Conveying device

Abstract

The application relates to the technical field of semiconductors or photovoltaics, in particular to a transfer device to solve the problem of low taking and placing efficiency of a sheet material in a process magazine in a sheet-by-sheet manner. In the transfer device, a first jacking device can pass through a first hollow part to jack out a bottom support and a whole stack of sheet materials from a first magazine, and in the process of jacking out or jacking in the whole stack of sheet materials into the first magazine, an elastic pressing device can cooperate with the first jacking device to clamp the bottom support and the whole stack of sheet materials, thereby improving the stability of jacking out or jacking in the bottom support and the whole stack of sheet materials. After the bottom support and the whole stack of sheet materials are jacked out of the first magazine, a clamping support device receives the bottom support and the whole stack of sheet materials from the first jacking device, and under the cooperation of the clamping support device and the elastic pressing device, the bottom support and the whole stack of sheet materials are smoothly handed over to the first jacking device, and the bottom support and the whole stack of sheet materials are transferred outside the first magazine, the whole stack of sheet materials is taken and placed and transferred, and the taking and placing efficiency of the sheet materials is improved.

Description

Technical Field

[0001] This application relates to the field of semiconductor or photovoltaic technology, and in particular to a transfer device. Background Technology

[0002] In the semiconductor or photovoltaic industries, wafers, as a basic material, need to be frequently handled and transferred between different process stages. Wafers are typically stored in stacks in process bins for processing. After the current process is completed, the wafer is removed from the process bin and moved to the next process stage.

[0003] However, existing sheet handling technology can only place sheets into the process box one by one, and then remove the sheets from the process box one by one after the process is completed. This results in low handling efficiency and makes it difficult to meet the needs of the industry's rapid development. Utility Model Content

[0004] In view of this, embodiments of this application provide a transfer device to solve the problem of low efficiency in handling sheet materials one by one in a process material box.

[0005] One embodiment of this application provides a transfer device for transferring multiple sheets into or out of a first material box. The first material box can accommodate a base tray and multiple sheets. The first material box includes multiple side plates and a base plate connected to the side plates. The base plate has a first hollow portion and a supporting portion. The first hollow portion penetrates through the base plate, and the supporting portion is used to support the base tray. The base tray is used to support multiple sheets, and the first material box is used to support multiple sheets. The transfer device has one or more first sheet pick-and-place positions for placing the first material box. The transfer device includes one or more first lifting devices located at the first sheet pick-and-place positions, used to pass through the first hollow portion and push the base tray and multiple sheets out of the first material box along a first direction, or along a first... The system includes a first material box containing the base tray and multiple sheets in the opposite direction; an elastic clamping device for providing elastic force; a transfer drive device adjacent to the first sheet pick-and-place position, connected to the elastic clamping device, for driving the elastic clamping device to the first sheet pick-and-place position and moving it in the first direction or the opposite direction, so that the elastic clamping device presses the base tray and multiple sheets against the first lifting device; and a clamping support device disposed on the transfer drive device for acquiring or releasing the base tray and multiple sheets. The clamping support device and the elastic clamping device can together form a receiving space for receiving the base tray and multiple sheets, and the elastic clamping device is also used to elastically press the base tray and multiple sheets against the clamping support device.

[0006] The transfer device provided in this embodiment includes one or more first lifting devices, elastic clamping devices, transfer driving devices, and clamping and supporting devices. The first lifting device can pass through the first hollow portion and push the bottom support and the stack of sheets in the first material box out of the first material box along the first direction, or push the received bottom support and the stack of sheets into the first material box in the opposite direction of the first direction, thus realizing the pushing out or putting into the first material box of the stack of sheets. Furthermore, during the process of pushing out or putting into the first material box of the stack of sheets, the elastic clamping device can cooperate with the first lifting device to clamp the bottom support and the stack of sheets, thereby improving the stability when the bottom support and the stack of sheets are pushed out or put into the first material box.

[0007] Furthermore, after the base and the stack of sheets are ejected from the first material box, the clamping and supporting device receives the base and the stack of sheets from the first lifting device. The base and the stack of sheets are located in the accommodating space. With the cooperation of the clamping and supporting device and the elastic pressing device, the base and the stack of sheets are smoothly transferred to the first lifting device, as well as the transfer of the base and the stack of sheets outside the first material box.

[0008] Simultaneously, the transfer drive device drives the elastic clamping device to cooperate with the first lifting device or clamping support device, achieving elastic clamping of the base and the entire stack of sheets, rather than rigid clamping. This avoids excessive clamping force that could cause cracks or fragments in the sheets, and allows the transfer equipment to handle and transfer stacks of sheets of varying quantities, improving its versatility. When the first lifting device lifts or encounters minor vibrations, the elastic clamping device absorbs some of the impact force, acting as a buffer to prevent these impact forces from being directly transmitted to the sheets, thus protecting the sheets from sudden external impacts that could cause them to break.

[0009] In summary, the first lifting device, the elastic clamping device, the transfer drive device, and the clamping support device work together to realize the transfer of the entire stack of sheets into and out of the first material box, and to realize the picking and placing and transferring of the entire stack of sheets. Moreover, the transfer process is stable and reliable, avoiding problems such as scratches and damage to the sheets caused by picking and placing them one by one, improving the efficiency of picking and placing sheets into the first material box, and meeting the needs of the rapidly developing industry. Attached Figure Description

[0010] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0011] Figure 1 The diagram shown is a structural schematic of an application scenario for a transfer device provided in an embodiment of this application.

[0012] Figure 2 The diagram shown is a structural schematic of an application scenario for a transfer device provided by another embodiment of this application.

[0013] Figure 3 The diagram shown is a structural schematic of the first material box provided in an embodiment of this application.

