An automated material conveying system, a buffer device and a material conveying method

Abstract

The application provides an automatic material conveying system, a buffer device and a material conveying method. The system comprises an OHS, an AMR, a line-edge storage site and an OHS track switcher. The buffer device is composed of a buffer body, an OHS track switcher and an anti-sliding device. The conveying method comprises, in sequence, long-distance transportation, track switching and transfer, and line-edge feeding process. The OHS is responsible for long-distance material conveying, the AMR is responsible for machine feeding, the OHS track switcher switches tracks to guide the trolley to stop and unload, the line-edge storage site buffers and connects two processes, and the anti-sliding device prevents the trolley from slipping during transfer. By using the above method, the equipment investment cost can be effectively reduced, the material transfer efficiency and operation safety can be improved, and the continuity of line material conveying can be ensured.

Description

Technical Field

[0001] This application relates to the field of automated material handling technology, and more specifically, to an automated material handling system, a buffer device, and a material handling method. Background Technology

[0002] The production environment for precision electronic products such as semiconductor wafers and display panels requires stringent cleanliness control. Production lines involve numerous processes, necessitating the large-scale transport of materials from centralized storage areas to process equipment distributed throughout the workshop. Automated material handling systems, as core supporting facilities for the production line, must not only enable high-speed, long-distance material transfer across workshops but also establish temporary buffer points along the line to mitigate the time lag between incoming materials and machine consumption, preventing machine downtime due to material shortages or material buildup that could clog the line, directly impacting workshop capacity and production costs.

[0003] The mature solution currently widely adopted in the industry is an Overhead Hoist Transport (OHT) paired with a dedicated Overhead Hoist Buffer (OHB) buffer unit. The entire system relies on a dedicated high-altitude track layout erected on the roof of the workshop. The OHT transport vehicle travels at high speed on the high-altitude track, responsible for long-distance material transportation from the warehouse to each production line. The OHB buffer unit is arranged one-to-one next to the track beside each production line machine. After the OHT arrives at the target location, it directly stores the material in the internal storage space of the OHB. Subsequently, the material is retrieved from the OHB through the matching transfer equipment, realizing line-side material supply.

[0004] The manufacturing, installation, and procurement costs of OHT vehicles, dedicated high-altitude load-bearing tracks, and supporting OHB buffer equipment are high, resulting in high initial infrastructure investment costs for the entire system. At the same time, the high-altitude tracks are susceptible to temperature changes and dust in the workshop, leading to a high wear rate for OHT and OHB components. The maintenance costs for regular maintenance and spare parts replacement remain high, making it difficult for small and medium-sized production lines to afford the investment in the entire system. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide an automated material handling system, a buffer device, and a material handling method, which can effectively reduce equipment investment costs, improve material transfer efficiency and operational safety, and ensure the continuity of material transportation in the production line.

[0006] In a first aspect, embodiments of this application provide an automated material handling system, comprising: Air / ground shuttle vehicles (OHS) are used for long-distance material handling. Autonomous mobile robots (AMRs) are used to perform material loading on line-side machines. A line-side storage location, situated on the side of the production line, is used to receive and temporarily store materials transferred by the aerial / ground shuttle (OHS) and to provide material supply for the autonomous mobile robot (AMR); and... The OHS track cutter is installed at the branch of the OHS track and is set in accordance with the line-side storage position. It is used to realize the track switching of the OHS and guide the air / ground shuttle OHS to stop at the line-side storage position to complete the material transfer.

[0007] Optionally, the line-side storage bit includes a cache body; The bottom of the cache body is provided with a guide rail and a drive mechanism; The guide rail is laid in a direction perpendicular to the production line machine, and the drive mechanism includes a drive motor and a transmission assembly; The drive motor drives the buffer body to move along the guide rail through the transmission component, so as to realize the buffer body moving inward toward the production line machine or moving outward toward the OHS track.

[0008] Optionally, the cache body is provided with multiple cache bits; Each buffer position includes a storage plate for placing materials, a positioning pin for positioning materials, and an in-situ sensor for real-time detection of whether there are materials in the buffer position; The in-situ sensors of each buffer bit are connected to the automated control system to provide real-time feedback on the occupancy status of each buffer bit to the automated control system.

[0009] Optionally, the OHS rail cutter includes a linear motion module, a working track, an auxiliary track, a blocking assembly, and an anti-slip device; The linear motion module is used to drive the position switching of the working track and the auxiliary track; The working track is a long-term online track, and the auxiliary track is used to replace the function of the working track when cutting the track. The blocking assembly includes a blocking electric cylinder, an electric cylinder bracket, and a blocking block. The blocking electric cylinder is mounted on the working track and is used to drive the blocking block to extend or retract, so as to keep the OHS trolley in the parking position during material transfer. The anti-slip device is installed at the parking position of the working track to hold the wheels of the OHS trolley in place during material transfer and prevent the OHS trolley from sliding.

[0010] Optionally, the track outlet of the OHS track cutter is precisely connected to the feed inlet of the line-side storage position, and a guide structure is provided at the connection point; The guiding structure is a flared horn or a V-shaped guide groove, used to guide the material to slide smoothly from the OHS trolley or be picked up by the robot and placed on the buffer position of the line-side storage position, preventing the material from shifting or falling during the transfer process.

[0011] Optionally, it also includes the automated control system; The automated control system is communicatively connected to the aerial / ground shuttle (OHS), the autonomous mobile robot (AMR), the line-side storage location, and the OHS track cutter. The automated control system includes a host computer, a PLC controller, and multiple sensors; The sensors include an inbound near-end sensor, an inbound sensor, an outbound sensor, and an outbound far-end sensor installed on the OHS track, as well as a material detection sensor installed on the buffer position; The automated control system is used to collect in real time the operating status of the aerial / ground shuttle OHS, the occupancy status of each buffer position, the working status of the autonomous mobile robot AMR, and the loading requirements of the machine. Based on the collected information, it generates scheduling instructions to dynamically schedule the transportation rhythm of the aerial / ground shuttle OHS, the switching timing of the OHS track cutter, the movement status of the buffer body, and the loading tasks of the autonomous mobile robot AMR.

