from the first adsorption device 31 and the first rear-end throttling element 82 in terms of detailed structure or positional arrangement. Specific details will not be elaborated here.

[0168] Please continue reading. Figure 3 In some embodiments, the material transport system 100 may further include a first pressure sensor 91, a second pressure sensor 92, and a third pressure sensor 93.

[0169] The first pressure sensor 91 is used to detect the air pressure value in the pipeline where it is located. For example, the first pressure sensor 91 can be located in the pipeline between the first solenoid valve 41 and the first adsorption device 31. The first pressure sensor 91 can be used to detect the air pressure value in the pipeline between the first solenoid valve 41 and the first adsorption device 31, that is, to detect the vacuum level in the pipeline between the first solenoid valve 41 and the first adsorption device 31. For example, the first pressure sensor 91 can be located in the pipeline between the first solenoid valve 41, the first one-way valve 61, and the first filter element 71.

[0170] Please see Figure 5B , Figure 5B This is a diagram showing the vacuum build-up efficiency of the material transport system 100 provided in this application.

[0171] From the moment the first adsorption device 31 begins to contact the material, the flow rate in the pipeline between the vacuum generating device 10 and the first adsorption device 31 gradually decreases, and the vacuum level in the pipeline between the vacuum generating device 10 and the first adsorption device 31 further increases until it stabilizes. The time required for this process is the vacuum establishment time of the first adsorption device 31. It can be understood that the shorter the vacuum establishment time, the higher the vacuum establishment efficiency.

[0172] Figure 5BThe diagram mainly shows the pressure-time curves of the first rear-end throttling device 82 with five different orifice diameters. Curves 1, 2, 3, 4, and 5 represent the decreasing orifice diameter of the first rear-end throttling device 82. When the first adsorption device 31 begins to contact the material, the first pressure sensor 91 detects the pressure value in the pipeline between the vacuum generating device 10 and the first adsorption device 31. Because the orifice diameter of the first rear-end throttling device 82 is set relatively small, the vacuum degree in the pipeline between the vacuum generating device 10 and the first adsorption device 31 is higher. Therefore, in curves 1, 2, 3, 4, and 5, the pressure value detected by the first pressure sensor 91 decreases sequentially. For example, in curve one, the detection value of the first pressure sensor 91 is -11.5 kPa; in curve two, the detection value of the first pressure sensor 91 is -30 kPa; in curve three, the detection value of the first pressure sensor 91 is -40 kPa; in curve four, the detection value of the first pressure sensor 91 is -60 kPa; and in curve five, the detection value of the first pressure sensor 91 is -65 kPa.

[0173] like Figure 5B As shown, the vacuum establishment times of curves 1, 2, 3, 4, and 5 are t1, t2, t3, t4, and t5, respectively, and t1, t2, t3, t4, and t5 decrease sequentially. That is, the aperture of the first rear throttling device 82 is set to be relatively small. The shorter the vacuum establishment time of the material transport system 100, the higher the vacuum establishment efficiency.

[0174] In this embodiment, before the adsorption device 30 performs the material adsorption operation, the material transport system 100 can first control the vacuum generating device 10 to form a vacuum negative pressure inside the adsorption device 30, and increase the pre-vacuum degree of the pipeline between the vacuum generating device 10 and the adsorption device 30 through the rear throttling device 80b, thereby reducing the volume of the low vacuum chamber between the rear throttling device 80b and the adsorption device 30. This helps to accelerate the formation of the vacuum environment inside the adsorption device 30, so that the adsorption device 30 completes the construction of the preset vacuum degree before the material arrives at its adsorption area, thereby shortening the total time for vacuum establishment and improving the vacuum establishment efficiency of the material transport system 100.

[0175] Secondly, in this embodiment, both the first front-end throttling element 81 and the first rear-end throttling element 82 can be used to limit the maximum vacuum flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31. That is, both the first front-end throttling element 81 and the first rear-end throttling element 82 can reduce the vacuum flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31, thereby reducing the gas pressure interference of the pipeline between the vacuum generating device 10 and the first adsorption device 31 on pipelines connected in parallel with it (e.g., the pipeline between the vacuum generating device 10 and the second adsorption device 32), and thus improving the stability of the material transport system 100. In this way, when the pipeline between the vacuum generating device 10 and the first adsorption device 31 fails or leaks, the impact on the gas flow of other pipelines connected in parallel with it (e.g., the pipeline between the vacuum generating device 10 and the second adsorption device 32) is controllable. Furthermore, by setting the first rear throttling device 82, the first adsorption device 31 can utilize the damping characteristics of the first rear throttling device 82 to increase the pre-vacuum level of the pipeline between the vacuum generating device 10 and the first adsorption device 31 before contacting the material, thereby reducing the volume of the low vacuum chamber, which helps to shorten the total time for vacuum establishment and improve the vacuum establishment efficiency of the material transport system 100.