[0014] Figure 4 The diagram shown is a structural schematic of an elastic clamping device and a clamping support device provided in an embodiment of this application.

[0015] Figure 5 The diagram shown is a structural schematic of the first lifting device 11 provided in an embodiment of this application.

[0016] Figure 6 The diagram shown is a structural schematic of a sheet, a first material box, a first platform, and a first positioning device provided in an embodiment of this application.

[0017] Figure 7 The diagram shown is a structural schematic of the second material box provided in an embodiment of this application.

[0018] Figure 8 The diagram shown is a structural schematic of an application scenario for a conveying device provided in an embodiment of this application.

[0019] Figure 9 The diagram shown is a structural schematic of a conveying device provided in an embodiment of this application.

[0020] Figure 10 The diagram shown is a structural schematic of an embodiment of this application, applicable to a cache rack, cache support, lifting device, and raising device.

[0021] Figure label:

[0022] 10. Transfer equipment; 100. First sheet pick-and-place position; 101. Accommodation space; 102. First material box pick-and-place position; 103. Second sheet pick-and-place position; 104. Second material box pick-and-place position; 105. Reception space; 11. First lifting device; 110. Adsorption assembly; 1100. First adsorption part; 1101. Second adsorption part; 111. Lifting drive assembly; 12. Elastic clamping device; 120. Elastic element; 121. Clamping element; 122. Guide rod; 13. Transfer drive device; 14. Clamping and supporting device; 140. Clamping component; 141. Supporting component; 142. Clamping drive assembly; 15. First platform; 16. First positioning device; 160. First positioning component; 161. First alignment component; 162. Second alignment component; 163. First positioning drive component; 164. Second positioning drive component; 17. First platform drive device; 18. Rotating device; 19. Conveying device 190. Third hollow section; 191. First conveying assembly; 192. Second conveying assembly; 20. Sheet; 30. First material box; 31. Side plate; 32. Base plate; 320. First hollow section; 321. Supporting part; 33. Gap; 40. Base support; 50. Second material box; 51. Sheet placement area; 52. Material box base plate; 53. Material box side column; 60. Second lifting device; 61. Buffer rack; 62. Buffer support component; 63. Lifting 64. Lifting device; 640. Insertion and separation component; 641. Insertion and separation drive component; 65. Conveying bracket; 650. First support component; 651. Second support component; 652. Support column; 653. Third support plate; 66. Third positioning component; 67. Fourth positioning component; 68. Third positioning drive component; 69. Fourth positioning drive component; 70. Fourth alignment component; X1. First direction; X2. Second direction; X3. Third direction. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] In the semiconductor or photovoltaic industries, wafers are typically stored in stacks in process bins for processing. After the current process is completed, the wafer is removed from the process bin and flows to the next process stage.

[0025] However, because the shape of the process cassette needs to be adapted to the process, the external shape of the process cassette is difficult to change. For example, it is difficult to set up a structure on the side wall of the process cassette to avoid the device that grips the silicon wafers. Therefore, existing wafer handling technologies can only put the wafers into the process cassette one by one, and then take them out of the process cassette one by one after the wafers have completed the process. This results in low wafer handling efficiency and makes it difficult to meet the needs of the industry's rapid development.

[0026] In addition, existing technologies typically use robotic grippers to pick up and place sheets one by one into the process box. This means that each sheet needs to be picked up and placed by the robotic gripper, which makes the sheets prone to physical damage such as scratches and breaks, resulting in a high defect rate or even scrapping of the sheets, thus increasing production costs.

[0027] Figure 1 The diagram shown is a structural schematic of an application scenario for a transfer device provided in an embodiment of this application. Figure 2 The diagram shown is a structural schematic of an application scenario for a transfer device provided by another embodiment of this application. Figure 3 The diagram shown is a structural schematic of the first material box provided in an embodiment of this application. Figure 4 The diagram shown is a structural schematic of an elastic clamping device and a clamping support device provided in an embodiment of this application.

[0028] like Figures 1 to 4 As shown, the transfer device 10 can be used to transfer multiple sheets 20 into the first material box 30, and can also be used to transfer multiple sheets 20 out of the first material box 30. Exemplarily, the sheet 20 may include one or more combinations of silicon wafers, solar cells, wafers, and glass substrates.

[0029] The first material box 30 is capable of accommodating a base tray 40 and multiple sheets 20. The first material box 30 includes multiple side plates 31 and a base plate 32 connected to the side plates 31. The base plate 32 has a first cutout portion 320 penetrating through the base plate 32, and the support portion 321 supports the base tray 40. The base tray 40 supports the multiple sheets 20. The first material box 30 supports the multiple sheets 20.

[0030] Exemplarily, the first material box 30 can be used to hold multiple sheets 20 for processing. Exemplarily, the first material box 30 can also be called a process material box. By shielding the first cutout portion 320 with the base support 40, the first cutout portion 320 can be prevented from affecting the processing effect of the sheet 20. Exemplarily, as Figure 3 As shown, along a direction parallel to the base plate 32, there is a gap 33 between the base plate 32 and a side plate 31, allowing process gas to pass through the gap 33 and contact the side to be processed. When the first material box 30 accommodates the base support 40 and multiple sheets 20, there is also a gap between the base support 40 and the side plate 31.

[0031] The transfer device 10 has one or more first sheet pick-and-place positions 100. The first sheet pick-and-place positions 100 are used to place the first material box 30. The transfer device 10 includes: one or more first lifting devices 11, elastic clamping devices 12, transfer drive devices 13, and clamping and supporting devices 14.