[0012] Optionally, the automated control system's scheduling of coordinated operation of various devices includes: When the automated control system detects that the number of free buffer slots at the line-side storage location is insufficient, it generates a scheduling command to control the air / ground shuttle OHS to replenish materials to the line-side storage location. When the automated control system detects that the number of occupied buffer slots at the line-side storage location has reached the level where material needs to be loaded, it generates a scheduling instruction to control the autonomous mobile robot (AMR) to go to the line-side storage location to retrieve material and perform the loading task. The automated control system also controls the switching action of the OHS track cutter and the timing of the extension of its blocking components based on the detection signals from the near-end sensor and the inlet sensor, ensuring that the OHS trolley can complete track switching and material transfer without stopping.

[0013] Secondly, embodiments of this application provide a caching device, the device comprising: The cache body is used for temporary storage of materials; The OHS track cutter is precisely aligned with the buffer body. The OHS track cutter enables rapid switching of OHS tracks, allowing the air / ground shuttle OHS to transfer materials to the buffer body; and... An anti-slip device is installed on the OHS track cutter. The anti-slip device is used to prevent the air / ground shuttle OHS from sliding during material transfer.

[0014] Optionally, the bottom of the cache body is provided with a guide rail and a drive mechanism; The driving mechanism drives the buffer body to move bidirectionally along the guide rail, so as to switch the buffer body between the material receiving position and the material waiting position; The upper surface of the buffer body is provided with multiple buffer positions, each buffer position including a storage plate, a positioning pin and a material detection sensor; Multiple buffer positions are arranged in a straight line, and the material detection sensor of each buffer position works independently to provide real-time feedback on the occupancy status of that buffer position. The buffer body is also equipped with a positioning barcode scanning camera, which is used to identify the QR code on the OHS trolley and calculate the position deviation based on the identification result to guide the transfer gripper to accurately grab the material.

[0015] Thirdly, embodiments of this application provide a material handling method, applied to an automated material handling system as described in any of the first aspects or a buffer device as described in any of the second aspects, comprising: Long-distance transportation steps: The air / ground shuttle OHS transports materials from the remote storage area to the track area corresponding to the target production line along the main track; Track switching and material transfer steps: Track switching is achieved through the OHS track cutter. The OHS track cutter guides the air / ground shuttle OHS to stop at the line-side storage position, and the material is transferred to the line-side storage position for buffering. After completing the material transfer, the air / ground shuttle OHS returns to the main track without stopping. Material loading at the line: According to the production scheduling instructions, the autonomous mobile robot (AMR) grabs materials from the storage location at the line side and transports the materials to the target machine on the production line.

[0016] The technical solution provided in this application includes, but is not limited to, the following beneficial effects: For automated material handling systems: The system combines aerial / ground shuttles, autonomous mobile robots, line-side storage units, and OHS track cutters. The shuttles are dedicated to long-distance material transport, while the autonomous mobile robots focus on end-of-line loading. This clear division of labor allows for both long-distance high-speed transport and flexible line-side loading. The line-side storage units, located on the side of the production line, temporarily store materials transported by the shuttles, providing a continuous supply to the autonomous mobile robots. This buffers the long-distance transport and end-of-line loading processes, alleviating material backlog and machine waiting issues caused by inconsistent cycle times. Track switching is achieved via OHS track cutters at track branches, precisely guiding the shuttles to stop and unload, enabling seamless material transfer between devices. This eliminates the need for expensive dedicated buffer equipment, effectively reducing the procurement and maintenance costs of the entire material handling system.

[0017] For the buffer unit: The buffer unit relies on the precise alignment of the OHS track cutter and the buffer body. Utilizing the track switching function of the track cutter, materials transported by the shuttle are smoothly transferred to the buffer body for temporary storage, stably fulfilling the basic function of material transfer and temporary storage. An anti-slip device added to the track cutter can limit the shuttle during material transfer operations, preventing it from slipping. Structurally, this avoids the risk of material falling or equipment damage caused by trolley displacement, improving the safety and operational stability of material transfer operations.

[0018] Regarding material handling methods: For long-distance transportation, shuttle cars complete the centralized transport of materials along the main track, improving the efficiency of large-scale material transfer. For track switching and material transfer, a track cutter switches tracks to complete material handover. After unloading, the shuttle cars return directly to the main track to continue transporting without waiting, effectively improving their turnaround efficiency. For line-side loading, autonomous mobile robots retrieve materials from the line-side storage location according to production instructions and deliver them to the target machine, achieving precise on-demand material feeding. These three processes work together to form a complete closed-loop material transport system, ensuring a continuous and smooth supply of materials to the production line.

[0019] In summary, this solution optimizes three aspects—reducing equipment investment costs, improving material transfer efficiency, and enhancing material transfer safety—through the integrated design of system structure, dedicated buffer devices, and supporting handling methods. It comprehensively improves the overall performance of material handling in automated production lines, effectively reducing equipment investment costs while enhancing material transfer efficiency and operational safety, and ensuring the continuity of material delivery in the production line.

[0020] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This paper shows a schematic diagram of the structure of an automated material handling system provided in Embodiment 1 of this application; Figure 2 This paper shows a schematic diagram of the top planar arrangement of a system provided in Embodiment 1 of this application; Figure 3 This diagram shows a structural schematic of an internal / external cutting type OHS rail cutter selection layout provided in Embodiment 1 of this application; Figure 4 This paper shows an isometric view of a line-side buffer station according to Embodiment 1 of this application; Figure 5 This paper shows a planar structural diagram of a single storage plate provided in Embodiment 1 of this application; Figure 6 This shows an exploded view of a three-degree-of-freedom transfer gripper provided in Embodiment 1 of this application; Figure 7 This paper shows a diagram illustrating the layout of four-channel track sensors according to Embodiment 1 of this application. Figure 8 This paper shows a diagram illustrating the disassembled structure of a rail cutter rail body according to Embodiment 1 of this application; Figure 9 This paper shows a detailed diagram of a rail cutting module slider and a triple sensor provided in Embodiment 1 of this application; Figure 10 This paper shows a structural diagram of a rail cutter blocking assembly provided in Embodiment 1 of this application; Figure 11 This paper shows a structural diagram of an AMR vehicle-mounted board provided in Embodiment 1 of this application; Figure 12 This paper shows a schematic diagram of the overall structure of an AMR provided in Embodiment 1 of this application; Figure 13 A flowchart of a material handling method provided in Embodiment 3 of this application is shown; Figure 14 This document illustrates a complete process logic flowchart of a system provided in Embodiment 3 of this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0024] Example 1 Embodiment 1 of this application provides an automated material handling system, comprising: Overhead / Ground Shuttles (OHS) are used for long-distance material handling.