[0176] Furthermore, in this embodiment, by placing the first front-end throttling element 81 between the vacuum generating device 10 and the first one-way valve 61 and the first filter element 71, the maximum vacuum flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31 can be effectively controlled. When a leak occurs in the pipeline between the vacuum generating device 10 and the first adsorption device 31, or when the damping characteristics of the first rear-end throttling element 82 fail, the flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31 increases. By setting the first front-end throttling element 81, the first front-end throttling element 81 can be used to limit the upper limit of the flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31. Thus, the pressure fluctuation of the pipeline between the vacuum generating device and the first adsorption device has a smaller impact on other pipelines connected in parallel with the pipeline between the vacuum generating device and the first adsorption device 31, and the reliability of the material transport system 100 is better. Furthermore, the upper limit of the flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31 depends on the orifice diameter of the first front-end throttling device 81. Therefore, by setting the first front-end throttling device 81 to have a suitable orifice diameter, it is beneficial to ensure that other branches of the material transport system 100 can still provide effective adsorption force when a branch pipeline is damaged, so as to ensure the reliability and stability of the material transport system 100.

[0177] It is understood that the material transport system 100 in this embodiment can improve efficiency during the vacuuming process and reduce the pressure disturbance between multiple adsorption devices supplied by a vacuum generating device 10.

[0178] For example, the second pressure sensor 92 is used to detect the air pressure value in the pipeline where the second pressure sensor 92 is located. For example, the second pressure sensor 92 can be located in the pipeline between the second solenoid valve 42 and the second adsorption device 32. The second pressure sensor 92 can be used to detect the air pressure value in the pipeline between the second solenoid valve 42 and the second adsorption device 32, that is, it can detect the vacuum degree of the pipeline between the second solenoid valve 42 and the second adsorption device 32. For example, the second pressure sensor 92 can be located in the pipeline between the second solenoid valve 42, the second one-way valve 62, and the second filter element 72. In this embodiment, the basic design of the structure of the second pressure sensor 92 and the design of its connection relationship with other structures can refer to the relevant scheme of the first pressure sensor 91. At the same time, slight differences in detailed structure or positional arrangement between the second pressure sensor 92 and the first pressure sensor 91 are allowed. Specific details will not be elaborated here.

[0179] For example, the third pressure sensor 93 is used to detect the air pressure value in the pipeline where the third pressure sensor 93 is located. For example, the third pressure sensor 93 can be located in the pipeline between the third solenoid valve 43 and the third adsorption device 33. The third pressure sensor 93 can be used to detect the air pressure value in the pipeline between the third solenoid valve 43 and the third adsorption device 33, that is, it can detect the vacuum degree of the pipeline between the third solenoid valve 43 and the third adsorption device 33. For example, the third pressure sensor 93 can be located in the pipeline between the third solenoid valve 43, the third one-way valve 63, and the third filter element 73. In this embodiment, the basic design of the structure of the third pressure sensor 93 and the design of its connection relationship with other structures can refer to the relevant scheme of the first pressure sensor 91. At the same time, slight differences in detailed structure or positional arrangement between the third pressure sensor 93 and the first pressure sensor 91 are allowed. Specific details will not be elaborated here.

[0180] In some embodiments, the material transport system 100 may further include a first pressure regulating valve 11 and a second pressure regulating valve 21. One end of the first pressure regulating valve 11 can be connected to the vacuum generating device 10 via a pipeline, and the other end of the first pressure regulating valve 11 can be connected to the first solenoid valve 41 via a pipeline. The first pressure regulating valve 11 can be used to adjust the vacuum generating device 10's vacuuming speed when the vacuum generating device 10 is connected to the first adsorption device 31 via a gas path. The first pressure regulating valve 11 can also be used to adjust the vacuum generating device 10's vacuuming speed when the vacuum generating device 10 is connected to the second adsorption device 32 via a gas path. The first pressure regulating valve 11 can also be used to adjust the vacuum generating device 10's vacuuming speed when the vacuum generating device 10 is connected to the third adsorption device 33 via a gas path.

[0181] One end of the second pressure regulating valve 21 can be connected to the vacuum generating device 10 via a pipeline, and the other end of the second pressure regulating valve 21 can be connected to the second solenoid valve 42 via a pipeline. The second pressure regulating valve 21 can be used to regulate the flow rate of the positive pressure gas source provided by the compressor 20 when the compressor 20 is connected to the first adsorption device 31 via a gas path. The second pressure regulating valve 21 can also be used to regulate the flow rate of the positive pressure gas source provided by the compressor 20 when the compressor 20 is connected to the second adsorption device 32 via a gas path. Furthermore, the second pressure regulating valve 21 can also be used to regulate the flow rate of the positive pressure gas source provided by the compressor 20 when the compressor 20 is connected to the third adsorption device 33 via a gas path.

