Material transfer system

Abstract

The utility model belongs to the technical field of vacuum coating, and discloses a material transfer system which comprises a carrier, a first transfer mechanism, a second transfer mechanism, a first conveying mechanism and a carrier mechanism arranged on the first conveying mechanism, wherein the first conveying mechanism is used for driving the carrier mechanism to move between a first station and a second station; the carrier on the first transfer mechanism can be transferred to the carrier mechanism located on the first station. The carrier on the carrier mechanism at the second station can be transferred to the second transfer mechanism; the carrying device is arranged at the first station and comprises a positioning carrier and a carrying robot, and the carrying robot is used for grabbing materials on the positioning carrier and loading the materials to the carrier located at the first station or used for grabbing the materials on the carrier located at the first station and loading the materials to the positioning carrier. According to the material transfer system, the material transfer efficiency is effectively improved, and the requirement for high productivity is met.

Description

TECHNICAL FIELD

[0001] The utility model relates to vacuum coating technology field especially relates to a material transfer system. BACKGROUND

[0002] In the production process of solar cell piece, the processing of some materials needs manual transfer, for example, the substrate needs to be transferred to the coating equipment by the carrier for coating, such as evaporation coating, magnetron sputtering or ion beam coating, and the substrate also needs to be manually removed from the coating equipment after coating, and the transfer mode of feeding and discharging needs too long time, which cannot meet the demand of high productivity. UTILITY MODEL CONTENT

[0003] The utility model discloses a material transfer system, effectively improve the transfer efficiency of material.

[0004] In order to achieve this purpose, the utility model adopts the following technical scheme:

[0005] Provide a kind of material transfer system, comprising:

[0006] Loading transfer device, including carrier, first transfer mechanism, second transfer mechanism, first conveying mechanism and the carrier mechanism on the first conveying mechanism;

[0007] Wherein, the first conveying mechanism is used to drive the carrier mechanism to move between first station and second station;

[0008] The first transfer mechanism is arranged at the first station, and the carrier on the first transfer mechanism can be transferred to the carrier mechanism at the first station;

[0009] The second transfer mechanism is arranged at the second station, and the carrier on the carrier mechanism at the second station can be transferred to the second transfer mechanism;And

[0010] Handling device, arranged at the first station, including positioning carrier and handling robot, and the handling robot is used to grasp the material on the positioning carrier and load to the carrier at the first station, or is used to grasp the material on the carrier at the first station and load to the positioning carrier.

[0011] Optionally, the carrier mechanism includes carrier frame body and carrier driving module and carrier guide module arranged on the carrier frame body;

[0012] Wherein, under the guide cooperation of the carrier guide module and the carrier, the carrier driving module can drive the carrier to be transferred to the carrier frame body, or drive the carrier to be separated from the carrier frame body.

[0013] Optionally, a bottom end of the carrier is provided with a guide rod;

[0014] The carrier driving module comprises:

[0015] A conveying assembly is arranged on the carrier frame body, and the conveying assembly comprises a plurality of transmission wheels arranged at intervals in a first horizontal direction, and the transmission wheels are provided with grooves capable of accommodating the guide rods;

[0016] A carrier driving assembly is connected with the transmission wheels, and the carrier driving assembly is used to drive the transmission wheels to rotate;

[0017] The first horizontal direction is arranged at an angle with the direction in which the carrier mechanism moves between the first station and the second station.

[0018] Optionally, the carrier driving assembly comprises:

[0019] A first pulley is connected with each of the transmission wheels;

[0020] A first synchronous belt is connected between the first pulleys connected by adjacent two transmission wheels;

[0021] A first motor is connected with one of the first pulleys.

[0022] Optionally, the carrier frame body comprises a cross beam, and the carrier guiding module comprises a guide channel arranged on the cross beam, the guide channel is arranged in extension along a first horizontal direction, and a top end of the carrier can extend into the guide channel;

[0023] The first horizontal direction is arranged at an angle with the direction in which the carrier mechanism moves between the first station and the second station.

[0024] Optionally, the carrier guiding module comprises a plurality of rollers, and the guide channel is formed between the plurality of rollers;

[0025] Or the carrier guiding module comprises a magnetic member, and the carrier guiding module can make the carrier not contact the guide channel through the magnetic member.

[0026] Optionally, a first limiting assembly is arranged on the carrier mechanism, and the first limiting assembly comprises:

[0027] A first limiting member is arranged on the carrier mechanism;

[0028] A first position sensor is arranged on the carrier mechanism, and the first position sensor is used to detect the position of the carrier relative to the carrier mechanism;

[0029] A first limiting driving member is arranged on the carrier mechanism, and the first limiting driving member is connected with a second limiting member;

[0030] When the first position sensor detects that the carrier is transferred by the first transfer mechanism to the carrier mechanism and located between the first limiting member and the second limiting member, the second limiting member clamps the carrier with the first limiting member under the driving of the first limiting driving member.

[0031] Optionally, the material is in a sheet structure, and a slide frame is arranged on the carrier, and the inner top and inner bottom of the slide frame are provided with limiting grooves for accommodating the material.

[0032] Optionally, the slide frame comprises two side frame strips arranged in a first horizontal direction, and a top frame strip and a bottom frame strip arranged in a vertical direction, the top frame strip and the bottom frame strip are provided with limiting grooves, and at least one of the top frame strip and the bottom frame strip is connected with a frame strip driving member for driving at least one of the top frame strip and the bottom frame strip to move in the vertical direction.

[0033] The first horizontal direction is arranged at an angle with the direction in which the carrier mechanism moves between the first station and the second station.

[0034] Optionally, the material is in a sheet structure, and the material on the positioning carrier is arranged at an angle with the material on the carrier.

[0035] Optionally, the positioning carrier comprises:

[0036] A carrier support is provided with a first wheel set, and the first wheel set comprises a plurality of first supporting wheels for supporting the material.

[0037] A carrier driving assembly is connected with the first wheel set.

[0038] A first carrier limiting member is arranged on the carrier support.

[0039] A second position sensor is arranged on the carrier support, and the second position sensor is used for detecting the position of the material relative to the carrier support.

[0040] The carrier driving assembly is used for driving the first supporting wheels to rotate, and the rotation of the first supporting wheels can drive the material to move towards the first carrier limiting member and abut against the first carrier limiting member.

[0041] Optionally, the positioning carrier further comprises a carrier limiting structure arranged on the carrier support, and the carrier limiting structure is capable of clamping and limiting the material with the first carrier limiting member.

[0042] Optionally, the carrier limiting structure comprises:

[0043] a second limiting assembly comprising a second limiting driving member arranged on the carrier support, a third limiting driving member arranged on the second limiting driving member, and a second carrier limiting member arranged on the third limiting driving member, the second carrier limiting member being capable of allowing the material to be positioned under the drive of the second limiting driving member, and the second carrier limiting member being capable of clamping and limiting the material with the first carrier limiting member under the drive of the third limiting driving member;

[0044] a third limiting assembly, two third limiting assemblies being arranged on the carrier support, the third limiting assembly comprising a fourth limiting driving member arranged on the carrier support and a third carrier limiting member arranged on the fourth limiting driving member, the third carrier limiting member of one of the two third limiting assemblies and the third carrier limiting member of the other third limiting assembly being capable of clamping and limiting the material under the drive of the corresponding fourth limiting driving member;

[0045] wherein the clamping and limiting direction of the third carrier limiting member to the material forms an angle with the clamping and limiting direction of the first carrier limiting member and the second carrier limiting member to the material.