[0025] Specifically, OHS is a transfer device that can be installed by overhead hoisting or ground-based deployment, unlike OHT (Overhead Hoist Transport), which can only be erected at high altitudes and is expensive, and AMR (Autonomous Mobile Robot), which travels at low speeds on the ground.

[0026] Specifically, the OHS can operate at speeds of up to 1.5 m / s under both no-load and full-load conditions. It travels along the track without being disturbed by the ground environment and is specifically responsible for transporting materials in batches from remote storage warehouses to various production line areas.

[0027] Specifically, relying on OHS to replace expensive OHT for long-distance transportation can significantly reduce the equipment procurement and subsequent maintenance costs of the entire transportation system.

[0028] Specifically, the main track of OHS can be built into various series loops according to the site environment. The remote storage area and OHS are connected by an inverted fixed robotic arm for material feeding. This layout will not occupy the workshop production area and pedestrian passage.

[0029] Autonomous Mobile Robots (AMRs) are used to perform material loading on line-side machines.

[0030] Specifically, the AMR is equipped with an autonomous navigation and obstacle avoidance module, has no fixed travel track, and can adapt to the differentiated material feeding needs of multiple machines and processes on the production line.

[0031] Specifically, the AMR has a conventional operating speed of only 0.8m / s, and its physical properties make it unsuitable for medium- and long-distance material transfer, which perfectly fills the technical gap that OHS cannot directly connect to the machine to complete the feeding.

[0032] Specifically, the AMR is equipped with vehicle-mounted storage spaces, and customers can select 1 to 4 storage spaces according to their site requirements for temporary storage of materials during operation.

[0033] See Figure 1 As shown, Figure 1 This diagram illustrates the structure of an automated material handling system according to Embodiment 1 of this application. The diagram shows the overall three-dimensional layout of the automated material handling system. The far-end track represents the main transport track of the overhead / ground shuttle (OHS), along which the OHS operates to complete long-distance material handling operations. The near-end track represents a branch track close to the production line, connecting the main track to the production line area. The line-side buffer station corresponds to the line-side storage location in the technical solution, located on the side of the field equipment (production line process equipment), capable of receiving and temporarily storing materials transferred from the OHS to the ground. The AMR (Autonomous Mobile Robot) continuously supplies materials; the OHS (Operational Hydraulic System) rail cutter is installed at the track branch position and aligned with the line-side buffer station, enabling track path switching and guiding the OHS carrying materials into the branch line and stopping at the line-side buffer station to complete the material transfer; the AMR is deployed between the field equipment and the line-side buffer station, responsible for grabbing materials from the line-side buffer station and loading them onto the field equipment, thus providing a complete and intuitive demonstration of the system's entire equipment layout and operating logic of "OHS long-distance material transportation - OHS rail cutter track switching and diversion - line-side buffer station temporary material storage - AMR loading onto the machine".

[0034] The line-side storage location, set on the side of the production line, is used to receive and temporarily store materials transferred by the air / ground shuttle (OHS) and to provide material supply for the autonomous mobile robot (AMR).

[0035] Specifically, the line-side storage is a newly designed OHS-specific cache device in this invention, which can replace the expensive OHT-supporting OHB (Overhead Hoist Buffer) cache structure in the semiconductor industry.

[0036] Specifically, the buffer device is deployed using the unused space on the side of each line, creating a transfer buffer zone between the OHS long-distance feeding and the AMR machine loading.

[0037] Specifically, it can solve the industry pain points of the existing OHT+AMR combination, such as lack of line-side buffer, material transfer accumulation, and process handling interruption.

[0038] Specifically, this system solution can be flexibly adapted to production scenarios in multiple industries such as semiconductors and new energy. Its implementation and transformation do not require large-scale infrastructure changes to existing workshops, making it highly versatile.

[0039] And an OHS track cutter, installed at the branch of the OHS track and corresponding to the line-side storage position, is used to realize the track switching of the OHS and guide the air / ground shuttle OHS to stop at the line-side storage position to complete the material transfer.

[0040] Specifically, the OHS track cutter is a key innovative component of this invention, and it is uniformly installed at the corresponding OHS track bifurcation position on each production line.

[0041] Specifically, the rail cutter is divided into two types according to the on-site working conditions: internal cutting type and external cutting type. The overall track switching response time is controlled within 0.5s.

[0042] Specifically, relying on the quick track-changing structure, OHS unloading can be carried out without stopping the machine, solving the defects of traditional OHS unloading, which requires the machine to be parked in place and wait, resulting in a slow production cycle.

[0043] See Figure 2 As shown, Figure 2 This document illustrates a top-view diagram of a system layout provided in Embodiment 1 of this application. The diagram simplifies the drawing of the long track using a broken view method (broken view schematic). An OHS trolley carries materials along the main track. OHS track cutters are matched at track branch locations. After cutting, the OHS trolley stops at the connection point buffer station to unload and temporarily store the materials. The field equipment schematic represents multiple sets of process machines on the production line. The AMR (Automatic Mobile Container) moves freely between the buffer station and the field equipment, grabbing materials from the buffer station and feeding them to the machines as needed, visually demonstrating the production line layout with multiple machines supporting single / multiple buffer stations.

[0044] See Figure 3 As shown, Figure 3 This diagram illustrates a structural layout of an internal / external cutting OHS track cutter according to Embodiment 1 of this application. The diagram shows two track cutter structural layouts adapted to different working conditions: an external cutting track cutter for the upper buffer station and an internal cutting track cutter for the lower buffer station. These are the only two configurations of track cutters. The external or internal cutting configuration can be flexibly selected based on the production line track space and the orientation of the buffer station relative to the main track. Both can complete track switching within ≤0.5s, realizing the interchange of the main track and the buffer branch line, ensuring that the main line OHS trolley does not stop completely due to branch line unloading operations.

[0045] In an alternative implementation, the line-side storage bit includes a cache body.

[0046] Specifically, the cache body is the main supporting structure of the line-side cache station, and the whole consists of a main frame, a three-degree-of-freedom transfer gripper, a positioning scanning camera, and multiple sets of storage bins.

[0047] Specifically, the overall structure of the cache body is simplified, the components are easy to maintain, and the manufacturing cost is far lower than that of the OHB cache device that is paired with OHT.

[0048] Specifically, in addition to the standard three-degree-of-freedom motion module, the transfer gripper of the buffer station can also be replaced with a 4-axis or 6-axis industrial robot according to the needs of on-site use.

[0049] The bottom of the cache body is equipped with a guide rail and a drive mechanism.