[0182] In some embodiments, the material transport system 100 may further include a pneumatic control box 101. For example, the first solenoid valve 41, the second solenoid valve 42, the third solenoid valve 43, the flow divider 50, the first pressure sensor 91, the second pressure sensor 92, the third pressure sensor 93, the first pressure regulating valve 11, and the second pressure regulating valve 21 may all be located inside the pneumatic control box 101.

[0183] Example 2

[0184] Please see Figure 6 , Figure 6 yes Figure 2 The illustrated material transport system 100 is a structural schematic diagram in some other embodiments. It is understood that... Figure 6 The material transport system 100 shown only shows a portion of its structure. Figure 6 The material transport system 100 shown may include most of the technical content of the previous embodiments. The following mainly describes the differences between the two, and the most common aspects of the two will not be repeated.

[0185] The structure of the material transport system 100 in this embodiment is similar to Figure 3 The material transport system 100 shown has a roughly the same structure, the difference being:

[0186] In this embodiment, the front-end throttling element 80a can be a throttling valve. For example, the first front-end throttling element 81 can be a throttling valve, such as a needle valve. It is understood that the orifice diameter of a throttling valve is relatively easy to adjust, thus facilitating the adjustment of the first front-end throttling element 81 to a suitable orifice diameter. At this time, the material transport system 100 can control the gas flow rate by adjusting the orifice diameter of the throttling valve, thereby reducing the flow cross-sectional area through the first front-end throttling element 81 to accelerate the formation of a vacuum environment within the first adsorption device 31. For example, one end of the first front-end throttling element 81 can be connected to the vacuum generating device 10 via a pipeline, and the other end of the first front-end throttling element 81 can be connected to the first solenoid valve 41 via a pipeline.

[0187] In this embodiment, by placing the first front-end throttling element 81 between the vacuum generating device 10 and the first one-way valve 61 and the first filter element 71, the maximum vacuum flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31 can be effectively controlled. When a leak occurs in the pipeline between the vacuum generating device 10 and the first adsorption device 31, or when the damping characteristics of the first rear-end throttling element 82 fail, the flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31 increases. By setting the first front-end throttling element 81, the first front-end throttling element 81 can be used to limit the upper limit of the flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31. Therefore, the pressure fluctuation of the pipeline between the vacuum generating device and the first adsorption device has a smaller impact on other pipelines connected in parallel with the pipeline between the vacuum generating device and the first adsorption device, and the reliability and stability of the material transport system 100 are better.

[0188] In this embodiment, the second front-end throttling element 83 can be a throttling valve, such as a needle valve. The second front-end throttling element 83 can be disposed in the pipeline connecting the vacuum generating device 10 and the valve 40. For example, one end of the second front-end throttling element 83 can be connected to the vacuum generating device 10, and the other end can be connected to the second solenoid valve 42, thereby connecting the other end of the second front-end throttling element 83 to the first end 621 of the second one-way valve and the first end 721 of the second filter element via a pipeline. In this embodiment, the basic design of the structure of the second front-end throttling element 83 and its connection relationship with other structures can refer to the relevant scheme of the first front-end throttling element 81. At the same time, slight differences in detailed structure or positional arrangement between the second front-end throttling element 83 and the first front-end throttling element 81 are allowed. Specific details will not be elaborated here.

[0189] In this embodiment, the third front-end throttling element 85 can be a throttling valve, such as a needle valve. For example, one end of the third front-end throttling element 85 can be connected to the vacuum generating device 10, and the other end can be connected to the third solenoid valve 43. The other end of the third front-end throttling element 85 can be connected to the third solenoid valve 43 via a pipeline, thereby connecting the other end of the third front-end throttling element 85 to the first end 631 of the third check valve and the first end 731 of the third filter element via a pipeline. In this embodiment, the basic design of the structure of the third front-end throttling element 85 and its connection relationship with other structures can refer to the relevant scheme of the first front-end throttling element 81. At the same time, slight differences in detailed structure or positional arrangement between the third front-end throttling element 85 and the first front-end throttling element 81 are allowed. Specific details will not be elaborated here.

[0190] In this embodiment, the rear-end throttling element 80b can be a throttling valve. For example, the first rear-end throttling element 82 can be a throttling valve, such as a needle valve. In this case, one end of the first rear-end throttling element 82 is connected to the vacuum generating device 10, and the other end is connected to the first adsorption device 31. The material transport system 100 can control the gas flow rate by adjusting the orifice of the throttling valve, thereby reducing the flow cross-sectional area through the first rear-end throttling element 82 to accelerate the formation of a vacuum environment within the first adsorption device 31. Simultaneously, the orifice of the rear-end throttling element can be set according to the requirements of viscous flow conductance, ensuring that the rear-end throttling element has a suitable orifice size. This facilitates ensuring that other branches connected in parallel can still provide effective adsorption force when a branch pipeline is damaged, thus guaranteeing the reliability and stability of the material transport system.