[0032] One or more first lifting devices 11 are located at the first sheet placement / removal position 100. The first lifting device 11 is used to pass through the first cutout 320, and can push the base support 40 and multiple sheets 20 in the first material box 30 out of the first material box 30 along the first direction X1, and can also put the receiving base support 40 and multiple sheets 20 into the first material box 30 in the opposite direction of the first direction X1. The elastic clamping device 12 is used to provide elastic force.

[0033] The transfer drive device 13 is adjacent to the first sheet pick-and-place position 100. The transfer drive device 13 is connected to the elastic clamping device 12 and is used to drive the elastic clamping device 12 to the first sheet pick-and-place position 100 and move it in the first direction X1 or the opposite direction of the first direction X1 so that the elastic clamping device 12 presses the bottom support 40 and the plurality of sheets 20 against the first lifting device 11.

[0034] A clamping and supporting device 14 is disposed on the transfer drive device 13 for acquiring or releasing the base tray 40 and multiple sheets 20. Since both the elastic clamping device 12 and the clamping and supporting device 14 are connected to the transfer drive device 13, the transfer drive device 13 can drive the elastic clamping device 12 and the clamping and supporting device 14 to move synchronously to the first sheet pick-and-place position 100. Exemplarily, the transfer drive device 13 may include one or more combinations of the following drive structures: gear sets, sprocket chains, lead screw guides, power cylinders, motors, and crank-slider systems. For example, the transfer drive device 13 may include a linear module.

[0035] like Figure 4 As shown, the clamping support device 14 and the elastic pressing device 12 can together form a receiving space 101, which is used to receive the base 40 and the plurality of sheets 20. The elastic pressing device 12 is also used to elastically press the base 40 and the plurality of sheets 20 against the clamping support device 14.

[0036] In some application scenarios, the transfer device 10 can transfer multiple sheets 20 out of the first material box 30 as follows. When the first material box 30, which contains the base 40 and multiple sheets 20, is located at the first sheet pick-and-place position 100, the transfer drive device 13 can drive the elastic pressing device 12 to the first sheet pick-and-place position 100, so that the elastic pressing device 12 presses against the multiple sheets 20 in the first material box 30, and the first lifting device 11 can pass through the first cutout 320 and start to lift along the first direction X1. The elastic pressing device 12 presses the base 40 and multiple sheets 20 against the first lifting device 11. During the process of the first lifting device 11 pushing the bottom support 40 and multiple sheets 20 out of the first material box 30 along the first direction X1, the elastic clamping device 12 is driven by the transfer drive device 13 to move along the first direction X1 with the multiple sheets 20, so as to cooperate with the first lifting device 11 to clamp the bottom support 40 and the multiple sheets 20.

[0037] After the base 40 and multiple sheets 20 are completely ejected from the first material box 30, they move synchronously with the elastic pressing device 12 to the clamping support device 14 of the first sheet pick-and-place position 100 to pick up the base 40 and multiple sheets 20. The clamping support device 14 and the elastic pressing device 12 together form the accommodating space 101. The elastic pressing device 12 elastically presses the base 40 and multiple sheets 20 against the clamping support device 14, thereby realizing the transfer of multiple sheets 20 out of the first material box 30.

[0038] In some application scenarios, the transfer device 10 transfers multiple sheets 20 into the first material box 30 as follows. With the clamping support device 14 and the elastic pressing device 12 forming the receiving space 101, and the elastic pressing device 12 elastically pressing the base 40 and multiple sheets 20 against the clamping support device 14, the transfer drive device 13 drives the clamping support device 14 and the elastic pressing device 12 to move synchronously to the first sheet pick-and-place position 100. The first lifting device 11 lifts along the first direction X1 and passes through the first cutout 320 to receive the base 40 and multiple sheets 20. The clamping support device 14 releases the base 40 and multiple sheets 20, and the elastic pressing device 12 presses the base 40 and multiple sheets 20 against the first lifting device 11.

[0039] The first lifting device 11 receives the base 40 and multiple sheets 20 in the opposite direction of the first direction X1 and receives them into the first material box 30. At the same time, the transfer drive device 13 drives the elastic clamping device 12 to move along the opposite direction of the first direction X1 with the sheets 20, so that during the process of receiving the base 40 and multiple sheets 20 into the first material box 30, the base 40 and multiple sheets 20 are continuously pressed against the first lifting device 11, clamping the base 40 and multiple sheets 20, thereby realizing the transfer of multiple sheets 20 into the first material box 30.

[0040] Exemplarily, the elastic clamping device 12 may include any material or structure capable of providing elasticity. For example, the elastic clamping device 12 may include a spring, rubber, or sponge. Exemplarily, the clamping and supporting device 14 may include any structure capable of clamping and supporting the base 40 and the plurality of sheets 20, and capable of forming an accommodating space 101 with the elastic clamping device 12. The specific structure of the clamping and supporting device 14 is not specifically limited in this embodiment. Exemplarily, the first lifting device 11 and the first sheet pick-and-place position 100 may correspond one-to-one.

[0041] The transfer device 10 provided in this embodiment includes one or more first lifting devices 11, elastic clamping devices 12, transfer driving devices 13, and clamping and supporting devices 14. The first lifting device 11 can pass through the first hollow portion 320 and push the bottom support 40 and the stack of sheets 20 in the first material box 30 out of the first material box 30 along the first direction X1, or push the receiving bottom support 40 and the stack of sheets 20 into the first material box 30 in the opposite direction of the first direction X1, thus realizing the pushing out or putting into the first material box 30 of the stack of sheets 20. Furthermore, during the process of the stack of sheets 20 being pushed out or put into the first material box 30, the elastic clamping device 12 can cooperate with the first lifting device 11 to clamp the bottom support 40 and the stack of sheets 20, thereby improving the stability when the bottom support 40 and the stack of sheets 20 are pushed out or put into the first material box 30.