[0050] Specifically, the guide rail, together with a dedicated drive motor and transmission components, forms a complete translation drive assembly, which is the hardware foundation for the buffer body to achieve forward and backward displacement.

[0051] The guide rail is laid in a direction perpendicular to the production line machine, and the drive mechanism includes a drive motor and a transmission assembly.

[0052] Specifically, the layout of vertical sliding rail machines can maximize the use of scattered idle space on the side of the production line and improve the space utilization rate of the cleanroom.

[0053] Specifically, the transmission component preferably uses a screw drive structure, which ensures smooth operation, low mechanical vibration, and is suitable for use in cleanrooms for semiconductors and panels.

[0054] The drive motor drives the buffer body to move along the guide rail through the transmission component, so as to realize the buffer body moving inward toward the production line machine or moving outward toward the OHS track.

[0055] Specifically, the buffer body is moved outward to be close to the OHS track outlet, so as to directly receive the materials transferred from the OHS trolley.

[0056] Specifically, the buffer body moves inward closer to the process equipment, shortening the travel distance of the AMR for material picking and effectively improving the material loading efficiency at the line.

[0057] Specifically, the bidirectional adjustable structural design improves the site adaptability of the buffer device, eliminating the need for extensive changes to the existing workshop layout when modifying production lines.

[0058] In one optional implementation, the cache body is provided with multiple cache bits.

[0059] Specifically, there is no fixed standard for the number of cache slots. Typical implementation cases use a layout of 3 storage slots + 1 switching slot.

[0060] Specifically, the number of buffer slots can be flexibly increased or decreased based on the factory's actual production capacity and production line cycle time, greatly improving product versatility.

[0061] Each buffer position includes a storage plate for placing materials, a positioning pin for locating materials, and an in-situ sensor for real-time detection of whether materials are present in the buffer position.

[0062] Specifically, a unique QR code is affixed to the surface of the storage plate for secondary fitting and calibration of coordinates after on-site equipment debugging and storage plate modification or replacement.

[0063] Specifically, the positioning pins physically limit the movement of the carrier, preventing materials from shifting or slipping during the buffer storage phase.

[0064] Specifically, in-situ sensors collect real-time data on material storage in each hopper, and all collected data serves as the primary basis for scheduling by the automated control system.

[0065] The in-situ sensors of each buffer bit are connected to the automated control system to provide real-time feedback on the occupancy status of each buffer bit to the automated control system.

[0066] Specifically, all in-situ sensor signals are uniformly connected to the MCS (Material Control System) automated scheduling system, which can then be connected to the factory's MES (Manufacturing Execution System) production task management system.

[0067] Specifically, the control system dynamically adjusts the frequency of OHS material delivery and AMR material retrieval tasks based on the available quantity of each silo.

[0068] See Figure 4 As shown, Figure 4 This illustration shows an isometric view of a line-side buffer station according to Embodiment 1 of this application. The main frame is the overall support frame of the buffer station, forming the installation foundation for the buffer device. A positioning barcode scanner is mounted on the upper part of the frame to identify the QR code of the OHS cart and calculate the gripping position deviation. A transfer gripper is installed inside the frame and can be a three-axis, four-axis, or six-axis structure. It is responsible for gripping and transferring materials from the OHS cart to the storage location (buffer location). The storage locations are linearly arranged on the buffer body to realize the layered temporary storage of multiple trays of materials.

[0069] See Figure 5 As shown, Figure 5This diagram illustrates a single-storage-position plate planar structure provided in Embodiment 1 of this application. The diagram shows a top view of the storage plate for a single buffer position. Positioning pins protrude from the plate surface to physically limit the placement of material carriers, preventing storage displacement. An in-situ sensor is embedded in the center of the storage plate, collecting real-time occupancy signals indicating whether the storage position is occupied and uploading them to the control system. A QR code is printed on the corner of the storage plate for equipment debugging and calibration, and for AMR material retrieval and scanning positioning. These three components together constitute the standard structure of a single buffer position.

[0070] See Figure 6 As shown, Figure 6 This diagram shows an exploded view of a three-degree-of-freedom transfer gripper provided in Embodiment 1 of this application. The diagram is a disassembled view of the standard three-axis transfer gripper for a buffer station. The X, Y, and Z axes are respectively composed of an X-axis module, a Y-axis module, and a Z-axis module, forming a spatial three-axis motion structure to achieve precise spatial displacement of the gripper. The transverse motor reinforcing plate, transverse motor adapter plate, transverse motor adapter plate-2, transverse motor mounting plate, gripper transverse motor mounting plate, and gripper overall reinforcing plate are all reinforcement and adapter mounting structures for the motor and modules. The end effector gripping unit is driven by a gripper motor, and the gripper opening and closing is achieved through the gripper mounting plate, gripper adapter plate, gripper overall mounting plate, storage adapter plate, and linear guide linkage, enabling precise gripping of material carriers. It can also be replaced with a four-axis / six-axis industrial robot as needed.

[0071] In one alternative implementation, the OHS rail cutter includes a linear motion module, a working track, an auxiliary track, a blocking assembly, and an anti-slip device.

[0072] Specifically, the power source of the rail cutter adopts a lead screw double-slider linear motion module, and the module is equipped with a triple sensor for deceleration, positioning, and limit.

[0073] Specifically, the working rail is the main track that is in constant use at all times, while the auxiliary rail replaces the working rail to connect to the main line when the rail cutting action is triggered.

[0074] Specifically, the blocking component and the anti-slip electric cylinder work together to form a double limiting structure, which realizes anti-slip safety protection during the transfer of the OHS trolley.

[0075] See Figure 7 As shown, Figure 7This diagram illustrates the arrangement of four track sensors according to Embodiment 1 of this application. The diagram labels the four key sensor points on the track before and after the rail cutter. The near-end sensor and the entry sensor are located on the material-feeding side of the rail cutter. The near-end sensor prevents subsequent trolleys from accidentally entering the switching section, and the entry sensor triggers the trolley to decelerate and prepare for the rail cutting action. The far-end sensor and the exit sensor are located on the material-discharge side of the rail cutter. These sensors, in conjunction with verification that the exit channel is unobstructed, allow the empty OHS (Operating Hydraulic System) to return to the main line. The OHS rail cutter is the controlled actuator for the four sensor segments. The signals from all four sensors are uniformly uploaded to the automated control system, serving as the control basis for rail cutting timing and the activation / deactivation of the blocking components.