[0191] For example, one end of the first rear throttling device 82 can be connected to the second end 612 of the first one-way valve and the second end 712 of the first filter element through a pipeline, and the other end of the first rear throttling device 82 can be connected to the first adsorption device 31 through a pipeline.

[0192] In some embodiments, the first rear throttling element 82 can be disposed close to the first adsorption device 31, that is, the pipeline between the first rear throttling element 82 and the first adsorption device 31 can be shortened, thereby reducing the volume of the low vacuum chamber between the first rear throttling element 82 and the first adsorption device 31, which is beneficial to shorten the total time for vacuum establishment and thus improve the vacuum establishment efficiency of the material transport system 100.

[0193] In this embodiment, both the first front-end throttling element 81 and the first rear-end throttling element 82 can be used to limit the maximum vacuum flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31. That is, both the first front-end throttling element 81 and the first rear-end throttling element 82 can reduce the vacuum flow consumption of the pipeline between the vacuum generating device 10 and the first adsorption device 31, thereby reducing the gas pressure interference of the pipeline between the vacuum generating device 10 and the first adsorption device 31 on pipelines connected in parallel with it (e.g., the pipeline between the vacuum generating device 10 and the second adsorption device 32), and thus improving the stability of the material transport system 100. In this way, when the pipeline between the vacuum generating device 10 and the first adsorption device 31 fails or leaks, the impact on the gas flow of other pipelines connected in parallel with it (e.g., the pipeline between the vacuum generating device 10 and the second adsorption device 32) is controllable.

[0194] In this embodiment, the second rear-end throttling element 84 can be a throttling valve, such as a needle valve. One end of the second rear-end throttling element 84 is connected to the vacuum generating device 10, and the other end is connected to the second adsorption device 32. For example, one end of the second rear-end throttling element 84 can be connected to the second end 622 of the second one-way valve and the second end 722 of the second filter element, thereby connecting one end of the second rear-end throttling element 84 to the vacuum generating device 10. The other end of the second rear-end throttling element 84 can be connected to the second adsorption device 32. In this embodiment, the basic design of the structure of the second rear-end throttling element 84 and its connection relationship with other structures can refer to the relevant scheme of the first rear-end throttling element 82. At the same time, slight differences in detailed structure or positional arrangement between the second rear-end throttling element 84 and the first rear-end throttling element 82 are allowed. Specific details will not be elaborated here.

[0195] For example, the third rear-end throttling element 86 can be a throttling valve, such as a needle valve. One end of the third rear-end throttling element 86 can be connected to the second end 632 of the third one-way valve and the second end 732 of the third filter element. For example, one end of the third rear-end throttling element 86 can be connected to the second end 632 of the third one-way valve and the second end 732 of the third filter element, so that one end of the third rear-end throttling element 86 can be connected to the vacuum generating device 10; the other end of the third rear-end throttling element 86 can be connected to the third adsorption device 33. In this embodiment, the basic design of the structure of the third rear-end throttling element 86 and the design of its connection relationship with other structures can refer to the relevant scheme of the first rear-end throttling element 82. At the same time, it is permissible for the third rear-end throttling element 86 and the first rear-end throttling element 82 to have slight differences in detailed structure or positional arrangement. Specific details will not be elaborated here.

[0196] It is understood that the specific structure of the material transport system 100 has been described above with reference to the accompanying drawings. The following will illustrate the operation of the material transport system 100 based on the structure of the material transport system 100 in any of the above embodiments. The structure of the material transport system 100 can be found in [reference needed]. Figure 3 The structure of the material transport system 100 shown is illustrated.

[0197] Please refer to the following: Figure 3 and Figure 7 , Figure 7 This is a flowchart of a control method for a material transport system provided in an embodiment of this application.

[0198] This application provides a control method for a material transport system. The material transport system 100 may include the material transport system 100 described in any of the embodiments above. For example, the material transport system 100 may include a robotic arm 321 and a compressor 20 connected in parallel with a vacuum generating device 10. The adsorption device includes a first adsorption device 31, a second adsorption device 32, and a third adsorption device 33 arranged in parallel. The first adsorption device 31 has a first rear-end throttling element 82, the second adsorption device 32 has a second rear-end throttling element 84, and the third adsorption device 33 has a third rear-end throttling element 86. The second adsorption device 32 is connected to the robotic arm 321 and is used to grasp materials. Both the first adsorption device 31 and the third adsorption device 33 are used to store materials. Other technical solutions for the material transport system 100 can be found in the relevant descriptions of the embodiments above, and will not be repeated here.