[0046] Optionally, the carrier support is provided with a first identification and a plurality of loading positions, and the carrier support is provided with a first identification device, and the first identification device is used for identifying the first identification.

[0047] The material is provided with a second identification, and the positioning carrier is provided with a second identification device, and the second identification device is used for identifying the second identification.

[0048] The material transfer system further comprises a controller, the controller being in communication connection with the carrying robot, the first identification device and the second identification device, the controller receiving information of the first identification device identifying the first identification on the carrier support on the carrier support and the second identification device identifying the second identification on the material on the positioning carrier, and controlling the carrying robot to grasp the material and load the material to the corresponding loading position of the carrier support.

[0049] Optionally, the second conveying mechanism is arranged on one side of the positioning carrier.

[0050] The second conveying mechanism can convey the material to the positioning carrier, and / or the positioning carrier can transfer the material to the second conveying mechanism.

[0051] Optionally, the first transfer mechanism and the second transfer mechanism are arranged on the same side of the first conveying mechanism.

[0052] Optionally, the first transfer mechanism comprises a first frame body, a first driving module and a first guiding module arranged on the first frame body; under the guiding cooperation of the first guiding module and the carrier frame, the first driving module can drive the carrier frame to separate from the first frame body.

[0053] Optionally, the second transfer mechanism comprises a second frame body, a second driving module and a second guiding module arranged on the second frame body; under the guiding cooperation of the second guiding module and the carrier frame, the second driving module can drive the carrier frame to transfer to the second frame body.

[0054] Optionally, the first conveying mechanism comprises:

[0055] a conveying guiding assembly, on which the carrier frame mechanism is arranged;

[0056] a first conveying driving assembly connected with the carrier frame mechanism;

[0057] Under the guiding action of the conveying guiding assembly, the first conveying driving assembly can drive the carrier frame mechanism to move between the first station and the second station.

[0058] Advantages:

[0059] The material transfer system provided by the utility model can effectively improve the material transfer efficiency and meet the demand of high productivity. BRIEF DESCRIPTION OF DRAWINGS

[0060] Figure 1 is the structural schematic view of the material transfer system when the material is on the first transfer mechanism;

[0061] Figure 2It is the structural schematic view of the material transfer system when the material is on the carrier mechanism and the carrier mechanism is at the first station provided by the utility model;

[0062] Figure 3 It is the structural schematic view of the material transfer system when the material is on the carrier mechanism and the carrier mechanism is at the second station provided by the utility model;

[0063] Figure 4 It is the structural schematic view of the material transfer system when the material is on the second transfer mechanism provided by the utility model;

[0064] Figure 5 It is the structural schematic view of the base provided by the utility model;

[0065] Figure 6 It is the structural schematic view of the material transfer system at the carrier mechanism from one angle provided by the utility model;

[0066] Figure 7 It is the structural schematic view of the material transfer system at the carrier mechanism from another angle provided by the utility model;

[0067] Figure 8 It is the structural schematic view of the material transfer system at the carrier mechanism from still another angle provided by the utility model;

[0068] Figure 9 It is the structural schematic view of the positioning carrier from one angle provided by the utility model;

[0069] Figure 10 It is the structural schematic view of the positioning carrier from another angle provided by the utility model.

[0070] In the figure:

[0071] 10, material;

[0072] 100, carrier; 110, guide rod; 120, slide frame; 121, side frame strip;

[0073] 200, first transfer mechanism;

[0074] 300, second transfer mechanism;

[0075] 400, first conveying mechanism;

[0076] 500, carrier mechanism; 510, carrier frame body; 511, cross beam; 512, roller; 520, transmission wheel; 530, carrier driving assembly; 531, first pulley; 532, first synchronous belt; 533, first motor; 541, first limiting piece; 542, first limiting driving piece; 543, second limiting piece; 550, first identification device;

[0077] 600, positioning carrier; 610, carrier support; 611, first support wheel; 620, carrier drive assembly; 621, second pulley; 622, second synchronous belt; 623, second motor; 630, first carrier stop; 640, second position sensor; 650, second stop assembly; 651, second stop drive; 652, third stop drive; 653, second carrier stop; 660, third stop assembly; 661, fourth stop drive; 662, third carrier stop; 680, second identification device;

[0078] 700, transfer robot; 710, vacuum chuck;

[0079] 800, base;

[0080] 900, second transfer mechanism. DETAILED DESCRIPTION

[0081] The utility model will be described in further detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the utility model, and not to limit the utility model. In addition, it should be noted that, in order to facilitate the description, only the part related to the utility model is shown in the drawings, not all structures.

[0082] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0083] In the utility model, unless otherwise explicitly specified and limited, the first feature is "on" or "below" the second feature, which can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0084] In the description of the present embodiment, the terms "upper", "lower", "right", "left", and the like, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description, and have no special meaning.

[0085] Referring to Figures 1 to 5 The present embodiment provides a material transfer system, which comprises a loading transfer device and a carrying device.

[0086] Specifically, the loading transfer device comprises a carrier 100, a first transfer mechanism 200, a second transfer mechanism 300, a first conveying mechanism 400, and a carrier mechanism 500 arranged on the first conveying mechanism 400; wherein the first conveying mechanism 400 is used to drive the carrier mechanism 500 to move between a first station and a second station; the first transfer mechanism 200 is arranged at the first station, and the carrier 100 on the first transfer mechanism 200 can be transferred to the carrier mechanism 500 at the first station; the second transfer mechanism 300 is arranged at the second station, and the carrier 100 on the carrier mechanism 500 at the second station can be transferred to the second transfer mechanism 300.

[0087] Specifically, the carrying device is arranged at the first station, and the carrying device comprises a positioning carrier 600 and a carrying robot 700, the carrying robot 700 is used to grasp the material 10 on the positioning carrier 600 and load it onto the carrier 100 at the first station, or to grasp the material 10 on the carrier 100 at the first station and load it onto the positioning carrier 600.

[0088] When the material 10 needs to be transferred, first, the carrier 100 on the first transfer mechanism 200 is transferred to the carrier mechanism 500 at the first station; second, the carrying robot 700 grasps the material 10 on the positioning carrier 600 and loads it onto the carrier mechanism 500, or grasps the material 10 on the carrier mechanism 500 and loads it onto the positioning carrier 600; then, the first conveying mechanism 400 drives the carrier mechanism 500 to transfer from the first station to the second station, and the carrier 100 on the carrier mechanism 500 is transferred to the second transfer mechanism 300; finally, the first conveying mechanism 400 drives the carrier mechanism 500 to transfer from the second station to the first station, and waits for the next round of material 10 transfer, effectively improving the transfer efficiency of the material 10 and meeting the demand for high productivity.