[0042] Furthermore, after the base support 40 and the stacked sheet 20 are ejected from the first material box 30, the clamping and supporting device 14 receives the base support 40 and the stacked sheet 20 from the first lifting device 11. The base support 40 and the stacked sheet 20 are located in the accommodating space 101. With the cooperation of the clamping and supporting device 14 and the elastic pressing device 12, the base support 40 and the stacked sheet 20 are smoothly transferred to the first lifting device 11, and the base support 40 and the stacked sheet 20 are transferred outside the first material box 30.

[0043] Simultaneously, the transfer drive device 13 drives the elastic clamping device 12 to cooperate with the first lifting device 11 or the clamping support device 14, realizing elastic clamping of the base 40 and the stack of sheets 20, rather than rigid clamping. This avoids excessive clamping force that could cause cracks or fragments in the sheets 20, and allows the transfer device 10 to handle and transfer different numbers of stacks of sheets 20, improving the versatility of the transfer device 10. When the first lifting device 11 lifts or encounters minor vibrations, the elastic clamping device 12 can absorb some of the impact force, acting as a buffer to prevent these impact forces from being directly transmitted to the sheets 20, thereby protecting the sheets 20 from sudden external impacts that could cause them to break.

[0044] In summary, the first lifting device 11, the elastic pressing device 12, the transfer driving device 13, and the clamping and supporting device 14 work together to realize the transfer of the entire stack of sheets 20 into and out of the first material box 30, and to realize the picking, placing, and transferring of the entire stack of sheets 20. Moreover, the transfer process is stable and reliable, avoiding problems such as scratches and damage to the sheets caused by picking and placing them one by one, improving the efficiency of picking and placing the sheets 20 into the first material box 30, and meeting the needs of the rapidly developing industry.

[0045] Figure 5 The diagram shown is a structural schematic of the first lifting device 11 provided in an embodiment of this application.

[0046] In some embodiments, such as Figure 2 and Figure 5 As shown, the first lifting device 11 includes an adsorption assembly 110 and a lifting drive assembly 111. The adsorption assembly 110 is used to adsorb the base tray 40. The lifting drive assembly 111 is connected to the adsorption assembly 110 and is used to drive the adsorption assembly 110 through the first hollow portion 320. It can move along the first direction X1 to lift the base tray 40 through the adsorption assembly 110, and can also move in the opposite direction of the first direction X1 to receive the base tray 40 into the first material box 30 through the adsorption assembly 110.

[0047] In some application scenarios, the lifting drive assembly 111 drives the adsorption assembly 110, which is initially positioned, to move along the first direction X1. The adsorption assembly 110 passes through the first hollow portion 320 to adsorb the base 40, and drives the base 40 and the stack of sheets 20 to rise, pushing the base 40 and the stack of sheets 20 out of the first material box 30. During the rising process of the base 40 and the stack of sheets 20, the elastic pressing device 12 presses the base 40 and the stack of sheets 20 against the adsorption assembly 110. After the base 40 and the stack of sheets 20 are completely ejected from the first material box 30, the clamping and supporting device 14 picks up the base 40 and the stack of sheets 20. The adsorption component 110 stops adsorbing the base 40 and moves to the initial position in the opposite direction of the first direction X1 under the drive of the lifting drive component 111. The elastic pressing device 12 elastically presses the base 40 and the stack of sheets 20 against the clamping and supporting device 14, thereby realizing the transfer of the stack of sheets 20 out of the first material box 30.

[0048] In some application scenarios, the lifting drive assembly 111 drives the adsorption assembly 110, which is initially positioned, to move along the first direction X1. The adsorption assembly 110 passes through the first cutout 320 to adsorb the base 40 and receives the base 40 and the stack of sheets 20. The clamping support device 14 releases the base 40 and the stack of sheets 20, and the elastic pressing device 12 presses the base 40 and the stack of sheets 20 against the adsorption assembly 110. The lifting drive assembly 111 drives the adsorption assembly 110 to move in the opposite direction of the first direction X1, collecting the base 40 and the stack of sheets 20 received by the adsorption assembly 110 into the first material box 30, thus transferring the stack of sheets 20 into the first material box 30. After the base 40 and the stack of sheets 20 are collected into the first material box 30, the adsorption assembly 110 stops adsorbing the base 40 and moves back to the initial position in the opposite direction of the first direction X1 under the drive of the lifting drive assembly 111. For example, the initial position is located below the first sheet pick-and-place position 100.

[0049] Exemplarily, the adsorption surface of the adsorption component 110 is used to adsorb and support the base 40. Exemplarily, the adsorption surface has one or more adsorption holes that can communicate with a vacuum device.

[0050] For example, the adsorption assembly 110 includes a first adsorption part 1100 and a second adsorption part 1101. The lifting drive assembly 111 is connected to the first adsorption part 1100 and the second adsorption part 1101, and is used to drive the first adsorption part 1100 and the second adsorption part 1101 through the first hollow part 320 and move along the first direction X1, so as to drive the base 40 to rise through the first adsorption part 1100 and the second adsorption part 1101, or to move in the opposite direction of the first direction X1, so as to receive the base 40 into the first material box 30 through the first adsorption part 1100 and the second adsorption part 1101.

[0051] For example, the first adsorption part 1100 and the second adsorption part 1101 are spaced apart along a direction perpendicular to the first direction X1. The first adsorption part 1100 has a first adsorption surface, and the second adsorption part 1101 has a second adsorption surface. The first adsorption surface and the second adsorption surface are coplanar. The first adsorption surface and the second adsorption surface are used to adsorb and support the base 40. This arrangement can reduce the weight of the adsorption assembly 110, and the adsorption and support of the base 40 are achieved through the two adsorption surfaces, increasing the stability of the movement of the base 40.