[0076] See Figure 8 As shown, Figure 8 This diagram illustrates a disassembled rail structure of a rail cutter according to Embodiment 1 of this application. The diagram separates the core rail and the drive component of the rail cutter. The working rail is the online rail that normally connects to the main line, while the auxiliary rail is a spare rail that replaces the working rail to connect to the main line during rail cutting operations. The two are driven by the rail cutting module (linear motion module) to achieve position interchange. The complete entry sensor detects the signal that the OHS trolley has completely entered the branch line parking space, and the complete exit sensor detects the signal that the trolley has completely left the branch line. The two sensors serve as hardware trigger signals for unlocking and releasing the blocking component and resetting the rail cutting, respectively.

[0077] See Figure 9 As shown, Figure 9 This diagram illustrates a detailed view of a rail-cutting module slider and a triple sensor assembly provided in Embodiment 1 of this application. The diagram shows a detail of a lead screw-driven double-slider linear motion module. The working rail slider carries the working rail, and the auxiliary rail slider carries the auxiliary rail. Rail switching is achieved by the synchronous displacement of the two sets of sliders driven by the module's lead screw. The working rail triple sensor and the auxiliary rail triple sensor correspond to the deceleration, positioning, and limit detection of the two rails, respectively. The three sets of point sensors form a hardware closed-loop control, precisely limiting the rail switching stroke, reducing mechanical vibration, and improving rail docking accuracy.

[0078] The linear motion module is used to drive the position switching of the working track and the auxiliary track.

[0079] Specifically, the three sensors output deceleration signal, position signal, and limit signal sequentially from the inside out, forming a hardware closed-loop control.

[0080] Specifically, by relying on sensor-based closed-loop control of the track switching process, the mechanical vibration generated during track switching is reduced, and the track docking accuracy is improved.

[0081] The working track is a long-term online track, and the auxiliary track is used to replace the function of the working track when cutting the track.

[0082] Specifically, at the moment the track is cut, the original working track is disconnected and connected to the buffer branch line, and the auxiliary track temporarily connects to the original main track's passageway.

[0083] Specifically, the remaining OHS trolleys that have not entered the unloading branch line can pass through the auxiliary rails normally and continuously, and will not cause material congestion on the entire line due to partial rail cutting.

[0084] The blocking assembly includes a blocking electric cylinder, an electric cylinder bracket, and a blocking block. The blocking electric cylinder is mounted on the working track and is used to drive the blocking block to extend or retract, so as to keep the OHS trolley in a parking position during material transfer.

[0085] Specifically, the electric cylinder is fixed to the parking position on the working track by a matching bracket. Before the material is picked up and transferred, the electric cylinder extends a blocking block to lock the trolley.

[0086] Specifically, after the material is completely transferred to the buffer device, the electric cylinder retracts, the blocking block retracts, and the limit is released, allowing the trolley to continue running along the track.

[0087] See Figure 10 As shown, Figure 10 The diagram shows a rail cutter blocking assembly structure provided in Embodiment 1 of this application. The diagram shows the blocking and limiting structure of the rail cutter parking position. The electric cylinder bracket fixes the blocking electric cylinder to the side of the working rail. During material transfer operations, the blocking electric cylinder extends and drives the blocking block to press against the OHS trolley body, locking the trolley to prevent it from moving forward and backward. After all the material is transferred to the buffer station, the electric cylinder retracts and the blocking block retracts, releasing the trolley from the limit. Together with the anti-slip device matched with the rail cutter, it forms a double-layer anti-slip limiting structure.

[0088] The anti-slip device is installed at the parking position of the working track to hold the wheels of the OHS trolley in place during material transfer and prevent the OHS trolley from sliding.

[0089] Specifically, the anti-slip device uses a baffle-type limiting structure, which works in conjunction with the blocking electric cylinder to form a double-layer anti-slip protection system.

[0090] Specifically, it can prevent materials from falling and track components from being damaged due to accidental slippage of the trolley, thus improving the safety of cleanroom operations.

[0091] In an optional implementation, the track outlet of the OHS rail cutter is precisely aligned with the feed inlet of the line-side storage position, and a guide structure is provided at the alignment point.

[0092] Specifically, the discharge port of the rail cutter and the inlet of the buffer station are precisely aligned in mechanical dimensions, and the guide structure eliminates material transfer gap errors.

[0093] Specifically, the guiding structure can avoid problems such as material jamming and material falling during the material handling process of the transfer gripper.

[0094] The guiding structure is a flared horn or a V-shaped guide groove, used to guide the material to slide smoothly from the OHS trolley or be picked up by the robot and placed on the buffer position of the line-side storage position, preventing the material from shifting or falling during the transfer process.

[0095] Specifically, the flared mouth and V-shaped guide groove serve to guide and limit the material, and work with the three-axis transfer gripper of the buffer station to accurately grab the mushroom head of the carrier.

[0096] Specifically, relying on the guide and limit structure, the entire system can achieve a material transfer accuracy of over 99.9%, making it suitable for high-precision clean production requirements in semiconductors, display panels, and other industries.

[0097] In an optional implementation, the automated control system is also included.

[0098] Specifically, the automated control system, namely the MCS scheduling system, is the core control hub of the entire AMHS automated conveying system.

[0099] Specifically, the system can connect to the factory's upper-level MES production management system, receive production work orders, and then issue coordinated scheduling instructions for all equipment.

[0100] The automated control system is communicatively connected to the aerial / ground shuttle (OHS), the autonomous mobile robot (AMR), the line-side storage location, and the OHS track cutter.

[0101] Specifically, the system enables real-time data exchange between the four types of equipment through industrial bus communication, synchronizing the real-time operating status of each device.

[0102] Specifically, relying on communication links, a closed-loop linkage control system is achieved for the entire process of long-distance transportation, track switching, buffer storage, and line-side material loading.

[0103] The automated control system includes a host computer, a PLC (Programmable Logic Controller) controller, and multiple sensors.

[0104] Specifically, the host computer is responsible for human-computer interaction, production task aggregation and distribution, while the PLC is responsible for real-time logic control of on-site hardware actions.

[0105] Specifically, the sensors deployed on-site are divided into two main categories: track-specific sensors and buffer silo material detection sensors.

[0106] The sensors include an inbound near-end sensor, an inbound sensor, an outbound sensor, and an outbound far-end sensor installed on the OHS track, as well as a material detection sensor installed on the buffer position.