[0089] In a possible implementation, the first transfer mechanism 200 and the second transfer mechanism 300 are arranged on the same side of the first conveying mechanism 400, so as to improve the structural compactness of the loading transfer device.

[0090] Exemplarily, the first transfer mechanism 200 and the second transfer mechanism 300 can be arranged at the same side of the first conveying mechanism 400 along a first horizontal direction, and the first conveying mechanism 400 drives the carrier mechanism 500 to move along a second horizontal direction between the first station and the second station. The first horizontal direction and the second horizontal direction are arranged at an angle. Preferably, the first horizontal direction and the second horizontal direction are perpendicular to each other.

[0091] In an available embodiment, the material transfer system further comprises a base 800, and the handling device and the first conveying mechanism 400 are arranged on the base 800 to ensure the positional accuracy between the handling device and the first conveying mechanism 400.

[0092] In an available embodiment, when the material 10 is arranged in a sheet structure, the material 10 on the positioning carrier 600 and the material 10 on the carrier 100 can be arranged at an angle, i.e., after the handling robot 700 picks up the material 10 on one of the positioning carrier 600 and the carrier 100, the handling robot 700 rotates the material 10 by a certain angle and loads the material 10 onto the other one of the positioning carrier 600 and the carrier 100.

[0093] In some embodiments, the material 10 is horizontally loaded on the positioning carrier 600, and it can be understood that the material 10 on the positioning carrier 600 is perpendicular to the vertical direction, which facilitates the positioning of the material 10 and improves the positioning accuracy of the material 10, and facilitates the positioning and picking or placing of the material 10 by the handling robot 700; the material 10 is vertically or obliquely loaded on the carrier 100, and it can be understood that the material 10 on the carrier 100 is arranged at an angle with the horizontal plane, which makes the structure of the loading transfer device more compact. In other embodiments, the material 10 is vertically or obliquely loaded on the positioning carrier 600, and the material 10 is horizontally loaded on the carrier 100.

[0094] Of course, the material 10 can be horizontally loaded on both the positioning carrier 600 and the carrier 100, or the material 10 can be vertically or obliquely loaded on both the positioning carrier 600 and the carrier 100, and the present embodiment does not limit the position of the material 10 loaded on the carrier 100.

[0095] Exemplarily, the material 10 can be made of metal or non-metal. The sheet structure of the material 10 includes but is not limited to a glass sheet, an acrylic plate, a titanium alloy plate, a copper plate, or a substrate of a solar cell sheet.

[0096] Exemplarily, the carrying robot 700 comprises a six-degree-of-freedom mechanical arm and a suction assembly arranged at the end of the six-degree-of-freedom mechanical arm, the suction assembly comprising a plurality of vacuum cups 710 for grabbing the material 10. The six-degree-of-freedom mechanical arm is controlled by six motors respectively, and the specific structure is prior art, which will not be described in detail here. The plurality of vacuum cups 710 can be arranged in a matrix.

[0097] In this embodiment, referring to FIG. 1, when the material 10 is in a sheet structure, the carrier 100 is provided with a slide frame 120, and the inner top and inner bottom of the slide frame 120 are provided with limiting grooves (not shown) for accommodating the material 10. The material 10 is fixed by the upper and lower limiting grooves, effectively preventing the material 10 from falling off and breaking. Figures 6 to 8

[0098] In some embodiments, the slide frame 120 comprises two side frame strips 121 arranged in a first horizontal direction and a top frame strip (not shown) and a bottom frame strip (not shown) arranged in a vertical direction, the top frame strip and the bottom frame strip are both provided with limiting grooves, and at least one of the top frame strip and the bottom frame strip is connected with a frame strip driving member (not shown) for driving the at least one of the top frame strip and the bottom frame strip to move in the vertical direction. In this embodiment, when the material 10 is transferred between the two side frame strips 121, the top frame strip and / or the bottom frame strip can be driven by the frame strip driving member to move in the vertical direction so that the upper and lower limiting grooves are sleeved on the material 10. Exemplarily, the frame strip driving member includes but is not limited to a telescopic driving member.

[0099] In other embodiments, the carrier 100 is not provided with a frame strip driving member, that is, the side frame strips 121, the top frame strip and the bottom frame strip are fixedly connected together. When the material 10 is loaded into the slide frame 120, a gap is formed between the top of the material 10 and the upper limiting groove to adapt to the material 10 being separated from or loaded into the slide frame 120. Exemplarily, when the carrying robot 700 loads the material 10 onto the carrier 100, the material 10 can be first inclined and the top end of the material 10 is inserted into the upper limiting groove, and then the bottom end of the material 10 is inserted into the lower limiting groove. Exemplarily, when the carrying robot 700 transfers the material 10 on the carrier 100 away, the material 10 can be first moved upward so that the bottom end of the material 10 is separated from the lower limiting groove, and then the material 10 is inclined and moved downward so that the top end of the material 10 is separated from the upper limiting groove.

[0100] Exemplarily, a plurality of slide frames 120 can be arranged side by side on the carrier 100 in the first horizontal direction to improve the transfer efficiency of the material 10.

[0101] ​In an embodiment, the carrier 100 is provided with a first mark and a plurality of loading positions, and the carrier mechanism 500 is provided with a first identification device 550 configured to identify the first mark. In this embodiment, the number of loading positions and the size of the material 10 that can be loaded in the loading positions of different carriers 100 can be different. The first identification device 550 is configured to identify the first mark to determine the number of loading positions on the carrier 100 and the size of the material 10 that can be loaded in the loading positions, so as to ensure accurate loading of the material 10. It can be understood that when the material 10 is in a sheet structure, the loading position refers to the carrier frame 120.

[0102] In an embodiment, the first identification device 550 includes, but is not limited to, a charge coupled device (CCD) detection module. The first mark can be a Chinese character, an Arabic numeral, a two-dimensional code, English, etc.

[0103] In an embodiment, as shown in Figure 9 the material 10 is provided with a second mark, and the positioning carrier 600 is provided with a second identification device 680 configured to identify the second mark. In this embodiment, the second identification device 680 is configured to identify the second mark to determine the size of the material 10 on the positioning carrier 600, so that the material 10 can be accurately loaded by the handling robot 700 to the corresponding loading position.

[0104] In an embodiment, the second identification device 680 includes, but is not limited to, a code reader. The second mark can be a Chinese character, an Arabic numeral, a two-dimensional code, English, etc.

[0105] In this embodiment, the material transfer system further includes a controller (not shown) in communication with the handling robot 700, the first identification device 550, and the second identification device 680. The controller receives information of the first identification device 550 identifying the first mark on the carrier 100 on the carrier mechanism 500 and the second identification device 680 identifying the second mark on the material 10 on the positioning carrier 600, and controls the handling robot 700 to grasp the material 10 and load it onto the corresponding loading position of the carrier 100, thereby effectively preventing the material 10 from being incorrectly loaded or omitted. In addition, the handling robot 700 is provided with corresponding handling operation trajectory parameters for different materials 10 and loading positions. By identifying the first mark and the second mark, the handling robot 700 can make corresponding handling operation trajectories, thereby effectively preventing the material 10 from being damaged by colliding with the carrier 100. In addition, the carrier 100 can also execute process parameters matched therewith according to different first marks during post-process treatment, thereby improving target material utilization and film quality.