[0199] In this embodiment, the first adsorption device 31 and the third adsorption device 33 can be used to store materials. The second adsorption device 32 can be used to transport materials between the first adsorption device 31 and the third adsorption device 33. The following description uses the example of the second adsorption device 32 transporting material from the first adsorption device 31 to the third adsorption device 33 to illustrate the control method of the material transport system. It is understood that the same principle applies to the second adsorption device 32 transporting material from the third adsorption device 33 to the first adsorption device 31, and will not be repeated below. In some other embodiments, the material transport system 100 may not include the third adsorption device 33.

[0200] In some embodiments, the material transport system 100 further includes a processor, a memory, and a program stored in the memory and executable on the processor. The control method implemented by the processor when executing the program may include:

[0201] Step S10: Control the second adsorption device 32 to grab material from the first adsorption device 31.

[0202] After step S10, step S20 is executed: the second adsorption device 32 is controlled to move to the third adsorption device 33. For example, the material transport system 100 can use a robot arm 321 to move the second adsorption device 32 and the material to the location of the third adsorption device 33.

[0203] After step S20, step S30 is executed: the third adsorption device 33 is controlled to adsorb the material.

[0204] Please see Figure 8 , Figure 8 This is a flowchart of a control method for a material transport system provided in an embodiment of this application. Figure 2 .

[0205] In some embodiments, the control method for the material transport system 100 may include:

[0206] Before controlling the second adsorption device 32 to grab material from the first adsorption device 31 in step S10, step S010 is executed: the vacuum generating device 10 is connected to the second adsorption device 32, and the vacuum generating device 10 is started. In this way, the second vacuum adsorption device can reduce the flow cross-sectional area through the second rear throttling element 84, thereby accelerating the formation of a vacuum negative pressure inside the second adsorption device 32.

[0207] After step S010, step S011 is executed: determine whether the gas pressure value in the second adsorption device 32 has reached the preset vacuum level.

[0208] When the preset vacuum level is reached in the second adsorption device 32, step S10 is executed: the second adsorption device 32 is controlled to grab material from the first adsorption device 31.

[0209] In this embodiment, before controlling the second adsorption device 32 to perform material adsorption, the vacuum generating device 10 is connected to the second adsorption device 32, and the vacuum generating device 10 is started. The vacuum generating device 10 can reduce the flow cross-sectional area through the second rear throttling element, accelerating the formation of a vacuum negative pressure inside the second adsorption device 32. When the second adsorption device 32 reaches a preset vacuum level, the second adsorption device 32 adsorbs the material. In this way, by controlling the vacuum generating device 10 to evacuate the second adsorption device 32 in advance before the second adsorption device 32 adsorbs the material, the vacuum state of the second adsorption device 32 can be established in advance, so that the time from when the material comes into contact with the second adsorption device 32 to when the material is adsorbed by the second adsorption device 32 can be shortened. This reduces the time consumed by vacuum adsorption, thereby reducing the time when the material is adsorbed by the second adsorption device 32, which is beneficial to improving the working efficiency of the material transport system 100. For example, the material transport system can control the second solenoid valve to open, and the vacuum generating device 10 can be connected to the second adsorption device 32 through the second solenoid valve to form a vacuum negative pressure inside the second adsorption device 32.

[0210] If the preset vacuum level is not reached in the second adsorption device 32, return to step S010.

[0211] In this embodiment, before controlling the second adsorption device 32 to perform material adsorption, the vacuum generating device 10 is connected to the second adsorption device 32, and the vacuum generating device 10 is started. The vacuum generating device 10 can reduce the flow cross-sectional area through the second rear throttling element 84, accelerating the formation of a vacuum negative pressure inside the second adsorption device 32. When the second adsorption device 32 reaches a preset vacuum level, the second adsorption device 32 adsorbs the material. In this way, by controlling the vacuum generating device 10 to evacuate the second adsorption device 32 in advance before the second adsorption device 32 adsorbs the material, the vacuum state of the second adsorption device 32 can be established in advance, so that the time from when the material comes into contact with the second adsorption device 32 to when the material is adsorbed by the second adsorption device 32 can be shortened. This reduces the time consumed by vacuum adsorption, thereby reducing the time when the material is adsorbed by the second adsorption device 32, which is beneficial to improving the working efficiency of the material transport system 100. For example, the material transport system 100 can control the second solenoid valve 42 to open, and the vacuum generating device 10 can be connected to the second adsorption device 32 through the second solenoid valve 42 to form a vacuum negative pressure inside the second adsorption device 32.

[0212] Please see Figure 9 , Figure 9 This is a flowchart of a control method for a material transport system provided in an embodiment of this application. Figure 3 .