[0107] Specifically, four sets of sensors—near the entrance, at the entrance, at the exit, and at the far exit—are symmetrically arranged on the tracks at both ends of the rail cutter.

[0108] Specifically, the entry-proximity sensor is used to prevent subsequent trolleys from accidentally entering the track being switched, and the entry-proximity sensor enables hardware triggering of trolley deceleration upon entering the station.

[0109] Specifically, the exit station uses remote sensors to count and verify data. Once it is confirmed that there is no material congestion in the exit area, the empty OHS trolley is allowed to return to the main line.

[0110] The automated control system is used to collect in real time the operating status of the aerial / ground shuttle OHS, the occupancy status of each buffer position, the working status of the autonomous mobile robot AMR, and the loading requirements of the machine. Based on the collected information, it generates scheduling instructions to dynamically schedule the transportation rhythm of the aerial / ground shuttle OHS, the switching timing of the OHS track cutter, the movement status of the buffer body, and the loading tasks of the autonomous mobile robot AMR.

[0111] Specifically, the system relies on data collected from all dimensions of sensors to balance the rate of material arrival at the remote end and the rate of material consumption of production line equipment in real time.

[0112] Specifically, two types of production problems should be eliminated at the source: machine shutdown due to lack of materials and material accumulation at the line blocking the transfer channel.

[0113] Specifically, this collaborative solution improves overall handling efficiency by more than 50% compared to the pure AMR solution, and by more than 60% compared to the single OHS solution without corresponding buffer.

[0114] In an optional implementation, the automated control system schedules the coordinated operation of various devices, including: When the automated control system detects that the number of free buffer slots at the line-side storage location is insufficient, it generates a scheduling command to control the air / ground shuttle OHS to replenish materials to the line-side storage location.

[0115] Specifically, when the number of idle warehouses falls below the system's preset threshold, the control system prioritizes dispatching idle OHS (Outdoor Storage Systems) within the plant area to transport materials from remote warehouses to replenish the inventory.

[0116] Specifically, we will continue to ensure that there is a sufficient stock of buffer devices to prevent downstream process equipment from interrupting production due to material shortages.

[0117] When the automated control system detects that the number of occupied buffer slots at the line-side storage location has reached the level requiring material loading, it generates a scheduling instruction to control the autonomous mobile robot (AMR) to go to the line-side storage location to retrieve material and perform the loading task.

[0118] Specifically, once the material reserves in the buffer station reach the loading threshold, the system will assign an idle AMR to the nearest buffer station to retrieve the material.

[0119] Specifically, AMR accurately delivers materials to the corresponding process machines based on the MES work order, completing automated material loading at the line.

[0120] Specifically, the surface of the OHS vehicle has a unique QR code. In addition to the alignment scanning camera at the buffer station, the positioning camera built into the AMR can also recognize the QR code to complete the position calibration.

[0121] See Figure 11 As shown, Figure 11 This diagram illustrates a structure of an AMR (Autonomous Mobile Robot) vehicle carrier provided in Embodiment 1 of this application. The vehicle carrier is the core walking platform for the line-side material handling in this solution, serving as the basic vehicle body of the AMR. The vehicle carrier is fixedly mounted on the top surface of the vehicle, acting as a platform for placing material carriers. Pre-drilled mounting holes are provided on the carrier surface for installing the positioning structure. A QR code is affixed to the corner area of ​​the vehicle carrier. On one hand, the alignment scanning camera at the line-side buffer station can recognize the QR code, calculate the coordinate deviation, and guide the transfer gripper to accurately pick up the material. On the other hand, the positioning camera on the AMR itself can also scan the code to complete on-site position calibration, making it a key identifier for cross-device positioning and interaction within the entire system.

[0122] See Figure 12 As shown, Figure 12 This diagram illustrates the overall structure of an AMR (Autonomous Mobile Robot) according to Embodiment 1 of this application. The diagram shows an disassembled view of the AMR's components. The mobile chassis serves as the AMR's walking platform, incorporating autonomous navigation and obstacle avoidance hardware. Unconstrained by fixed tracks, it can flexibly move between production lines and line-side buffer stations. A 6-axis robotic arm is fixed to the upper part of the mobile chassis, with a gripper at its end. This gripper performs material grabbing from buffer stations and feeding operations to the machine. A positioning camera is mounted on the mounting base of the 6-axis robotic arm, capable of recognizing the OHS (Outdoor Hierarchical System) cart's QR code and the buffer station's storage location QR code, enabling material position calibration before material retrieval. Storage spaces are arranged on the side of the 6-axis robotic arm, with 1 to 4 storage spaces selectable based on on-site production capacity requirements for temporary material storage during AMR transport.

[0123] The automated control system also controls the switching action of the OHS track cutter and the timing of the extension of its blocking components based on the detection signals from the near-end sensor and the inlet sensor, ensuring that the OHS trolley can complete track switching and material transfer without stopping.

[0124] Specifically, the track-front sensors capture the trolley's arrival signal in advance and pre-start the track-switching module to complete the track switching preparation work.

[0125] Specifically, after the trolley finishes unloading, it returns directly to the main track via the auxiliary track, without needing to stop and wait in place, thus achieving uninterrupted continuous operation.

[0126] Example 2 Based on the same concept, Embodiment 2 of this application also provides a caching device, wherein the device includes: The cache body is used for temporary storage of materials.

[0127] Specifically, this cache device is the core improved component of this invention, mainly used to replace the OHB-specific cache structure used with traditional OHT.

[0128] Specifically, the cost of the entire cache unit is reduced by more than 70% compared to the OHT+OHB combination solution, significantly reducing the factory's initial equipment investment.

[0129] The OHS track cutter is precisely aligned with the buffer body. The OHS track cutter is used to enable rapid switching of OHS tracks, allowing the air / ground shuttle OHS to transfer materials to the buffer body.

[0130] Specifically, relying on the rapid track-changing performance of ≤0.5s, the OHS can achieve uninterrupted unloading and transfer, replicating the continuous operation effect of the existing OHT combined with OHB.

[0131] An anti-slip device is provided on the OHS rail cutter to prevent the air / ground shuttle OHS from sliding during material transfer.

[0132] Specifically, the anti-slip device and the track blocking component work together to form a double-layer limit safety protection structure.

[0133] Specifically, it effectively avoids material falling and track equipment damage caused by the slippage of the OHS trolley, thus improving the safety of cleanroom operations.

[0134] In an optional implementation, the bottom of the cache body is provided with a guide rail and a drive mechanism.