[0106] In this embodiment, the carrier 100 is provided with a first mark and a plurality of loading positions, and the carrier mechanism 500 is provided with a first identification device 550 configured to identify the first mark. In this embodiment, the number of loading positions and the size of the material 10 that can be loaded in the loading positions of different carriers 100 can be different. The first identification device 550 is configured to identify the first mark to determine the number of loading positions on the carrier 100 and the size of the material 10 that can be loaded in the loading positions, so as to ensure accurate loading of the material 10. It can be understood that when the material 10 is in a sheet structure, the loading position refers to the carrier frame 120. Figure 5As shown, the first conveying mechanism 400 comprises a conveying guide assembly and a first conveying drive assembly, the carrier mechanism 500 is arranged on the conveying guide assembly, and the first conveying drive assembly is connected with the carrier mechanism 500; wherein under the guidance of the conveying guide assembly, the first conveying drive assembly can drive the carrier mechanism 500 to move between the first station and the second station, which is stable and reliable.

[0107] Exemplarily, the conveying guide assembly can be a slide rail and slide block structure, and the first conveying drive assembly can be a gear and rack structure driven by a motor. In the embodiment, the motor and the gear of the first conveying drive assembly can be arranged on the carrier mechanism 500, and the bottom of the carrier mechanism 500 is connected with the slide block of the slide rail and slide block structure.

[0108] Of course, the first conveying mechanism 400 can also be a lead screw and slide table transmission structure or other transmission structures, which are not limited in the embodiment.

[0109] In the embodiment, referring to Figures 6 to 8 As shown, the carrier mechanism 500 comprises a carrier frame 510 and a carrier drive module and a carrier guide module arranged on the carrier frame 510; wherein under the guidance cooperation of the carrier guide module and the carrier frame 100, the carrier drive module can drive the carrier frame 100 to shift to the carrier frame 510, or drive the carrier frame 100 to separate from the carrier frame 510, so as to realize the shift of the carrier frame 100 between the carrier mechanism 500 and the first shift mechanism 200 and the second shift mechanism 300, which is stable and reliable.

[0110] Specifically, the bottom end of the carrier frame 100 is provided with a guide rod 110; the carrier drive module comprises a conveying assembly and a carrier drive assembly 530. Wherein the conveying assembly is arranged on the carrier frame 510, and the conveying assembly comprises a plurality of transmission wheels 520 arranged at intervals along the first horizontal direction, and the transmission wheel 520 is provided with a groove capable of accommodating the guide rod 110; the carrier drive assembly 530 is connected with the transmission wheel 520, and the carrier drive assembly 530 is used for driving the transmission wheel 520 to rotate. In the embodiment, under the guidance cooperation of the carrier guide module and the carrier frame 100, the carrier drive assembly 530 drives all the transmission wheels 520 to rotate, and through the friction between the plurality of transmission wheels 520 and the guide rod 110, the carrier frame 100 can be driven to move stably along the first horizontal direction. By driving the transmission wheel 520 to rotate forward or reverse by the carrier drive assembly 530, the carrier frame 100 on the first shift mechanism 200 can be conveniently shifted to the carrier mechanism 500, or the carrier frame 100 on the carrier mechanism 500 can be conveniently shifted to the second shift mechanism 300.

[0111] Specifically, the carrier driving assembly 530 comprises a first pulley 531, a first synchronous belt 532 and a first motor 533. Each transmission wheel 520 is connected with a first pulley 531; the first pulleys 531 connected between two adjacent transmission wheels 520 are connected through a first synchronous belt 532; and the first motor 533 is connected with one of the first pulleys 531. In the embodiment, through the arrangement of the first pulleys 531 and the first synchronous belt 532, the first motor 533 can simultaneously drive all the first pulleys 531 to rotate, so as to drive all the transmission wheels 520 to rotate, and the transmission is stable and reliable.

[0112] Exemplarily, the first synchronous belt 532 can be tensioned through a tension pulley, so as to ensure that the transmission of the carrier driving assembly 530 is stable and reliable.

[0113] In the embodiment, the carrier driving assembly 530 can also be other driving structures, such as a motor-driven gear structure or a motor-driven worm and gear structure, which is not limited in the embodiment.

[0114] In the embodiment, as shown in Figure 8 The carrier frame body 510 comprises a cross beam 511, and the carrier guiding module comprises a guiding channel arranged on the cross beam 511. The guiding channel extends along the first horizontal direction, and the top end of the carrier rack 100 can extend into the guiding channel. It can be understood that the top end of the carrier rack 100 is guided and limited by extending into the guiding channel, and the carrier rack 100 can be stably transferred on the carrier frame body 510 along the first horizontal direction in cooperation with the limiting of the guiding rod 110, which is stable and reliable.

[0115] In some embodiments, the carrier guiding module comprises a plurality of rollers 512, and the guiding channel is formed between the plurality of rollers 512. It can be understood that the top end of the carrier rack 100 extends between the plurality of rollers 512, and the carrier rack 100 is guided by the rollers 512, which effectively prevents the occurrence of moving jamming.

[0116] Specifically, the cross beam 511 is provided with two guiding wheel sets arranged along the second horizontal direction. The guiding wheel set comprises a plurality of rollers 512 arranged along the first horizontal direction, and the guiding channel is formed between the rollers 512 of the two guiding wheel sets.

[0117] In other embodiments, the carrier guiding module comprises a magnetic member (not shown). The carrier guiding module can make the carrier rack 100 not contact the guiding channel through the magnetic member, which effectively prevents the occurrence of moving jamming of the carrier rack 100 on the carrier frame body 510.

[0118] In the embodiment, as shown in Figures 6 to 8As shown, the carrier mechanism 500 is provided with a first limiting assembly, which positions the carrier 100 through the first limiting assembly to ensure that the material 10 is accurately loaded onto the carrier 100 by the transfer robot 700.

[0119] Specifically, the first limiting assembly includes a first limiting piece 541, a first position sensor (not shown), and a first limiting driving piece 542. The first limiting piece 541, the first position sensor, and the first limiting driving piece 542 are all arranged on the carrier mechanism 500. The first position sensor is configured to detect the position of the carrier 100 relative to the carrier mechanism 500. The first limiting driving piece 542 is connected with a second limiting piece 543. When the first position sensor detects that the carrier 100 is transferred onto the carrier mechanism 500 by the first transfer mechanism 200 and is located between the first limiting piece 541 and the second limiting piece 543, the second limiting piece 543 clamps and limits the carrier 100 with the first limiting piece 541 under the driving of the first limiting driving piece 542. That is, the carrier 100 is clamped and fixed by the first limiting piece 541 and the second limiting piece 543, so as to realize the positioning of the carrier 100 relative to the carrier mechanism 500, which is stable and reliable. In addition, when it is needed to transfer the carrier 100 from the carrier mechanism 500 to the second transfer mechanism 300 at the second station, the first limiting driving piece 542 is controlled to drive the second limiting piece 543 to be separated from the carrier 100, so that the carrier 100 can be smoothly transferred.