[0052] For example, the lifting drive assembly 111 may include one or more combinations of the following drive structures: gear set, sprocket and chain, lead screw and guide rail, power cylinder, motor and crank-slider. For instance, the lifting drive assembly 111 may include a linear module.

[0053] The transfer device 10 provided in this embodiment includes a first lifting device 11 comprising an adsorption component 110 and a lifting drive component 111. The adsorption component 110 can adsorb and support the base tray 40 and the stack of sheets 20. The lifting drive component 111 drives the adsorption component 110 to move, thereby lifting the base tray 40 or storing the base tray 40 held by the adsorption component 110 into the first material box 30. This allows the adsorption component 110 to cooperate with the elastic clamping device 12 to achieve elastic clamping of the base tray 40 and the stack of sheets 20. When the adsorption component 110 starts to move along the first direction X1 or the opposite direction of the first direction X1 after adsorbing the base tray 40, the adsorption function enables the adsorption component 110 and the base tray 40 to be quickly and tightly connected together. This ensures that when the adsorption component 110 starts to move, the base tray 40 can move with the adsorption component 110, preventing possible slippage or misalignment between the two that could cause the stack of sheets 20 to shake or tip over.

[0054] Furthermore, during the movement of the adsorption component 110 adsorbing the base 40 along the first direction X1 or the opposite direction of the first direction X1, slight displacement may occur between the adsorption component 110 and the base 40 due to factors such as vibration or poor motion accuracy of the mechanism. The adsorption function helps to counteract these slight displacements, ensuring that the adsorption component 110 and the base 40 are continuously and tightly connected together. Through the synergistic action of the adsorption component 110 and the elastic pressing device 12, the base 40 and the stacked sheet 20 can be stabilized and constrained simultaneously from the bottom and top, effectively reducing the impact of various unstable factors on the sheet 20 during lifting or lowering, thereby more smoothly removing or placing the sheet 20 into the first material box 30 and reducing the risk of sheet 20 fragmentation.

[0055] In some embodiments, such as Figure 2 and Figure 4 As shown, the elastic clamping device 12 includes one or more elastic elements 120 and a clamping element 121. One end of the elastic element 120 is connected to the transfer drive device 13. The clamping element 121 is connected to the other end of the elastic element 120, and the clamping element 121 is used to clamp the base 40 and the plurality of sheets 20 against the first lifting device 11 or the clamping support device 14.

[0056] The elastic element 120 may include any material or structure capable of providing elasticity. For example, the elastic element 120 may include a spring, rubber, or sponge. Exemplarily, the transfer drive device 13 has a guide hole whose centerline extends along a first direction X1. The elastic element 120 may include a spring. One end of the spring is connected to the transfer drive device 13, and the other end is connected to the clamping element 121. The elastic clamping device 12 also includes one or more guide rods 122. The guide rods 122 extend along the first direction X1, and the spring is sleeved on the guide rods 122. One end of the guide rod 122 is connected to the clamping element 121, and the other end passes through the guide hole and is slidably connected to the transfer drive device 13. By providing the guide rods 122 and the guide hole, the direction of movement of the clamping element 121 can be guided. Figure 4 As shown, the elastic clamping device 12 includes two springs and two guide rods 122.

[0057] For example, the shape of the clamping member 121 may include a plate shape or a block shape. For example, the shape of the clamping member 121 includes a plate shape, and the clamping member 121 is perpendicular to the first direction X1.

[0058] The transfer device 10 provided in this embodiment has one end of the elastic element 120 connected to the transfer drive device 13 and the other end connected to the clamping element 121. The clamping element 121 presses the bottom support 40 and the stack of sheets 20 against the first lifting device 11 or the clamping support device 14. This helps to ensure that the elastic clamping device 12 provides uniform pressure on the top surface of the stack of sheets 20. Regardless of whether the surface of the stack of sheets 20 is flat, it can ensure that each sheet 20 is properly constrained, further improving the stability of the sheets 20 during the removal process and reducing the possibility of damage to the sheets 20 due to uneven local stress.

[0059] In some embodiments, such as Figure 2 and Figure 4 As shown, the clamping and supporting device 14 includes: a pair or more clamping members 140, one or more supporting members 141, and a clamping drive assembly 142. The pair or more clamping members 140 are spaced apart along a second direction X2, and the clamping members 140 extend along a first direction X1. The second direction X2 is perpendicular to the first direction X1. One or more supporting members 141 are connected to the clamping members 140 and extend along the second direction X2. The clamping members 140, the supporting members 141, and the elastic pressing device 12 together form an accommodating space 101. The elastic pressing device 12 is also used to elastically press the base 40 and the plurality of sheets 20 against the supporting members 141.

[0060] The clamping drive assembly 142 is disposed on the transfer drive device 13 and connected to one or more clamping members 140. It is used to drive one or more clamping members 140 to move relative to each other or in opposite directions, so that one or more clamping members 140 clamp or release the base tray 40 and the multiple sheets 20.

[0061] Specifically, the clamping drive assembly 142 drives one or more clamping members 140 to move relative to each other, causing the one or more clamping members 140 to clamp the base 40 and the plurality of sheets 20. The clamping drive assembly 142 also drives one or more clamping members 140 to move away from each other, causing the one or more clamping members 140 to release the base 40 and the plurality of sheets 20. Exemplarily, after the clamping support device 14 acquires the base 40 and the plurality of sheets 20, the paired clamping members 140 can clamp the base 40 and the plurality of sheets 20 along the second direction X2, or they can be used only to form the receiving space 101 to prevent the base 40 and the plurality of sheets 20 from tipping over. That is, the clamping members 140 have a gap with the base 40 and the plurality of sheets 20 in the second direction X2.