[0135] Specifically, the slide rail and drive mechanism are integrated and assembled at the lower end of the buffer frame, which can adapt to various irregular and idle installation spaces in the workshop.

[0136] The driving mechanism drives the buffer body to move bidirectionally along the guide rail, so as to switch the buffer body between the material receiving position and the material waiting position.

[0137] Specifically, the buffer body moves outward to connect with the OHS track to receive upstream materials; it also moves inward to get closer to the machine, making it convenient for downstream AMRs to pick up materials nearby.

[0138] Specifically, the bidirectional adjustable structure greatly improves the versatility of the cache device, eliminating the need for large-scale dismantling and alteration of the original factory layout during production line transformation.

[0139] The upper surface of the buffer body is provided with multiple buffer positions, each buffer position including a storage plate, a positioning pin and a material detection sensor.

[0140] Specifically, the storage plate, combined with positioning pins, enables precise positioning and fixation of the carrier, while material detection sensors independently monitor the storage status of each individual compartment.

[0141] Multiple buffer slots are arranged in a straight line, and the material detection sensor of each buffer slot works independently to provide real-time feedback on the occupancy status of that buffer slot.

[0142] Specifically, the sensor signals of each storage location are independently uploaded to the control system, which can accurately locate vacant storage locations and rationally allocate material storage points.

[0143] The buffer body is also equipped with a positioning barcode scanning camera, which is used to identify the QR code on the OHS trolley and calculate the position deviation based on the identification result to guide the transfer gripper to accurately grab the material.

[0144] Specifically, the scanning camera collects the coordinates of the QR code on the OHS vehicle, calculates the position offset, and then sends the compensation data to the three-axis transfer gripper.

[0145] Specifically, the transfer gripper uses deviation data to correct the gripping coordinates, and the overall accuracy of material gripping and conveying can reach 99.9%, which is compatible with the precision production control standards of wafers and panels.

[0146] Specifically, in addition to the three-axis module form, the transfer gripper can be selected from 4-axis or 6-axis robot structures as needed.

[0147] Example 3 Based on the same concept, Embodiment 3 of this application also provides a material handling method, applicable to the automated material handling system described in any one of the above embodiments and the buffer device described in any one of them. See also Figure 13 As shown, Figure 13A flowchart of a material handling method according to Embodiment 3 of this application is shown. Embodiment 3 of this application further provides a flowchart of a material handling method, wherein the method includes steps S1301~S1303: S1301: Long-distance transportation steps: The air / ground shuttle OHS transports materials from the remote storage area to the track area corresponding to the target production line along the main track.

[0148] Specifically, remote warehouses use fixed inverted robotic arms or on-site auxiliary AMRs to load materials into OHS carts.

[0149] Specifically, the OHS can be installed using either ceiling-mounted or floor-mounted methods to lay the circular main track, with a running speed of 1.5 m / s, which is far superior to the AMR's ground travel speed of 0.8 m / s.

[0150] Specifically, the OHS main track can be arranged into multiple sets of series loops according to the on-site working conditions to improve the overall continuity of material flow.

[0151] S1302: Track switching and material transfer steps: Track switching is achieved through the OHS track cutter. The OHS track cutter guides the air / ground shuttle OHS to stop at the line-side storage position, and the material is transferred to the line-side storage position for buffering. After completing the material transfer, the air / ground shuttle OHS returns to the main track without stopping.

[0152] Specifically, when the rail cutter is activated, the auxiliary rail is temporarily connected to the main rail, and the OHS trolley waiting to be unloaded cuts into the branch line and docks with the buffer device.

[0153] Specifically, the three-axis transfer gripper built into the buffer station grabs the materials from the OHS trolley and stores them in the buffer position for temporary storage.

[0154] Specifically, after the materials are transferred, the trolley directly merges into the auxiliary track and returns to the main track. This continuous operation mode improves the OHS transfer efficiency by more than 60%.

[0155] S1303: Line-side material loading step: The autonomous mobile robot (AMR) grabs materials from the line-side storage location according to the production scheduling instructions and transports the materials to the target machine of the production line.

[0156] Specifically, the AMR consists of a mobile chassis, vehicle storage space, a 6-axis robotic arm, and positioning cameras, and it moves flexibly within the workshop relying on autonomous navigation.

[0157] Specifically, the AMR receives the scheduling task issued by the MCS, scans the code to locate the cache bin, and then the robotic arm picks up the material, autonomously avoids obstacles, and travels to the designated machine to complete the feeding.

[0158] Specifically, the AMR vehicle can be configured with 1 to 4 storage spaces as needed, and the AMR positioning camera can recognize the OHS vehicle's QR code to achieve positioning correction.

[0159] See Figure 14 As shown, Figure 14 This document illustrates a full-process flow diagram of the system provided in Embodiment 3 of this application. This flow diagram fully demonstrates the closed-loop scheduling logic of the entire automated material handling system from production work order issuance to cyclical production. The process begins with the issuance of a MES task. After the upper-level MES system issues a production work order, the MCS control system's remote track cutter pushes an idle trolley. Materials are transported from the stocker or machine to the trolley via the remote AMR to complete remote storage loading. The trolley loaded with materials then flows along the track to the corresponding machine's nearby cutter. The system confirms the trolley's arrival status via the MCS and multiple sensors on and near the track cutter, simultaneously executing two actions: first, switching the auxiliary rail to the working position to ensure other trolleys continue to flow via the auxiliary rail without congesting the main line track; second, the near-end track cutter cuts the working rail to the line-side buffer station, allowing the target OHS trolley to connect to the buffer branch line.

[0160] After the trolley arrives at its position, the line-side buffer station identifies and throws the carrier offset value. The transfer gripper in the buffer station transfers the material to the empty storage position on it. After the material is confirmed to be in place by multiple sets of sensors on and near the MCS and the rail cutter, the working rail switches back to the working position, and the empty trolley continues to flow back to the main line via the working rail.

[0161] Meanwhile, the control system dispatches the corresponding AMR to the line-side buffer station via the MCS. After receiving the dispatch instruction, the AMR goes to the corresponding storage location via the MCS task set. The on-site AMR confirms the material location through its positioning camera. After confirmation, the AMR takes the material from the corresponding storage location and places it on the vehicle body storage location. Then, the AMR goes to the corresponding machine to complete the material exchange. After the machine finishes processing, the AMR puts the material back to the line-side storage station storage location.