[0120] Specifically, the first limiting piece 541, the first position sensor, and the first limiting driving piece 542 are all arranged on the carrier frame 510.

[0121] Exemplarily, the first limiting piece 541 and the second limiting piece 543 are oppositely arranged along the first horizontal direction, that is, the first limiting piece 541 and the second limiting piece 543 clamp and fix the carrier 100 along the first horizontal direction, so as to realize the positioning of the carrier 100 relative to the carrier frame 510 along the first horizontal direction.

[0122] In a feasible implementation, the first limiting driving piece 542 can be a combined structure of a rotary driving piece and a telescopic driving piece, for example, a rotary telescopic cylinder. In this embodiment, after the first position sensor detects that the carrier 100 is moved into position relative to the carrier mechanism 500, the first limiting driving piece 542 can first drive the second limiting piece 543 to rotate, so that the second limiting piece 543 is opposite to the carrier 100 along the first horizontal direction, and then drive the second limiting piece 543 to move along the first horizontal direction towards the first limiting piece 541, thereby realizing the clamping and fixing of the carrier 100 by the first limiting piece 541 and the second limiting piece 543.

[0123] In one feasible implementation, the first position sensor may be a photoelectric sensor, including a photoelectric transmitter and a photoelectric receiver, and the shelf 100 may pass between the photoelectric transmitter and the photoelectric receiver. Exemplarily, the shelf body 510 has two first position sensors arranged side-by-side along a first horizontal direction, one of which is located on the side of the second limiting member 543 away from the first limiting member 541, and the other is located at the second limiting member 543. In this embodiment, by sensing the sequence of the rack 100 by two first position sensors, the direction of movement of the rack 100 on the rack body 510 can be determined to ensure that the rack 100 is completely transferred to the rack mechanism 500 or completely moved away from the rack mechanism 500. The first position sensor at the second limiting member 543 identifies whether the position of the rack 100 is suitable for the first limiting drive member 542 to drive the second limiting member 543 and the first limiting member 541 to clamp and limit the rack 100, so as to avoid position interference between the second limiting member 543 and the rack 100 when the second limiting member 543 rotates.

[0124] In one possible implementation, the first limiting member 541 is provided with a first buffer (not shown) to reduce the impact formed with the shelf 100.

[0125] In this embodiment, the first transfer mechanism 200 includes a first frame and a first drive module and a first guide module disposed on the first frame. With the guidance of the first guide module and the carrier 100, the first drive module can drive the carrier 100 to detach from the first frame. In this embodiment, the first drive module and the first guide module, in conjunction with the carrier drive module and the carrier guide module, allow the carrier 100 to be smoothly transferred from the first frame to the carrier frame 510, stably and reliably. The first drive module and the carrier drive module can have the same structure, and the first guide module and the carrier guide module can have the same structure; further details are omitted here.

[0126] In this embodiment, reference is made to Figures 1 to 4 The second transfer mechanism 300 shown includes a second frame and a second drive module and a second guide module disposed on the second frame. With the guidance of the second guide module and the carrier 100, the second drive module can drive the carrier 100 to transfer onto the second frame. In this embodiment, the second drive module and the second guide module cooperate with the carrier drive module and the carrier guide module, allowing the carrier 100 to be smoothly transferred from the carrier frame 510 to the second frame. The second drive module and the carrier drive module can have the same structure, and the second guide module and the carrier guide module can have the same structure; further details are omitted here.

[0127] In this embodiment, reference is made to Figure 9 and Figure 10As shown, the positioning carrier 600 comprises a carrier support 610, a carrier driving assembly 620, a first carrier limiting member 630 and a second position sensor 640.

[0128] Specifically, the carrier support 610 is provided with a first wheel set, the first wheel set comprising a plurality of first support wheels 611 for supporting the material 10; the carrier driving assembly 620 is connected with the first wheel set; the first carrier limiting member 630 is arranged on the carrier support 610; the second position sensor 640 is arranged on the carrier support 610, and is used for detecting the position of the material 10 relative to the carrier support 610; wherein the carrier driving assembly 620 is used for driving the first support wheels 611 to rotate; the first support wheels 611 rotating can move the material 10 towards the first carrier limiting member 630 and abut against the first carrier limiting member 630.

[0129] In this embodiment, before the carrying robot 700 grabs the material 10 on the positioning carrier 600, the material 10 needs to be loaded onto the positioning carrier 600 by conveying or manually, specifically, one side of the material 10 is first placed on the first support wheel 611 farthest from the first carrier limiting member 630, the carrier driving assembly 620 drives the first support wheel 611 to rotate, the first support wheel 611 rotating can move the material 10 towards the first carrier limiting member 630 through friction until the material 10 abuts against the first carrier limiting member 630 and triggers the second position sensor 640, at this time, the carrying robot 700 can be controlled to grab the material 10, which is convenient and reliable. The abutment of the material 10 against the first carrier limiting member 630 can ensure the position accuracy of the material 10 relative to the positioning carrier 600, thereby ensuring the accuracy of the carrying robot 700 grabbing the material 10, and effectively preventing the material 10 from colliding and breaking with the material carrier 100.

[0130] Exemplarily, the first carrier limiting member 630 is provided with a second buffer member (not shown), and the first carrier limiting member 630 abuts against the material 10 through the second buffer member to prevent the material 10 from breaking.

[0131] Exemplarily, the first carrier limiting member 630 is provided with at least one, for example, two are provided along the first direction.

[0132] Exemplarily, the second position sensor 640 can be a photoelectric sensor, for example, a cylindrical photoelectric sensor.

[0133] Exemplarily, the carrier support 610 is provided with two first wheel sets arranged side by side along the first direction.

[0134] In some embodiments, as Figure 9 and Figure 10As shown, the carrier driving assembly 620 is provided in one-to-one correspondence with the first wheel set. Specifically, the carrier driving assembly 620 comprises a second pulley 621, a second synchronous belt 622, and a second motor 623. Each first support wheel 611 is connected with the second pulley 621, the second synchronous belt 622 is connected between the second pulleys 621 connected with the adjacent two first support wheels 611 in the first wheel set, and the second pulley 621 connected with one first support wheel 611 in the first wheel set is connected with the second motor 623. In this embodiment, the second motor 623 drives the corresponding second pulley 621 to rotate, and all the first support wheels 611 of the corresponding first wheel set are synchronously rotated under the transmission of the second synchronous belt 622, the transmission is stable and reliable, and the structure of the carrier driving assembly 620 is compact.

[0135] In other embodiments, the carrier driving assembly 620 can drive all the first support wheels 611 to rotate to realize the transfer of the material 10, which is stable and reliable. Specifically, the carrier driving assembly 620 not only comprises the second pulley 621, the second synchronous belt 622, and the second motor 623, but also comprises a transmission shaft (not shown), a third pulley (not shown), and a third synchronous belt (not shown). The transmission shaft is provided with the third pulley at both ends in the first direction, the third pulley and the third synchronous belt are provided in one-to-one correspondence with the first wheel set, the third pulley is connected with one second pulley 621 in the corresponding first wheel set through the corresponding third synchronous belt, and the second motor 623 is connected with the transmission shaft. In this embodiment, the second motor 623 drives the transmission shaft to rotate, and the synchronous rotation of all the first support wheels 611 is realized under the transmission of the second synchronous belt 622 and the third synchronous belt, the transmission is stable and reliable, and the structure of the carrier driving assembly 620 is compact.