[0062] Exemplarily, the elastic clamping device 12 may be located on the side of the support member 141 facing the first direction X1. Exemplarily, the clamping member 121 is located on the side of the support member 141 facing the first direction X1. One or more elastic members 120 are located on the side of the clamping member 121 facing the first direction X1. The clamping member 140, the support member 141, and the clamping member 121 together form the receiving space 101.

[0063] Exemplarily, the side of the clamping member 140 facing the receiving space 101 is the clamping surface, and the side of the support member 141 facing the receiving space 101 is the bearing surface. In the interconnected clamping member 140 and support member 141, the orthographic projection of the clamping surface and the bearing surface onto the plane formed by the first direction X1 and the second direction X2 can be L-shaped. Exemplarily, both the clamping surface and the bearing surface are planar. Exemplarily, the distance by which the clamping drive assembly 142 drives one or more clamping members 140 to move relative to each other or in opposite directions can be greater than the length of a line segment of the bearing surface onto the plane formed by the first direction X1 and the second direction X2.

[0064] Exemplarily, the clamping drive assembly 142 may include one or more combinations of the following drive structures: gear set, sprocket chain, lead screw guide, power cylinder, motor, and crank slider. Exemplarily, the clamping drive assembly 142 may include a double-threaded screw (bidirectional screw).

[0065] like Figure 2 As shown, the clamping and supporting device 14 includes two pairs of clamping members 140, each clamping member 140 being connected to a supporting member 141.

[0066] The transfer device 10 provided in this embodiment drives a pair or more clamping members 140 to move relative to each other or in opposite directions through the clamping drive assembly 142, so that the pair or more clamping members 140 clamp or release the base tray 40 and multiple sheets 20, so that the transfer device 10 can be applied to the stacking and transfer of sheets 20 of different specifications, thereby improving the versatility of the transfer device 10.

[0067] The clamping member 140, the supporting member 141, and the elastic clamping device 12 together form the accommodating space 101. The supporting member 141 is connected to the clamping member 140 and extends along the second direction X2. The supporting member 141 and the elastic clamping device 12 cooperate with each other to elastically clamp the base tray 40 and multiple sheets 20 along the first direction X1. One or more clamping members 140 are spaced apart along the second direction X2, and the clamping members 140 extend along the first direction X1, so that the clamping members 140 can prevent the base tray 40 and the stack of sheets 20 from tipping over, increasing the stability and reliability of the transfer process. Furthermore, the clamping and supporting device 14 has a simple and reliable structure.

[0068] Figure 6 The diagram shown is a structural schematic of a sheet, a first material box, a first platform, and a first positioning device provided in an embodiment of this application.

[0069] In some embodiments, such as Figure 1 , Figure 2 and Figure 6 As shown, the transfer device 10 further includes one or more first platforms 15 and one or more first positioning devices 16. One or more first platforms 15 are located at the first sheet pick-and-place position 100 and have a second perforated portion penetrating through the first platform 15. The first platform 15 is used to receive and carry the first material box 30. One or more first positioning devices 16 are disposed on the first platform 15 and are used to position the first material box 30 along a second direction X2 and a third direction X3, so that the first material box 30 is located at the first sheet pick-and-place position 100. The first direction X1, the second direction X2, and the third direction X3 are perpendicular to each other.

[0070] The first lifting device 11 is also used to pass through the first hollow part 320 and the second hollow part to push the bottom support 40 and multiple sheets 20 in the first material box 30 out of the first material box 30 along the first direction X1, or to take the receiving bottom support 40 and multiple sheets 20 into the first material box 30 in the opposite direction of the first direction X1.

[0071] Specifically, the second hollow portion penetrates the first platform 15 along the first direction X1. The second hollow portion is used for the first lifting device 11 to pass through, so as to further pass through the first hollow portion 320. Exemplarily, the second hollow portion can be configured to correspond to the first hollow portion 320.

[0072] For example, a plurality of first platforms 15 may be arranged along the second direction X2. The first platforms 15 and the first sheet pick-and-place positions 100 may correspond one-to-one.

[0073] For example, such as Figure 2 and Figure 6As shown, the first positioning device 16 may include one or more first positioning elements 160, one or more second positioning elements, one or more first alignment elements 161, one or more second alignment elements 162, one or more first positioning drive elements 163, and one or more second positioning drive elements 164. One or more first positioning elements 160, one or more second positioning elements, one or more first positioning drive elements 163, and one or more second positioning drive elements 164 are disposed on the first platform 15. The first positioning elements 160, second positioning elements, first alignment elements 161, and second alignment elements 162 may be located on the side of the first platform 15 used to support the first material box 30.

[0074] One or more first positioning members 160 may be arranged along the second direction X2. One or more first positioning members 160 and one or more first alignment members 161 may be arranged opposite to and spaced apart along the third direction X3. The first positioning drive member 163 may be used to drive the first alignment members 161 to move toward the first positioning members 160 along the third direction X3, or away from the first positioning members 160 in the opposite direction of the third direction X3. Specifically, the first positioning drive member 163 drives the first alignment members 161 to move toward the first positioning members 160 along the third direction X3, so that the first alignment members 161 push the first material box 30 closer to the first positioning members 160, thereby positioning the first material box 30 along the third direction X3.

[0075] One or more second positioning members can be arranged along a third direction X3. One or more second positioning members and one or more second alignment members 162 can be arranged opposite each other and spaced apart along a second direction X2. A second positioning drive member 164 can be used to drive the second alignment members 162 to move toward the second positioning members along the second direction X2, or away from the second positioning members in the opposite direction of the second direction X2. Specifically, the second positioning drive member 164 can drive the second alignment members 162 to move toward the second positioning members along the second direction X2, so that the second alignment members 162 push the first material box 30 closer to the second positioning members, so that the second positioning members position the first material box 30 along the second direction X2.