[0213] In some embodiments, the control method for the material transport system 100 may further include:

[0214] During the execution of step S10, controlling the second adsorption device 32 to grab material from the first adsorption device 31 includes step S40: controlling the compressor 20 to connect with the first adsorption device 31, and controlling the compressor 20 to work so as to generate positive pressure inside the first adsorption device 31.

[0215] In this embodiment, during the material handling operation of the second adsorption device 32, the first adsorption device 31 and the second adsorption device 32 adsorb the same material. When the second adsorption device 32 reaches a preset vacuum level, a positive pressure is generated inside the first adsorption device 31 by controlling the compressor, so that the material can be detached from the first adsorption device 31 and adsorbed by the second adsorption device 32 to complete the material handling operation, thereby improving the transmission efficiency of the material conveying system.

[0216] For example, after executing step S40 to connect the compressor 20 to the first adsorption device 31, step S20 is executed: controlling the second adsorption device 32 to move to the third adsorption device 33. It can be understood that after the second adsorption device 32 adsorbs the material, the robot arm 321 can drive the second adsorption device 32 and the material to move to the third adsorption device 33, that is, to perform a material transportation operation.

[0217] Please see Figure 10 , Figure 10 This is a flowchart of a control method for a material transport system provided in an embodiment of this application. Figure 4 .

[0218] In some embodiments, the control method for the material transport system 100 may further include:

[0219] Before executing step S20 to move the second adsorption device 32 to the third adsorption device 33, step S020 is executed: the vacuum generating device 10 is connected to the third adsorption device 33, and the vacuum generating device 10 is started. In this way, the third vacuum adsorption device can reduce the flow cross-sectional area through the third rear throttling element 86, thereby accelerating the formation of a vacuum negative pressure inside the third adsorption device 33.

[0220] For example, after step S20, step S021 is performed: determining whether the gas pressure value in the third adsorption device 33 has reached the preset vacuum level.

[0221] When the preset vacuum level is reached in the third adsorption device 33, step S30 is executed: control the third adsorption device 33 to adsorb materials.

[0222] When the preset vacuum level is not reached in the third adsorption device 33, step S21 is executed: the vacuum generating device 10 is controlled to continue to be connected to the third adsorption device 33, and the process returns to step S021.

[0223] In this embodiment, before controlling the third adsorption device 33 to perform material adsorption, the vacuum generating device 10 is connected to the third adsorption device 33, and the vacuum generating device 10 is started. The vacuum generating device 10 can reduce the flow cross-sectional area through the third rear throttling element 86, accelerating the formation of a vacuum negative pressure inside the third adsorption device 33. When the third adsorption device 33 reaches a preset vacuum level, the third adsorption device 33 adsorbs the material. In this way, by controlling the vacuum generating device 10 to evacuate the third adsorption device 33 in advance before the third adsorption device 33 adsorbs the material, the vacuum state of the third adsorption device 33 can be established in advance, so that the time from when the material comes into contact with the third adsorption device 33 to when the material is adsorbed by the third adsorption device 33 can be shortened. This reduces the time consumed by vacuum adsorption, thereby reducing the time when the material is adsorbed by the third adsorption device 33, which is beneficial to improving the working efficiency of the material transport system 100. For example, the material transport system 100 can control the third solenoid valve 43 to open, and the vacuum generating device 10 can be connected to the third adsorption device 33 through the third solenoid valve 43 to form a vacuum negative pressure inside the third adsorption device 33.

[0224] Please see Figure 11 , Figure 11 This is flowchart five of a control method for a material transport system provided in an embodiment of this application.

[0225] In some embodiments, the control method for the material transport system 100 may further include:

[0226] During the execution of step S20, controlling the third adsorption device 33 to adsorb materials includes step S50: controlling the compressor 20 to connect with the second adsorption device 32, and controlling the compressor 20 to work so as to generate positive pressure inside the second adsorption device 32.

[0227] In this embodiment, during the discharge operation of the second adsorption device 32, both the second adsorption device 32 and the third adsorption device 33 adsorb the same material. When the third adsorption device 33 reaches a preset vacuum level, a positive pressure is created inside the second adsorption device 32 by controlling the compressor, so that the material can be detached from the second adsorption device 32 and adsorbed by the third adsorption device 33, thus completing the discharge operation.

[0228] Please see Figure 12 , Figure 12 This is a flowchart of a control method for a material transport system provided in an embodiment of this application. Figure 6 .

[0229] In some embodiments, after executing step S10 to control the second adsorption device 32 to grab material from the first adsorption device 31, step S60 is executed: controlling the vacuum generating device 10 to connect with the first adsorption device 31 and starting the vacuum generating device 10. In this way, the first adsorption device 31 can reduce the flow cross-sectional area through the first rear throttling element 82 before adsorbing the next material, thereby accelerating the formation of a vacuum negative pressure inside the first adsorption device 31.