[0136] In this embodiment, the carrier driving assembly 620 can also be other driving structures, such as a gear structure driven by a motor and a worm gear structure driven by a motor, which are not limited in this embodiment.

[0137] Exemplarily, the first wheel set comprises a plurality of first support wheels 611 which are spaced apart in the second direction.

[0138] Exemplarily, the first direction can be the second horizontal direction, and the second direction can be the first horizontal direction.

[0139] In a feasible implementation, the ends of the first support wheels 611 of different wheel sets away from each other are provided with a stop edge (not shown), which can guide the material 10 to move in the second direction, so as to further ensure the position accuracy of the material 10 relative to the positioning carrier 600.

[0140] In this embodiment, with reference to Figure 9 and Figure 10As shown, the positioning carrier 600 further comprises a carrier limiting structure arranged on the carrier support 610, which can clamp and limit the material 10 with the first carrier limiting member 630, so as to further ensure the position accuracy of the material 10 relative to the positioning carrier 600.

[0141] Specifically, the carrier limiting structure comprises a second limiting assembly 650, which comprises a second limiting driving member 651 arranged on the carrier support 610, a third limiting driving member 652 arranged on the second limiting driving member 651, and a second carrier limiting member 653 arranged on the third limiting driving member 652, the second carrier limiting member 653 can be allowed to be positioned by the material 10 under the driving of the second limiting driving member 651, and the second carrier limiting member 653 can clamp and limit the material 10 with the first carrier limiting member 630 under the driving of the third limiting driving member 652. For example, during the loading of the material 10 on the positioning carrier 600, the second limiting driving member 651, the third limiting driving member 652 and the second carrier limiting member 653 are all located below the material 10 to form a position allowance; when the second position sensor 640 is triggered, the second limiting driving member 651 drives the third limiting driving member 652 and the second carrier limiting member 653 to move upward, the third limiting driving member 652 drives the second carrier limiting member 653 to press the material 10 on the first carrier limiting member 630 along the second direction, so as to form clamping on the material 10, and further ensure the position accuracy of the material 10 relative to the positioning carrier 600. When the material 10 is grabbed by the carrying robot 700, the third limiting driving member 652 and the second limiting driving member 651 can be reset in sequence, that is, the material 10 is released, so that the material 10 is suitable for the carrying robot 700 to transfer the material 10.

[0142] For example, the second limiting assembly 650 is provided with at least one, for example, two are provided along the first direction.

[0143] For example, the second limiting driving member 651 and the third limiting driving member 652 comprise, but are not limited to, a pneumatic cylinder or an electric push rod.

[0144] For example, the second carrier limiting member 653 is provided with a third buffer member (not shown), and the second carrier limiting member 653 is in abutment with the material 10 through the third buffer member, so as to prevent the material 10 from being broken.

[0145] In an embodiment, the carrier limiting structure further comprises a third limiting assembly 660, and two third limiting assemblies 660 are arranged on the carrier bracket 610. The third limiting assembly 660 comprises a fourth limiting driving member 661 arranged on the carrier bracket 610 and a third carrier limiting member 662 arranged on the fourth limiting driving member 661. The third carrier limiting member 662 of one of the two third limiting assemblies 660 and the third carrier limiting member 662 of the other third limiting assembly 660 can clamp the material 10 under the drive of the corresponding fourth limiting driving member 661. It can be understood that the two third limiting assemblies 660 are arranged on the two sides of the carrier bracket 610 along the first direction, and the material 10 on the positioning carrier 600 is located between the two third limiting assemblies 660. The clamping limiting direction of the third carrier limiting member 662 to the material 10 is arranged at an angle with the clamping limiting direction of the first carrier limiting member 630 and the second carrier limiting member 653 to the material 10, for example, the clamping limiting direction of the third carrier limiting member 662 to the material 10 is perpendicular to the clamping limiting direction of the first carrier limiting member 630 and the second carrier limiting member 653 to the material 10. In this embodiment, when the second position sensor 640 is triggered, the fourth limiting driving member 661 drives the corresponding third carrier limiting member 662 to abut against the corresponding side of the material 10 to form clamping to the material 10, which can further ensure the position accuracy of the material 10 relative to the positioning carrier 600. When the material 10 is grabbed by the carrying robot 700, the fourth limiting driving member 661 can be reset to adapt to the carrying robot 700 to transfer the material 10.

[0146] Exemplarily, the fourth limiting driving member 661 comprises but is not limited to a pneumatic cylinder or an electric push rod.

[0147] Exemplarily, the two third limiting assemblies 660 are arranged at intervals along the first direction.

[0148] Exemplarily, the third limiting component 660 includes at least one fourth limiting drive member 661 and at least one third carrier limiting member 662, and the fourth limiting drive member 661 and the third carrier limiting member 662 are arranged in a one-to-one correspondence. Exemplarily, the number of fourth limiting drive members 661 and third carrier limiting members 662 in the two third limiting components 660 may be equal or unequal. In some embodiments, each of the two third limiting components 660 includes two fourth limiting drive members 661 and two third carrier limiting members 662, wherein the clamping and limiting direction of the third carrier limiting member 662 on the material 10 is perpendicular to the clamping and limiting direction of the first carrier limiting member 630 and the second carrier limiting member 653 on the material 10. In some embodiments, each of the two third limiting components 660 includes a fourth limiting drive member 661 and a third carrier limiting member 662, and the two third limiting components 660 are arranged diagonally, wherein the clamping and limiting direction of the third carrier limiting member 662 on the material 10 is not perpendicular to the clamping and limiting directions of the first carrier limiting member 630 and the second carrier limiting member 653 on the material 10.

[0149] For example, the third carrier limiting member 662 is provided with a fourth buffer member, and the third carrier limiting member 662 abuts against the material 10 through the fourth buffer member to prevent the material 10 from breaking.

[0150] In one feasible implementation, to ensure that the positioning carrier 600 stably supports the material 10, a second wheel group (not shown) is provided between the two first wheel groups. The second wheel group includes a plurality of second support wheels spaced apart along a second direction, and the second support wheels are used to support the material 10. In this embodiment, at least one second wheel group is provided between the two first wheel groups. When multiple second wheel groups are provided, the multiple second wheel groups are spaced apart along a first direction.

[0151] In this embodiment, reference is made to Figures 1 to 4 As shown, the material transfer system also includes a second conveying mechanism 900, which is located on one side of the positioning carrier 600. The second conveying mechanism 900 can convey material 10 onto the positioning carrier 600; and / or, the positioning carrier 600 can transfer material 10 onto the second conveying mechanism 900. It is understood that before the handling robot 700 grasps material 10 from the positioning carrier 600, the second conveying mechanism 900 conveys material 10 onto the positioning carrier 600, which is stable, reliable, and facilitates the transfer of material 10. Furthermore, after the handling robot 700 places material 10 onto the positioning carrier 600, the positioning carrier 600 can also transfer material 10 onto the second conveying mechanism 900.

