Carrier streamline

Abstract

The utility model discloses a carrier streamline, and belongs to the technical field of industrial automation equipment. The carrier flow line comprises a conveying rack, a conveying belt assembly, a bearing assembly and a first driving part, the conveying belt assembly is used for conveying carriers, the fixed end of the conveying belt assembly is arranged on the conveying rack, and a conveying belt of the conveying belt assembly extends in the first horizontal direction; the bearing assembly is arranged on the conveying rack, located above the conveying belt assembly and used for bearing the carrier. The fixed end of the first driving part is arranged on the conveying rack, and the output end of the first driving part is connected with a supporting part and used for driving the supporting part to move in the vertical direction so that the carrier can be transferred between the conveying belt and the bearing assembly. The stability and the safety in the transfer process are guaranteed while accurate transfer of the carrier is achieved, and the space utilization rate and the operation efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of industrial automation equipment, and particularly relates to a carrier flow line. BACKGROUND

[0002] In the production process, products often need to go through multiple processes. In order to facilitate positioning and protect the product from damage, a carrier is often used to assist in completing various processes. However, the current way of conveying the carrier is time-consuming and laborious, and occupies a large space. CONTENT OF THE UTILITY MODEL

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a carrier flow line, which realizes accurate transfer of the carrier while ensuring stability and safety during the transfer process, and helps to improve space utilization and operation efficiency.

[0004] In a first aspect, the present application provides a carrier flow line, comprising:

[0005] a conveying frame;

[0006] a conveying belt assembly for conveying the carrier, a fixed end of the conveying belt assembly being arranged on the conveying frame, and a conveying belt of the conveying belt assembly extending in a first horizontal direction;

[0007] a bearing assembly arranged on the conveying frame and above the conveying belt assembly, for bearing the carrier;

[0008] a first driving member, a fixed end of the first driving member being arranged on the conveying frame, and an output end of the first driving member being connected with a support member, for driving the support member to move in a vertical direction so as to transfer the carrier between the conveying belt and the bearing assembly.

[0009] According to the carrier flow line of the present application, when the carrier needs to be moved from the carrier flow line, the support member is lifted away from the conveying belt during the upward movement of the support member to the intermediate position under the drive of the first driving member, and then the carrier is separated from the support member and borne on the bearing assembly during the downward movement of the support member to the initial position under the drive of the first driving member, so as to realize the transfer of the carrier from the conveying belt to the bearing assembly. At the same time, when the support member is in the initial position, the conveying belt receives and transports the carrier in the first horizontal direction, so as to convey the carrier while moving the carrier. Thus, the continuous conveying, transferring and moving of the carrier are realized, the safety and reliability of the carrier flow line are improved, and the production efficiency and automation degree are improved. In addition, since the bearing assembly is located above the conveying belt assembly, the occupied space can also be reduced, which helps to improve the space utilization and operation efficiency.

[0010] According to an embodiment of the present application, the bearing assembly comprises:

[0011] a frame body arranged on the conveying frame and horizontally arranged, projections of the carrier and the support along the up-down direction are located in the frame body;

[0012] an abutting block movably arranged on the frame body and having a first state and a second state, the abutting block is adapted to abut with the carrier in the first state, and the abutting block is disengaged from the carrier in the second state.

[0013] According to an embodiment of the present application, the abutting block is rotatably arranged on the frame body, and an axis of rotation of the abutting block is parallel to one of the first horizontal direction and the second horizontal direction, and the second horizontal direction intersects the first horizontal direction.

[0014] According to an embodiment of the present application, the abutting block comprises:

[0015] a main body portion, the main body portion is rotatably connected with the frame body;

[0016] an extension portion arranged on the main body portion, a top surface of the extension portion is lower than a top surface of the main body portion in the first state.

[0017] According to an embodiment of the present application, a bottom surface of the abutting block comprises an inclined surface, the inclined surface is upwardly inclined towards a direction close to a center of the frame body.