[0162] The system then confirms the transfer of materials to the idle trolley again via the MCS and multiple sensors on and near the rail cutter. The idle trolley is then switched to the line-side buffer station, where the transfer grippers transfer the materials to the idle trolley. The transfer is then confirmed to be complete again via the MCS and multiple sensors on and near the rail cutter. The working rail is switched back to the working position, and the fully loaded trolley proceeds to the next process. The entire process loop begins the next cycle.

[0163] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0164] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. An automated material handling system, characterized in that, include: Air / ground shuttle vehicles (OHS) are used for long-distance material handling. Autonomous mobile robots (AMRs) are used to perform material loading on line-side machines. A line-side storage location, situated on the side of the production line, is used to receive and temporarily store materials transferred by the aerial / ground shuttle (OHS) and to provide material supply for the autonomous mobile robot (AMR); and... The OHS track cutter is installed at the branch of the OHS track and is set in accordance with the line-side storage position. It is used to realize the track switching of the OHS and guide the air / ground shuttle OHS to stop at the line-side storage position to complete the material transfer.

2. The automated material handling system according to claim 1, characterized in that, The line-side storage location includes a cache body; The bottom of the cache body is provided with a guide rail and a drive mechanism; The guide rail is laid in a direction perpendicular to the production line machine, and the drive mechanism includes a drive motor and a transmission assembly; The drive motor drives the buffer body to move along the guide rail through the transmission component, so as to realize the buffer body moving inward toward the production line machine or moving outward toward the OHS track.

3. The automated material handling system according to claim 2, characterized in that, The cache body is provided with multiple cache bits; Each buffer position includes a storage plate for placing materials, a positioning pin for positioning materials, and an in-situ sensor for real-time detection of whether there are materials in the buffer position; The in-situ sensors of each buffer bit are connected to the automated control system to provide real-time feedback on the occupancy status of each buffer bit to the automated control system.

4. The automated material handling system according to claim 1, characterized in that, The OHS rail cutter includes a linear motion module, a working rail, an auxiliary rail, a blocking component, and an anti-slip device; The linear motion module is used to drive the position switching of the working track and the auxiliary track; The working track is a long-term online track, and the auxiliary track is used to replace the function of the working track when cutting the track. The blocking assembly includes a blocking electric cylinder, an electric cylinder bracket, and a blocking block. The blocking electric cylinder is mounted on the working track and is used to drive the blocking block to extend or retract, so as to keep the OHS trolley in the parking position during material transfer. The anti-slip device is installed at the parking position of the working track to hold the wheels of the OHS trolley in place during material transfer and prevent the OHS trolley from sliding.

5. The automated material handling system according to claim 1, characterized in that, The track outlet of the OHS rail cutter is precisely connected to the feed inlet of the line-side storage position, and a guide structure is provided at the connection point; The guiding structure is a flared horn or a V-shaped guide groove, used to guide the material to slide smoothly from the OHS trolley or be picked up by the robot and placed on the buffer position of the line-side storage position, preventing the material from shifting or falling during the transfer process.

6. The automated material handling system according to claim 3, characterized in that, It also includes the automated control system; The automated control system is communicatively connected to the aerial / ground shuttle (OHS), the autonomous mobile robot (AMR), the line-side storage location, and the OHS track cutter. The automated control system includes a host computer, a PLC controller, and multiple sensors; The sensors include an inbound near-end sensor, an inbound sensor, an outbound sensor, and an outbound far-end sensor installed on the OHS track, as well as a material detection sensor installed on the buffer position; The automated control system is used to collect in real time the operating status of the aerial / ground shuttle OHS, the occupancy status of each buffer position, the working status of the autonomous mobile robot AMR, and the loading requirements of the machine. Based on the collected information, it generates scheduling instructions to dynamically schedule the transportation rhythm of the aerial / ground shuttle OHS, the switching timing of the OHS track cutter, the movement status of the buffer body, and the loading tasks of the autonomous mobile robot AMR.

7. The automated material handling system according to claim 6, characterized in that, The automated control system schedules the coordinated operation of various devices, including: When the automated control system detects that the number of free buffer slots at the line-side storage location is insufficient, it generates a scheduling command to control the air / ground shuttle OHS to replenish materials to the line-side storage location. When the automated control system detects that the number of occupied buffer slots at the line-side storage location has reached the level where material needs to be loaded, it generates a scheduling instruction to control the autonomous mobile robot (AMR) to go to the line-side storage location to retrieve material and perform the loading task. The automated control system also controls the switching action of the OHS track cutter and the timing of the extension of its blocking components based on the detection signals from the near-end sensor and the inlet sensor, ensuring that the OHS trolley can complete track switching and material transfer without stopping.

8. A buffer device, characterized in that, include: The cache body is used for temporary storage of materials; The OHS track cutter is precisely aligned with the buffer body. The OHS track cutter enables rapid switching of OHS tracks, allowing the air / ground shuttle OHS to transfer materials to the buffer body; and... An anti-slip device is installed on the OHS track cutter. The anti-slip device is used to prevent the air / ground shuttle OHS from sliding during material transfer.

9. The caching device according to claim 8, characterized in that, The bottom of the cache body is provided with a guide rail and a drive mechanism; The driving mechanism drives the buffer body to move bidirectionally along the guide rail, so as to switch the buffer body between the material receiving position and the material waiting position; The upper surface of the buffer body is provided with multiple buffer positions, each buffer position including a storage plate, a positioning pin and a material detection sensor; Multiple buffer positions are arranged in a straight line, and the material detection sensor of each buffer position works independently to provide real-time feedback on the occupancy status of that buffer position. The buffer body is also equipped with a positioning barcode scanning camera, which is used to identify the QR code on the OHS trolley and calculate the position deviation based on the identification result to guide the transfer gripper to accurately grab the material.

10. A material handling method, applied to the automated material handling system according to any one of claims 1-7 or the buffer device according to any one of claims 8-9, characterized in that, include: Long-distance transportation steps: The air / ground shuttle OHS transports materials from the remote storage area to the track area corresponding to the target production line along the main track; Track switching and material transfer steps: Track switching is achieved through the OHS track cutter. The OHS track cutter guides the air / ground shuttle OHS to stop at the line-side storage position, and the material is transferred to the line-side storage position for buffering. After completing the material transfer, the air / ground shuttle OHS returns to the main track without stopping. Material loading at the line: According to the production scheduling instructions, the autonomous mobile robot (AMR) grabs materials from the storage location at the line side and transports the materials to the target machine on the production line.

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