[0152] Specifically, the second conveying mechanism 900 comprises a conveying bracket (not shown) and a second conveying driving assembly (not shown), the conveying bracket is provided with a third wheel set, the third wheel set comprises a plurality of third supporting wheels which are arranged at intervals in the second direction and are used for supporting the material 10, and the second driving assembly is connected with the second wheel set. In the embodiment, the third supporting wheels are driven to rotate by the second driving assembly, so as to make the third supporting wheels transfer the material 10. The second driving assembly has the same structure as the carrier driving assembly 620, and will not be described in detail here.

[0153] Specifically, the second conveying mechanism 900 comprises a fourth wheel set (not shown) arranged between the two third wheel sets, and the fourth wheel set has the same structure as the second wheel set, and will not be described in detail here.

[0154] In the embodiment, the specific operation process of the material transfer system is as follows:

[0155] S100, control the first transfer mechanism 200 to transfer the carrier 100 to the carrier mechanism 500 located at the first station.

[0156] In step S100, after the carrier 100 is transferred to the carrier mechanism 500, the following step is further included: S110, control the first limiting piece 541 and the second limiting piece 543 to clamp and fix the carrier 100.

[0157] S200, control the transfer robot 700 to grasp the material 10 on the positioning carrier 600 and load it onto the carrier mechanism 500, or control the transfer robot 700 to grasp the material 10 on the carrier 100 and load it onto the positioning carrier 600.

[0158] In step S200, the transfer robot 700 grasps the material 10 on the positioning carrier 600 and loads it onto the carrier mechanism 500, which comprises the following steps:

[0159] S210, control the first identification device 550 to identify the first mark on the carrier 100 on the carrier mechanism 500 to determine the number and specifications of the loading positions on the carrier 100.

[0160] S220, control the second identification device 680 to identify the second mark on the material 10 on the positioning carrier 600 to determine the specifications of the material 10.

[0161] S230, control the transfer robot 700 to grasp the material 10 and load it onto the loading position corresponding to the specifications of the carrier 100.

[0162] Specifically, step S220 comprises the following steps:

[0163] S231, determine whether the specifications of the loading positions on the loading rack 100 where no material 10 is loaded match the specifications of the materials 10 on the positioning carriers 600, if yes, execute step S232; if no, execute step S300.

[0164] S232, control the handling robot 700 to pick up the materials 10 and load them into the corresponding specifications of the loading positions on the loading rack 100, and control the second conveying mechanism 900 to convey the materials 10 onto the positioning carriers 600.

[0165] S233, determine whether the number of the loading positions on the loading rack 100 where no material 10 is loaded is zero, if yes, execute step S300; if no, execute step S220.

[0166] In a possible implementation, when step S231 is determined to be no for n times, the transfer can be paused to wait for personnel to eliminate the transfer matching problem. Wherein, n is an integer greater than zero, for example, n is equal to 2, 3, 4, 5 or 6.

[0167] Wherein, in step S200, during the process of controlling the handling robot 700 to pick up the materials 10 on the loading rack 100 and load them onto the positioning carriers 600, the first identification device 550 on the positioning carriers 600 also needs to be controlled to identify the first identification on the loading rack 100. According to the information of the first identification, the handling robot 700 can be controlled to load materials 10 of different specifications onto different positioning carriers 600. It can be understood that the handling robot 700 loads materials 10 of the same specification onto the same positioning carrier 600. When the materials 10 on the loading rack 100 are emptied, step S300 is executed. In addition, after the materials 10 are loaded onto the corresponding positioning carriers 600, the second identification device 680 on the positioning carriers 600 can be controlled to identify the second identification on the materials 10 to determine whether the specifications of the materials 10 match the positioning carriers 600, and control the positioning carriers 600 to transfer away the matching materials 10. In this embodiment, the working logic of controlling the handling robot 700 to pick up the materials 10 on the loading rack 100 and load them onto the positioning carriers 600 is similar to the working logic of controlling the handling robot 700 to pick up the materials 10 on the positioning carriers 600 and load them onto the loading rack mechanism 500. This embodiment will not be described in detail.

[0168] S300, control the first conveying mechanism 400 to drive the loading rack mechanism 500 to transfer from the first station to the second station.

[0169] S400, control the loading rack mechanism 500 to transfer the loading rack 100 to the second transfer mechanism 300, and control the second transfer mechanism 300 to transfer the loading rack 100.

[0170] Specifically, between step S300 and step S400, the following steps are also included:

[0171] S310, control the second limiting piece 543 to be separated from the carrier 100.

[0172] Wherein, after the step S400, the following steps can also be included:

[0173] S500, control the first conveying mechanism 400 to drive the carrier mechanism 500 to be transferred from the second station to the first station to wait for the next round of material 10 to be transferred.

[0174] In a possible implementation, the above operation process can be executed by a controller. The controller may, for example, include but not limited to a programmable logic controller (PLC).

[0175] The specific execution process of each device in the above steps can refer to the foregoing relevant description, which will not be repeated here.

[0176] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not the limitation of the embodiments of the utility model. For ordinary skilled in the art, various obvious changes, re-adjustment and replacement can be made without departing from the protection scope of the utility model. Here, it is not necessary and impossible to enumerate all the embodiments. Any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model claim.

Claims

1. A material transfer system, characterized by, The application relates to a loading transfer device, which comprises a carrier frame (100), a first transfer mechanism (200), a second transfer mechanism (300), a first conveying mechanism (400) and a carrier frame mechanism (500) arranged on the first conveying mechanism (400). The first conveying mechanism (400) is used for driving the carrier frame mechanism (500) to move between a first station and a second station. The first transfer mechanism (200) is arranged at the first station, and the carrier frame (100) on the first transfer mechanism (200) can be transferred to the carrier frame mechanism (500) at the first station. The second transfer mechanism (300) is arranged at the second station, and the carrier frame (100) on the carrier frame mechanism (500) at the second station can be transferred to the second transfer mechanism (300). A carrying device is arranged at the first station and comprises a positioning carrier (600) and a carrying robot (700), and the carrying robot (700) is used for grabbing a material (10) on the positioning carrier (600) and loading the material (10) on the carrier frame (100) at the first station or grabbing the material (10) on the carrier frame (100) at the first station and loading the material (10) on the positioning carrier (600). The carrier frame mechanism (500) comprises a carrier frame body (510), a carrier frame driving module and a carrier frame guiding module arranged on the carrier frame body (510). Under the guiding cooperation between the carrier frame guiding module and the carrier frame (100), the carrier frame driving module can drive the carrier frame (100) to be transferred to the carrier frame body (510) or drive the carrier frame (100) to be separated from the carrier frame body (510).