[0018] According to an embodiment of the present application, the carrier assembly further comprises:

[0019] a resilient member connected with the abutting block and the frame body respectively, for driving the abutting block to switch from the first state to the second state.

[0020] According to an embodiment of the present application, a plurality of abutting blocks are arranged, and the plurality of abutting blocks are distributed in a circumferential direction.

[0021] According to an embodiment of the present application, the conveying belt assembly comprises two conveying belts arranged in a second horizontal direction, the second horizontal direction intersects the first horizontal direction, and the support is located between the two conveying belts.

[0022] According to an embodiment of the present application, the carrier flow line further comprises:

[0023] a positioning plate extending along the up-down direction and arranged on the carrier assembly;

[0024] a second driving member, a fixed end of the second driving member is arranged on the carrier assembly;

[0025] A side pushing piece, an output end of the second driving piece is connected with the side pushing piece, and the side pushing piece is driven to move along the first horizontal direction to drive the outer side wall of the carrier to abut against the positioning plate.

[0026] According to an embodiment of the present application, the carrier flow line further comprises:

[0027] A position sensor, the support piece and the conveying belt assembly are provided with the position sensor.

[0028] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings, wherein:

[0030] Figure 1 is a structural schematic view of the carrier flow line provided by the embodiment of the present application when the abutting block is in the second state;

[0031] Figure 2 is a structural schematic view of the carrier flow line provided by the embodiment of the present application when the abutting block is in the first state and the carrier is matched;

[0032] Figure 3 is a structural schematic view of the conveying belt assembly and the first driving piece matched provided by the embodiment of the present application;

[0033] Figure 4 is a structural schematic view of the carrier assembly, the positioning plate and the side pushing piece matched provided by the embodiment of the present application;

[0034] Figure 5 is a structural schematic view of the abutting block provided by the embodiment of the present application.

[0035] Reference Signs:

[0036] 100, conveying frame;

[0037] 210, conveying belt;

[0038] 300, carrier assembly; 310, frame body;

[0039] 320, abutting block;

[0040] 321, main body part; 3211, through hole; 3212, avoiding groove;

[0041] 322, extension part; 3221, inclined surface;

[0042] 330, connecting block;

[0043] 400, first driving member; 410, support member;

[0044] 500, positioning plate; 600, second driving member; 700, side pushing member; 800, position sensor;

[0045] 900, carrier. DETAILED DESCRIPTION

[0046] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present application, and cannot be understood as limiting the present application.

[0047] Reference is made below to Figures 1-5 The carrier flow line provided by the embodiments of the present application is described, which includes a conveying frame 100, a conveying belt assembly, a carrier supporting assembly 300, and a first driving member 400.

[0048] The conveying belt assembly is used to convey the carrier 900, the fixed end of the conveying belt assembly is arranged on the conveying frame 100, and the conveying belt 210 of the conveying belt assembly extends along a first horizontal direction; the carrier supporting assembly 300 is arranged on the conveying frame 100 and located above the conveying belt assembly, and is used to support the carrier 900; the fixed end of the first driving member 400 is arranged on the conveying frame 100, and the output end of the first driving member 400 is connected with the support member 410, which is used to drive the support member 410 to move along the up-down direction so as to transfer the carrier 900 between the conveying belt 210 and the carrier supporting assembly 300. Exemplarily, the first driving member 400 includes but is not limited to a lifting cylinder.

[0049] It can be understood that when the carrier 900 needs to be carried from the carrier flow line, the support member 410 is lifted away from the conveying belt 210 in the process of moving upward to the intermediate position under the drive of the first driving member 400, and then the carrier 900 is disengaged from the support member 410 and supported on the carrier supporting assembly 300 in the process of moving downward to the initial position under the drive of the first driving member 400, so as to realize the transfer of the carrier 900 from the conveying belt 210 to the carrier supporting assembly 300. At the same time, when the support member 410 is in the initial position, the conveying belt 210 receives and transports the carrier 900 along the first horizontal direction, so as to convey the carrier 900 while carrying the carrier 900. Thus, the continuous conveying, transferring and carrying of the carrier 900 are realized, the safety and reliability of the carrier flow line operation are improved, and the production efficiency and automation degree are improved.