[0230] In this embodiment, before controlling the first adsorption device 31 to perform material adsorption, the vacuum generating device 10 is connected to the first adsorption device 31 and activated. The vacuum generating device 10 can reduce the flow cross-sectional area through the first rear throttling element 82, accelerating the formation of a vacuum negative pressure inside the first adsorption device 31. When the first adsorption device 31 reaches a preset vacuum level, the first adsorption device 31 is controlled to adsorb material. In this way, by controlling the vacuum generating device 10 to evacuate the first adsorption device 31 in advance before adsorbing material, the vacuum state of the first adsorption device 31 can be established in advance, shortening the time from when the material comes into contact with the first adsorption device 31 to when the material is adsorbed by the first adsorption device 31. This reduces the time consumed by vacuum adsorption, thereby reducing the time when the material is adsorbed by the first adsorption device 31, which is beneficial to improving the working efficiency of the material transport system 100. For example, the material transport system 100 can control the first solenoid valve 41 to open, and the vacuum generating device 10 can be connected to the first adsorption device 31 through the first solenoid valve 41 to form a vacuum negative pressure inside the first adsorption device 31.

[0231] In this embodiment, during the material handling operation of the second adsorption device 32, when the first adsorption device 31 and the second adsorption device 32 adsorb the same material and the second adsorption device 32 reaches a preset vacuum level, a positive pressure is created inside the first adsorption device 31 by controlling the compressor, so that the second adsorption device 32 adsorbs the material. Subsequently, the robotic arm 321 can move the second adsorption device 32 and the material to the third adsorption device 33. At this time, the vacuum generating device 10 can be controlled to create a negative vacuum pressure inside the first adsorption device 31, so that before the next material adsorption, the first adsorption device 31, through the action of the first rear-end throttling device 82, completes the construction of the preset vacuum level before the next material arrives at its adsorption area. This allows the vacuum state of the pipeline between the vacuum generating device 10 and the first adsorption device 31 to be established in advance, shortening the time from when the next material is placed in the first adsorption device 31 until it is adsorbed, thus shortening the adsorption time for the next material and improving the working efficiency of the material transport system 100.

[0232] Before the robotic arm 321 can carry the material on the second adsorption device 32 to the third adsorption device 33, the vacuum generating device 10 can be controlled to form a vacuum negative pressure in the third adsorption device 33. This allows the third adsorption device 33 to build a preset vacuum degree before the material reaches its adsorption area, thanks to the action of the third rear throttling device 86. This allows the vacuum state of the pipeline between the vacuum generating device 10 and the third adsorption device 33 to be established in advance, thus shortening the time from when the material is placed in the third adsorption device 33 to when it is adsorbed by the third adsorption device 33, which helps to improve the working efficiency of the material transport system 100.

[0233] After the material is placed from the second adsorption device 32 into the third adsorption device 33, the robotic arm 321 controls the second adsorption device 32 to move away from the third adsorption device 33 and controls the vacuum generating device 10 to create a vacuum negative pressure within the second adsorption device 32. This allows the second adsorption device 32 to establish a preset vacuum level before the material reaches its adsorption area, thanks to the action of the second rear-end throttling element 84 within the second adsorption device 32. Thus, after the second adsorption device 32 completes its discharge operation, by controlling the vacuum generating device 10 to evacuate the second adsorption device 32 in advance, a vacuum state can be established in the second adsorption device 32 ahead of time, shortening the time required for the next material adsorption.

[0234] It is understood that, without conflict, the features in the embodiments of this application can be combined with each other, and any combination of features in different embodiments is also within the protection scope of this application. That is to say, the multiple embodiments described above can also be arbitrarily combined according to actual needs.

[0235] It is understood that all the above figures are exemplary illustrations of this application and do not represent the actual size of the product. Furthermore, the dimensional proportions between the components in the figures are not intended to limit the actual product of this application.

[0236] The above are merely some embodiments of this application, and the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A material transport system, characterized in that, It includes a vacuum generating device and an adsorption device. The vacuum generating device is connected to the adsorption device and is used to create a vacuum negative pressure inside the adsorption device. The adsorption device is used to adsorb materials through vacuum. The adsorption device is provided with a rear throttling device, which is used to reduce the flow cross-sectional area to accelerate the formation of a vacuum environment inside the adsorption device. The vacuum generating device is used to start before the adsorption device performs the material adsorption operation, and through the action of the rear throttling device, the adsorption device completes the construction of a preset vacuum degree before the material reaches its adsorption area.

2. The material transport system according to claim 1, characterized in that, The adsorption device has an adsorption channel, and the rear throttling element is disposed in the adsorption channel.

3. The material transport system according to claim 2, characterized in that, The adsorption channel has a first end near the vacuum generating device and a second end near the material, and the distance between the rear throttling device and the first end is greater than the distance between the rear throttling device and the second end.