2. The material transfer system of claim 1, wherein, The bottom end of the carrier frame (100) is provided with a guide rod (110). The carrier frame driving module comprises:

3. The material transfer system of claim 2, wherein, a conveying assembly arranged on the carrier frame body (510), which comprises a plurality of transmission wheels (520) arranged at intervals in a first horizontal direction, and the transmission wheels (520) are provided with grooves capable of accommodating the guide rod (110); a carrier frame driving assembly (530) connected with the transmission wheels (520), which is used for driving the transmission wheels (520) to rotate; wherein the first horizontal direction is arranged at an angle with the direction in which the carrier frame mechanism (500) moves between the first station and the second station. The carrier frame driving assembly (530) comprises: a first pulley (531), each transmission wheel (520) is connected with the first pulley (531); 4. The material transfer system of claim 3, wherein, a first synchronous belt (532) connected between the first pulleys (531) of two adjacent transmission wheels (520); a first motor (533) connected with one of the first pulleys (531). ​ ​ 5. The material transfer system of claim 2, wherein, The carrier frame body (510) comprises a cross beam (511), the carrier guide module comprises a guide channel provided on the cross beam (511), the guide channel is arranged in a first horizontal direction, and the top end of the carrier rack (100) can extend into the guide channel. The first horizontal direction is arranged at an angle with the direction in which the carrier mechanism (500) moves between the first station and the second station.

6. The material transfer system of claim 5, wherein, The carrier guide module comprises a plurality of rollers (512), and the guide channel is formed between the plurality of rollers (512). Or the carrier guide module comprises a magnetic member, and the carrier guide module can make the carrier rack (100) not contact the guide channel through the magnetic member.

7. The material transfer system of claim 1, wherein, The carrier mechanism (500) is provided with a first limiting component, and the first limiting component comprises: A first limiting member (541) is arranged on the carrier mechanism (500); A first position sensor is arranged on the carrier mechanism (500), and the first position sensor is used to detect the position of the carrier rack (100) relative to the carrier mechanism (500); A first limiting driving member (542) is arranged on the carrier mechanism (500), and the first limiting driving member (542) is connected with a second limiting member (543); When the first position sensor detects that the carrier rack (100) is transferred from the first transfer mechanism (200) to the carrier mechanism (500) and located between the first limiting member (541) and the second limiting member (543), the second limiting member (543) is clamped and limited with the first limiting member (541) by the driving of the first limiting driving member (542).

8. The material transfer system of claim 1, wherein, The material (10) is provided in a sheet structure, the carrier rack (100) is provided with a slide frame (120), and the inner top and inner bottom of the slide frame (120) are provided with limiting grooves for accommodating the material (10).

9. The material transfer system of claim 8, wherein, The slide frame (120) comprises two side frame strips (121) arranged in a first horizontal direction and a top frame strip and a bottom frame strip arranged in a vertical direction, the top frame strip and the bottom frame strip are provided with limiting grooves, and at least one of the top frame strip and the bottom frame strip is connected with a frame strip driving member for driving at least one of the top frame strip and the bottom frame strip to move in a vertical direction. The first horizontal direction is arranged at an angle with the direction in which the carrier mechanism (500) moves between the first station and the second station.

10. The material transfer system of claim 1, wherein, The material (10) is provided in a sheet structure, and the material (10) on the positioning carrier (600) is arranged at an angle with the material (10) on the carrier rack (100).

11. The material transfer system of claim 1, wherein, The positioning carrier (600) comprises: A carrier support (610) is provided with a first wheel set, the first wheel set comprises a plurality of first supporting wheels (611), and the first supporting wheels (611) are used to support the material (10); A carrier driving assembly (620) is connected with the first wheel set; A first carrier limiting piece (630) is arranged on the carrier support (610); A second position sensor (640) is arranged on the carrier support (610), and the second position sensor (640) is used for detecting the position of the material (10) relative to the carrier support (610); The carrier driving assembly (620) is used for driving the first supporting wheel (611) to rotate; the rotation of the first supporting wheel (611) can drive the material (10) to move towards the first carrier limiting piece (630) and abut against the first carrier limiting piece (630).

12. The material transfer system of claim 11, wherein, The positioning carrier (600) further comprises a carrier limiting structure arranged on the carrier support (610), and the carrier limiting structure can clamp and limit the material (10) together with the first carrier limiting piece (630).

13. The material transfer system of claim 12, wherein, The carrier limiting structure comprises: A second limiting assembly (650) comprises a second limiting driving piece (651) arranged on the carrier support (610), a third limiting driving piece (652) arranged on the second limiting driving piece (651), and a second carrier limiting piece (653) arranged on the third limiting driving piece (652); the second carrier limiting piece (653) can be positioned under the drive of the second limiting driving piece (651), and the second carrier limiting piece (653) can clamp and limit the material (10) together with the first carrier limiting piece (630) under the drive of the third limiting driving piece (652); A third limiting assembly (660) is arranged on the carrier support (610), and the third limiting assembly (660) comprises a fourth limiting driving piece (661) arranged on the carrier support (610) and a third carrier limiting piece (662) arranged on the fourth limiting driving piece (661); the third carrier limiting piece (662) of one of the two third limiting assemblies (660) and the third carrier limiting piece (662) of the other third limiting assembly (660) can clamp and limit the material (10) under the drive of the corresponding fourth limiting driving piece (661); The third carrier limiting piece (662) of the material (10) is arranged at an angle with the clamping and limiting direction of the first carrier limiting piece (630) and the second carrier limiting piece (653).

14. The material transfer system of claim 1, wherein, The carrier rack (100) is provided with a first identification and a plurality of loading positions, and the carrier mechanism (500) is provided with a first identification device (550), and the first identification device (550) is used for identifying the first identification; The material (10) is provided with a second identification, and the positioning carrier (600) is provided with a second identification device (680), and the second identification device (680) is used for identifying the second identification; The material transfer system further comprises a controller, which is in communication connection with the transfer robot (700), the first identification device (550) and the second identification device (680), receives information of the first identification device (550) identifying the first identification on the carrier (100) on the carrier mechanism (500) and the second identification device (680) identifying the second identification on the material (10) on the positioning carrier (600), and controls the transfer robot (700) to grasp the material (10) and load it to the corresponding loading position of the carrier (100).

15. The material transfer system of claim 1, wherein, Further comprising a second conveying mechanism (900) arranged on one side of the positioning carrier (600); Wherein, the second conveying mechanism (900) can convey the material (10) to the positioning carrier (600); and / or, the positioning carrier (600) can transfer the material (10) to the second conveying mechanism (900).

16. The material transfer system of claim 1, wherein, The first transfer mechanism (200) and the second transfer mechanism (300) are arranged on the same side of the first conveying mechanism (400).

17. The material transfer system of claim 1, wherein, The first transfer mechanism (200) comprises a first frame body, a first driving module and a first guiding module arranged on the first frame body; wherein, under the guiding cooperation of the first guiding module and the carrier (100), the first driving module can drive the carrier (100) to separate from the first frame body; And / or, the second transfer mechanism (300) comprises a second frame body, a second driving module and a second guiding module arranged on the second frame body; wherein, under the guiding cooperation of the second guiding module and the carrier (100), the second driving module can drive the carrier (100) to transfer to the second frame body.

18. The material transfer system of claim 1, wherein, The first conveying mechanism (400) comprises: A conveying guiding assembly, on which the carrier mechanism (500) is arranged; A first conveying driving assembly connected with the carrier mechanism (500); Wherein, under the guiding action of the conveying guiding assembly, the first conveying driving assembly can drive the carrier mechanism (500) to move between the first station and the second station.

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