[0050] In addition, since the carrier supporting assembly 300 is located above the conveying belt assembly, the floor space can also be reduced, which helps to improve the space utilization and operation efficiency.

[0051] According to the carrier flow line provided in the embodiment of the present application, the carrier 900 is precisely transferred while the stability and safety in the transfer process are ensured, which helps to improve the space utilization and operation efficiency.

[0052] In some embodiments, as shown in Figure 1 , Figure 2 , Figure 4 and Figure 5 , the bearing assembly 300 comprises a frame 310 and an abutting block 320, the frame 310 is arranged on the conveyor frame 100 and is horizontally arranged, the projections of the carrier 900 and the support 410 in the up-down direction are located in the frame 310; the abutting block 320 is movably arranged on the frame 310 and has a first state and a second state, the abutting block 320 is adapted to abut with the carrier 900 in the first state, and the abutting block 320 is disengaged from the carrier 900 in the second state.

[0053] It can be understood that the frame 310 is horizontally arranged, so that the projections of the carrier 900 and the support 410 in the up-down direction are located in the frame 310, which improves the space utilization of the carrier flow line, reduces the possibility of interference between the carrier 900 and the frame 310 in the transfer process, and ensures the stability of the carrier 900 in the transfer process. At the same time, the abutting block 320 abuts with the carrier 900 in the first state, so as to ensure the stability of the carrier 900 supported by the support 410 after the support 410 is disengaged from the carrier 900. In the process of moving the support 410 from the initial position to the transfer position, the abutting block 320 is disengaged from the carrier 900 in the second state, so as to play a role of avoiding, thereby improving the transfer efficiency and reliability of the entire carrier flow line.

[0054] In the embodiment, as shown in Figure 4 , the frame 310 is annular square and open at both upper and lower ends, so as to enhance the stability of the structure of the entire frame 310. Of course, in other embodiments, the frame 310 can also have other shapes, and the present embodiment does not specifically limit this.

[0055] In some embodiments, as shown in Figure 1 , Figure 2 , Figure 4 and Figure 5 , the abutting block 320 is rotatably arranged on the frame 310, and the rotation axis of the abutting block 320 is parallel to one of the first horizontal direction and the second horizontal direction, and the second horizontal direction intersects the first horizontal direction.

[0056] It can be understood that, in the process of moving the support 410 from the intermediate position to the initial position by rotating the abutting block 320 around the horizontal direction (including the first horizontal direction and the second horizontal direction), the abutting block 320 is rotated from the second state to the first state by the gravity of the carrier 900 itself, so as to support and position the carrier 900; after the carrier 900 is moved away from the abutting block 320, the abutting block 320 is rotated from the first state to the second state, so as to avoid the carrier 900 in the process of moving the support 410 from the initial position to the intermediate position, and reduce the occupied space of the abutting block 320, so that the entire carrier flow line and the carrier are more compact.

[0057] In the embodiment, as shown in Figure 1 , the first horizontal direction is parallel to the length direction of the carrier 900, and the second horizontal direction is parallel to the width direction of the carrier 900, so as to reduce the floor area of the entire carrier flow line.

[0058] In some embodiments, as shown in Figure 4 and Figure 5 , the abutting block 320 is provided with a through hole 3211, and the carrier assembly 300 further comprises a rotating shaft and a connecting block 330. The rotating shaft is arranged in the through hole 3211 and extends at both ends; the connecting block 330 is arranged on the frame 310 and is rotationally connected with the end of the rotating shaft. It should be noted that the shape and size of the through hole 3211 can be designed according to actual needs, and the embodiment does not make specific limitation on this.