[0076] For example, the shapes of the first positioning member 160, the second positioning member, the first aligning member 161, and the second aligning member 162 may all include block, column, or strip shapes.

[0077] The first positioning drive 163 and the second positioning drive 164 may each include one or more of the following drive structures: gear set, sprocket and chain, lead screw and guide rail, power cylinder, motor and crank-slider. For example, both the first positioning drive 163 and the second positioning drive 164 may include a cylinder piston.

[0078] The transfer device 10 provided in this embodiment, by setting a first platform 15, enables the transfer device 10 to carry and receive the first material box 30. The first platform 15 has a second hollow portion that penetrates through the first platform 15, so that the first lifting device 11 can pass through the first platform 15, thereby passing through the first hollow portion 320 to push the base 40 and the stack of sheets 20 out or into the first material box 30. By setting a first positioning device 16, the first material box 30 can be accurately positioned along the second direction X2 and the third direction X3, so that the first hollow portion 320 can accurately reach the area corresponding to the second hollow portion, and the first lifting device 11, the elastic pressing device 12, the transfer drive device 13, and the clamping support device 14 can more accurately locate the first material box 30, and accurately and smoothly transfer the stack of sheets 20.

[0079] In some embodiments, such as Figure 1 , Figure 2 and Figure 6 As shown, the transfer device 10 further includes one or more first platform drive devices 17. The first platform drive device 17 is connected to the first platform 15 and is used to drive the first platform 15 to move between the first sheet pick-and-place position 100 and the first material box pick-and-place position 102. The first platform 15 receives the first material box 30 at the first material box pick-and-place position 102.

[0080] For example, after the robot arm removes the first material box 30 containing the base tray 40 and the processed stack of sheets 20 from the process equipment, it places the first material box 30 in the first material box pick-up and placement position 102. The transfer device 10 removes the base tray 40 and the processed stack of sheets 20 from the first material box 30, and the robot arm places the empty first material box 30 on another docking platform at the first material box pick-up and placement position 102. Alternatively, the robot arm places the base tray 40 and the unprocessed stack of sheets 20 into the first material box 30, and then places the first material box 30 into the process equipment from the first material box pick-up and placement position 102.

[0081] For example, the first stage drive device 17 may include one or more combinations of the following drive structures: gear set, sprocket chain, lead screw guide, power cylinder, motor, and crank slider. For instance, the first stage drive device 17 may include a linear module.

[0082] For example, the transfer device 10 includes two first platform drive units 17. Each first platform drive unit 17 is provided with a first platform 15. When a first material box 30 carried by one first platform 15 is used for the transfer of a stack of sheets 20, the other platform 15 can be driven by the first platform drive unit 17 to the first material box pick-and-place position 102 to receive the first material box 30, in preparation for the next transfer of a stack of sheets 20, thereby reducing the idle rate of the transfer device 10 and improving the sheet transfer efficiency.

[0083] For example, the first stage drive device 17 is used to drive the first stage 15 to move between the first sheet pick-and-place position 100 and the first hopper pick-and-place position 102 in a third direction X3 or the opposite direction of the third direction X3. The first stage drive device 17 extends in the third direction X3, and a plurality of first stage drive devices 17 are arranged at intervals in a second direction X2.

[0084] The transfer device 10 provided in this embodiment, by setting a first platform driving device 17, enables the first platform 15 to move between the first sheet pick-and-place position 100 and the first material box pick-and-place position 102, thereby enabling the first platform 15 to also receive the first material box 30 at the first material box pick-and-place position 102, and enabling the transfer device 10 to also interface with the device for picking and placing the first material box 30, thus expanding the application scenarios of the transfer device 10.

[0085] Figure 7 The diagram shown is a structural schematic of the second material box provided in an embodiment of this application.

[0086] In some embodiments, such as Figure 1 , Figure 2 and Figure 7 As shown, the transfer device 10 is also used to transfer multiple sheets 20 into or out of the second material box 50. The second material box 50 is capable of accommodating one or more base trays 40 and multiple sheets 20. The transfer device 10 also has one or more second sheet pick-and-place positions 103. The second sheet pick-and-place positions 103 are used to place the second material box 50. The transfer drive device 13 is also used to drive the elastic clamping device 12 and the clamping support device 14 to move synchronously to the second sheet pick-and-place position 103 to remove or place the base trays 40 and multiple sheets 20 into the second material box 50.

[0087] Specifically, the second material box 50 can be referred to as a transfer material box, used for transferring the sheet 20 between various process stages. Exemplarily, the second material box 50 includes a material box base plate 52 and a plurality of spaced-apart material box side posts 53 disposed on the material box base plate 52. The plurality of material box side posts 53 are perpendicular to the material box base plate 52. The space enclosed by the material box base plate 52 and the plurality of material box side posts 53 is used to accommodate one or more base supports 40 and a plurality of sheets 20. The spaced-apart material box side posts 53 facilitate avoidance of the clamping support device 14. Since the second material box 50 can be processed without carrying the sheet 20, the shape and structure of the second material box 50 can be set according to actual needs, and this embodiment does not impose specific limitations.

[0088] For example, one second sheet pick-up and place position 103 may correspond to one second material box 50, or multiple second sheet pick-up and place positions 103 may correspond to one second material box 50. For example, the second material box 50 has multiple sheet placement areas 51 along the second direction X2, the sheet placement areas 51 are used to place the base tray 40 and multiple sheets 20, and multiple second sheet pick-up and place positions 103 may correspond to one second material box 50.