4. The material transport system according to claim 3, characterized in that, The rear-end throttling device is disposed at the second end, and the end of the rear-end throttling device is flush with the second end.

5. The material transport system according to any one of claims 2 to 4, characterized in that, The adsorption channel is provided with an installation position, and the rear throttling device is disposed at the installation position; or, the rear throttling device is integrally formed with the adsorption channel.

6. The material transport system according to claim 1, characterized in that, The rear-end throttling device is a throttling valve, one end of which is connected to the vacuum generating device, and the other end of which is connected to the adsorption device.

7. The material transport system according to any one of claims 1 to 6, characterized in that, The material transport system further includes a compressor, a filter element, and a one-way valve. The first end of the filter element is connected to the vacuum generating device and the compressor, and the second end of the filter element is connected to the adsorption device. The first end of the one-way valve is connected to the vacuum generating device and the compressor, and the second end of the one-way valve is connected to the adsorption device. The one-way valve and the filter element are arranged in parallel. The gas drawn by the vacuum generating device forms a negative vacuum pressure inside the adsorption device after passing through the filter element and the one-way valve. The gas generated by the compressor forms a positive pressure inside the adsorption device after passing through the filter element.

8. The material transport system according to any one of claims 1 to 7, characterized in that, The adsorption device includes a first adsorption device and a second adsorption device, wherein the first adsorption device and the second adsorption device are connected in parallel. The material transport system further includes a first front-end throttling device, which is located in the pipeline between the vacuum generating device and the first adsorption device. The first front-end throttling device is used to reduce the flow cross-sectional area to reduce the pressure interference of the first adsorption device on the second adsorption device.

9. The material transport system according to claim 8, characterized in that, The material transport system includes a valve, with a first end connected to the vacuum generating device, a second end connected to the first adsorption device, and a third end connected to the second adsorption device. A first front-end throttling element is disposed in the pipeline connecting the vacuum generating device and the valve, or the first front-end throttling element is disposed in the second end of the valve.

10. The material transport system according to claim 9, characterized in that, The first front-end throttling element is disposed in the pipeline connecting the vacuum generating device and the valve. The first front-end throttling element is a throttling valve, or the first front-end throttling element is integrally formed with the pipeline.

11. The material transport system according to claim 9, characterized in that, The first front-end throttling element is disposed in the valve, the valve includes a valve seat and a valve, the valve seat and the valve are fixedly connected, and the first front-end throttling element is disposed in the valve seat.

12. A control method for a material transport system, applied to the material transport system according to any one of claims 1 to 11, the material transport system comprising a robotic arm and a compressor connected in parallel with the vacuum generating device, the adsorption device comprising a first adsorption device and a second adsorption device arranged in parallel, the second adsorption device having a second rear-end throttling element therein, the second adsorption device being connected to the robotic arm, the second adsorption device being used to grasp material, and the first adsorption device being used to store the material, characterized in that... include: Before controlling the second adsorption device to grab material from the first adsorption device, control the vacuum generating device to connect with the second adsorption device and start the vacuum generating device; The flow cross-sectional area is reduced by the second rear throttling element, which accelerates the formation of a vacuum negative pressure inside the second adsorption device. When the preset vacuum level is reached in the second adsorption device, the second adsorption device is controlled to grab the material from the first adsorption device.

13. The control method according to claim 12, wherein during the process of controlling the second adsorption device to grasp the material from the first adsorption device, the method is characterized in that, include: The compressor is connected to the first adsorption device; The compressor is controlled to operate in order to generate positive pressure inside the first adsorption device.

14. The control method according to claim 12 or 13, characterized in that, The material transport system includes a third adsorption device arranged in parallel with the first and second adsorption devices. The third adsorption device has a third rear-end throttling element. After controlling the second adsorption device to grab the material from the first adsorption device, the system includes: Control the second adsorption device to move to the third adsorption device; Before controlling the second adsorption device to move to the third adsorption device, the procedure includes: Connect the vacuum generating device to the third adsorption device and start the vacuum generating device; The flow cross-sectional area is reduced by the third rear throttling device, which accelerates the formation of a vacuum negative pressure inside the third adsorption device. When the preset vacuum level is reached in the third adsorption device, the third adsorption device is controlled to adsorb the material.

15. The control method according to any one of claims 12 to 14, characterized in that, The first adsorption device is equipped with a first rear-end throttling device, which, after controlling the second adsorption device to grab the material from the first adsorption device, includes: Connect the vacuum generating device to the first adsorption device and start the vacuum generating device; By reducing the flow cross-sectional area through the first rear throttling device, the formation of a vacuum negative pressure inside the first adsorption device is accelerated. When the preset vacuum level is reached in the first adsorption device, the first adsorption device is controlled to adsorb materials.

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