[0059] It can be understood that the connecting block 330 is rotationally connected with both ends of the rotating shaft to play a supporting role and ensure the stability of the rotation of the rotating shaft and the abutting block 320. It should be noted that the shape of the connecting block 330 can be designed according to actual needs, and the embodiment does not make specific limitation on this.

[0060] In some embodiments, as shown in Figure 5 , the abutting block 320 comprises a main body part 321 and an extension part 322, and the main body part 321 is rotationally connected with the frame 310; the extension part 322 is arranged on the main body part 321, and the top surface of the extension part 322 is lower than the top surface of the main body part 321 in the first state.

[0061] It can be understood that the through hole 3211 is arranged on the main body part 321. In the first state, the top surface of the extension part 322 is lower than the top surface of the main body part 321, so that a step is formed between the top surface of the extension part 322 and the top surface of the main body part 321, that is, the bottom surface of the carrier 900 abuts against the top surface of the extension part 322, and at the same time, the outer side wall of the carrier 900 abuts against the side of the main body part 321 close to the extension part 322, thereby increasing the contact area, providing stable support, increasing the positioning accuracy, and improving the efficiency of subsequent handling.

[0062] In some embodiments, as shown in Figure 5 The main body 321 and the extension 322 are integrally formed, thereby improving the structural strength of the entire abutment block 320.

[0063] In some embodiments, as shown in Figure 5 The bottom surface of the abutment block 320 includes an inclined surface 3221 that slopes upward toward the center of the frame 310. It should be noted that the inclination angle and size of the inclined surface 3221 can be designed according to actual needs, and the present embodiment does not make specific limitations thereto.

[0064] It can be understood that the bottom surface of the extension 322 has an inclined surface 3221. When the support 410 moves the carrier 900 from the initial position to the transfer position, the carrier 900 passes through the abutment block 320 and is guided by the inclined surface 3221 that slopes upward away from the main body 321, so that the abutment block 320 can be smoothly rotated upward around the pivot to avoid the carrier 900. At the same time, the abutment block 320 has an upwardly inclined surface 3221 on the bottom surface, which can also reduce the contact area between the carrier 900 and the abutment block 320 during upward movement, reduce the possibility of jamming of the carrier 900 during transfer, and ensure smooth movement of the carrier 900.

[0065] In some embodiments, as shown in Figure 1 , Figure 2 and Figure 4 The bearing assembly 300 further includes a resilient member connected to the abutment block 320 and the frame 310, respectively, for switching the abutment block 320 from the first state to the second state. The resilient member includes but is not limited to a torsion spring.

[0066] It can be understood that the abutment block 320 is maintained in the second state by the resilient member under the condition of no external force, i.e., when the abutment block 320 is rotated upward by the support 410 moving the carrier 900 from the initial position to the transfer position and the abutment block 320 is maintained in the first state by the carrier 900 placed on the abutment block 320. The resilient member deforms so that the abutment block 320 can return to the second state by the resilience of the resilient member itself after the carrier 900 moves away from the abutment block 320.

[0067] In some embodiments, as shown in Figure 4 and Figure 5 The two ends of the resilient member are connected to the pivot and the connecting block 330, respectively, to indirectly connect the resilient member to the abutment block 320 and the frame 310, respectively. Of course, in other embodiments, the resilient member can be directly connected to at least one of the abutment block 320 and the frame 310, and the present embodiment does not make specific limitations thereto.

[0068] In some embodiments, as shown in Figure 5As shown, the outer side wall of the main body part 321 is provided with an avoiding groove 3212 in communication with the through hole 3211, so that the rotating shaft part is exposed outside, i.e. one end of the elastic member away from the connecting block 330 extends into the through hole 3211 through the avoiding groove 3212 to be connected with the rotating shaft, so that the structure of the bearing assembly 300 is more compact, and the stability of the abutting block 320 rotation is improved. It should be noted that the shape and specific size of the avoiding groove 3212 can be designed according to actual needs, and the present embodiment does not make specific limitation.

[0069] In some embodiments, as shown in Figure 1 、 Figure 2 and Figure 4 , the abutting block 320 is provided with a plurality of abutting blocks 320, which are distributed circumferentially, so as to improve the stability of the support carrier 900, and to adapt to carriers 900 of different shapes and sizes, and to improve the flexibility and versatility of the bearing assembly 300. It should be noted that the number and specific distribution of the abutting block 320 can be designed according to actual needs, and the present embodiment does not make specific limitation.

[0070] It should be noted that the abutting block 320, the elastic member, the rotating shaft and the connecting block 330 are one-to-one corresponding.

[0071] In some embodiments, as shown in Figure 1 、 Figure 2 , and Figure 4 , the carrier streamline further comprises a positioning plate 500, a second driving member 600 and a side pushing member 700, the positioning plate 500 extends along the up-down direction and is arranged on the bearing assembly 300; the fixed end of the second driving member 600 is arranged on the bearing assembly 300; the output end of the second driving member 600 is connected with the side pushing member 700, which is used to drive the side pushing member 700 to move along the first horizontal direction to drive the outer side wall of the carrier 900 to abut against the positioning plate 500. The second driving member 600 includes but is not limited to a linear cylinder.

[0072] It can be understood that the positioning plate 500 is convex on the inner wall of the frame body 310, i.e. when the carrier 900 is placed on the abutting block 320, the side pushing member 700 is driven by the second driving member 600 to move along the first horizontal direction to approach the carrier 900, until the side of the carrier 900 away from the side pushing member 700 abuts against the positioning plate 500, so as to improve the positioning accuracy and efficiency.

[0073] In some embodiments, as shown in Figure 4 , the fixed end of the second driving member 600 is arranged on one side of the frame body 310, and the plurality of abutting blocks 320 are distributed at intervals on the remaining three sides of the frame body 310 which are not provided with the second driving member 600.

[0074] In some embodiments, as shown in Figures 1 to 3As shown, the conveying belt assembly includes two conveying belts 210 arranged along a second horizontal direction, the second horizontal direction intersects the first horizontal direction, and the support 410 is located between the two conveying belts 210.

[0075] It can be understood that the two conveying belts 210 are arranged along the second horizontal direction, so as to improve the stability of the conveying carrier 900, reduce the load of a single conveying belt 210, and improve the carrying capacity of the entire carrier flow line. And by always locating the support 410 between the two conveying belts 210, the structure of the entire carrier flow line is more compact. It should be noted that the conveying belt assembly also includes, but is not limited to, rollers, motors, reducers, etc., which are not specifically described in this embodiment.

[0076] It should be noted that the conveying frame 100 includes a conveying support and a plurality of fixing members, the conveying support is used to support and fix the conveying belt assembly, and the plurality of fixing members are arranged at the lower end of the frame body 310 in a spaced manner, so as to realize the respective support and positioning of the conveying belt assembly and the carrying assembly 300.

[0077] In some embodiments, as shown in Figure 1 and Figure 3 As shown, the carrier flow line also includes a position sensor 800 for obtaining position information of the carrier 900, reducing the possibility of collision, optimizing the automation level of the carrier flow line, and improving the efficiency and reliability of operation.

[0078] It can be understood that, as shown in Figure 3 By arranging the position sensor 800 on the support 410, it is convenient to judge whether the carrier 900 is separated from the support 410 in time, so as to facilitate subsequent handling of the carrier 900 on the abutting block 320, adjustment of the speed of the conveying belt 210, or movement of the carrier 900 in the previous station to the conveying belt 210. Similarly, as shown in Figure 1 The position sensor 800 is arranged near the conveying belt 210, so as to judge in time whether the carrier 900 needs to be controlled by the first driving member 400 to move upward to the transfer position or downward to the initial position.

[0079] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and are not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in an "or" relationship.

[0080] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and 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 limiting the present application.

[0081] In the description of the present application, "first feature" and "second feature" can include one or more of the features.

[0082] In the description of the present application, "a plurality of" means two or more.

[0083] In the description of the present application, "above" or "below" the first feature of the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them.

[0084] In the description of the present application, "above", "over" and "on" the first feature of the second feature includes that the first feature is directly above and obliquely above the second feature, or only means that the first feature is higher than the second feature in horizontal height.

[0085] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0086] Although embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A vehicle streamliner characterized by, The utility model relates to a kind of conveying frame (100) and the conveying frame (100) is used to carry out the conveying of carrier (900);The utility model relates to a kind of conveying belt assembly, and the conveying belt assembly is used to carry out the conveying of carrier (900);The utility model relates to a kind of bearing assembly (300), and the bearing assembly (300) is used to carry out the conveying of carrier (900);The utility model relates to a kind of first driving member (400), and the first driving member (400) is used to carry out the conveying of carrier (900) between conveying belt (210) and bearing assembly (300). The utility model relates to a kind of bearing assembly (300), and the bearing assembly (300) includes: Frame (310), setting in the conveying frame (100) and being horizontally arranged, the projection of carrier (900) and support (410) in up-down direction is located in the frame (310); Butt block (320), movably setting in the frame (310) and having first state and second state, the butt block (320) is adapted to be matched with carrier (900) when the first state, the butt block (320) is matched with carrier (900) when the second state is separated. The utility model relates to a kind of butt block (320), and the rotation axis of the butt block (320) is parallel with one of the first horizontal direction and second horizontal direction, and the second horizontal direction and the first horizontal direction intersect.

2. The vehicle streamliner of claim 1, wherein, The utility model relates to a kind of butt block (320), and the butt block (320) includes: Main body part (321), the main body part (321) and the frame (310) are rotationally connected; Extension (322), the extension (322) is set in the main body part (321), and the top surface of the extension (322) is lower than the top surface of the main body part (321) in the first state.

3. The vehicle streamliner of claim 2, wherein, The utility model relates to a kind of butt block (320), and the bottom surface of the butt block (320) includes slope (3221), and the slope (3221) is inclined upward to the direction close to the center of the frame (310).

4. The vehicle streamliner of claim 3, wherein, The utility model relates to a kind of bearing assembly (300), and the bearing assembly (300) further includes: Elastic member, the elastic member is connected with the butt block (320) and the frame (310) respectively, for driving the butt block (320) from the first state to the second state. The utility model relates to a kind of butt block (320), and multiple butt blocks (320) are distributed circumferentially.

5. The vehicle streamliner of claim 3, wherein, The utility model relates to a kind of conveying belt assembly, and the conveying belt assembly includes two conveying belts (210) spaced apart along the second horizontal direction, and the second horizontal direction and the first horizontal direction intersect, and the support (410) is located between two conveying belts (210).

6. The vehicle streamliner of claim 2, wherein, The utility model relates to a kind of carrier streamline, and the carrier streamline includes: Positioning plate (500), the positioning plate (500) extends along the up-down direction, and is set in the bearing assembly (300).

7. The vehicle streamliner of claim 2, wherein, ​ 8. The vehicle streamliner of any one of claims 1 to 7, wherein, ​ 9. The vehicle streamliner of any one of claims 1 to 7, wherein, ​ ​ A second driving member (600) has a fixed end arranged on the bearing assembly (300); A side pushing member (700) is connected with the output end of the second driving member (600) and used to drive the side pushing member (700) to move along the first horizontal direction so as to drive the outer side wall of the carrier (900) to abut against the positioning plate (500).

10. The vehicle streamliner of any one of claims 1 to 7, wherein, The carrier flow line further comprises: A position sensor (800) is used to obtain the position information of the carrier (900).

Images