[0089] In some application scenarios, the transfer drive device 13 drives the elastic clamping device 12 and the clamping support device 14, which contain the base tray 40 and the processed stacked sheet 20, to the second sheet pick-and-place position 103, and puts the base tray 40 and the processed stacked sheet 20 into the second material box 50. The clamping support device 14 releases the base tray 40 and the processed stacked sheet 20, thereby realizing the transfer of the stacked sheet 20 from the first material box 30 to the second material box 50.

[0090] In some application scenarios, the transfer drive device 13 drives the elastic pressing device 12 and the clamping support device 14 to the second sheet pick-and-place position 103. The clamping support device 14 picks up the bottom tray 40 and the stacked sheet 20 to be processed from the second material box 50. The elastic pressing device 12 elastically presses the bottom tray 40 and the stacked sheet 20 to be processed against the clamping support device 14. Then, the transfer drive device 13 drives the elastic pressing device 12 and the clamping support device 14 to the first sheet pick-and-place position 100 and puts the bottom tray 40 and the stacked sheet 20 to be processed into the first material box 30, thus realizing the transfer of the stacked sheet 20 from the second material box 50 to the first material box 30.

[0091] For example, the first sheet pick-and-place position 100 and the second sheet pick-and-place position 103 can be arranged along the second direction X2. This arrangement helps to simplify the structure of the transfer drive device 13 and the movement path of the elastic clamping device 12 and the clamping support device 14.

[0092] Exemplarily, the transfer drive device 13 can also be used to drive the elastic pressing device 12 and the clamping support device 14 to move synchronously between the first sheet pick-up and drop position 100 and the second sheet pick-up and drop position 103 along the second direction X2 or the opposite direction of the second direction X2. Exemplarily, the transfer drive device 13 may include two linear modules. The first linear module can be used to drive the elastic pressing device 12 and the clamping support device 14 to move synchronously along the second direction X2 or the opposite direction of the second direction X2. The second linear module can be disposed in the first linear module and used to drive the elastic pressing device 12 and the clamping support device 14 to move synchronously along the first direction X1 or the opposite direction of the first direction X1.

[0093] This embodiment provides a transfer device 10, which also has one or more second sheet pick-and-place positions 103. The transfer drive device 13 can also drive the elastic pressing device 12 and the clamping support device 14 to move synchronously to the second sheet pick-and-place position 103 to take out or put in the bottom tray 40 and the stack of sheets 20 in the second material box 50. This allows the transfer device 10 to transfer the stack of sheets 20 between the first material box 30 and the second material box 50, further expanding the application scenarios of the transfer device 10 and helping to further improve the transfer efficiency of the sheets 20 between different process stages.

[0094] In some embodiments, such as Figure 1 , Figure 2 and Figure 7 As shown, the second material box 50 has multiple sheet placement areas 51, which are centrally symmetrically arranged. The sheet placement areas 51 are used to place the base tray 40 and multiple sheets 20. The transfer device 10 also includes a rotating device 18. The rotating device 18 is used to rotate the second material box 50 so that the multiple sheet placement areas 51 can be alternately located at the second sheet pick-and-place position 103.

[0095] In some application scenarios, the rotating device 18 rotates the second material box 50 by a preset angle, so that one of the multiple sheet placement areas 51 (defined as the first sheet placement area 51) is aligned with the second sheet pick-up and drop position 103. After the first sheet placement area 51 receives a set of base trays 40 and a stack of sheets 20, the rotating device 18 rotates the second material box 50 by a preset angle, so that the second sheet placement area 51 (one of the multiple sheet placement areas 51 other than the first sheet placement area 51) is aligned with the second sheet pick-up and drop position 103, so that the second sheet placement area 51 receives another set of base trays 40 and a stack of sheets 20. This allows the multiple sheet placement areas 51 to be aligned with the second sheet pick-up and drop position 103 in turn, and each sheet placement area 51 can receive a base tray 40 and multiple sheets 20.

[0096] For example, one second sheet pick-and-place position 103 corresponds to one second material box 50. For example, as Figure 2 and Figure 7 As shown, the second material box 50 has two film placement areas 51. Exemplarily, the rotating device 18 may include one or more combinations of the following drive structures: gear sets, sprocket chains, lead screws, power cylinders, motors, and crank-slider systems. For example, the rotating device 18 may include a servo motor. Exemplarily, the rotation axis of the second material box 50 coincides with the central symmetry axis of the plurality of film placement areas 51.

[0097] The transfer device 10 provided in this embodiment, by setting a rotating device 18 for rotating the second material box 50, allows multiple sheet placement areas 51 to be located in the second sheet pick-and-place position 103 in turn, so that the second material box 50 can receive multiple sets of base trays 40 and stacks of sheets 20. Thus, one second material box 50 can receive base trays 40 and stacks of sheets 20 from multiple first material boxes 30, which is beneficial to further improve the transfer efficiency of the transfer device 10.

[0098] Figure 8 The diagram shown is a structural schematic of an application scenario for a conveying device provided in an embodiment of this application. Figure 9 The diagram shown is a structural schematic of a conveying device provided in an embodiment of this application.

[0099] In some embodiments, such as Figure 1 , Figure 2 , Figure 8 and Figure 9 As shown, the transfer device 10 further includes a conveying device 19 and a second lifting device 60. The conveying device 19 is disposed adjacent to the transfer drive device 13 and is used to convey the second material box 50 between the second material box pick-up and place position 104 and the second sheet pick-up and place position 103. The conveying device 19 receives the second material box 50 at the second material box pick-up and place position 104. The conveying device 19 also has a third cutout portion 190.

[0100] The second lifting device 60 is correspondingly provided with the third cutout portion 190. It can be used to lift the second material box 50 onto the conveying device 19 along the first direction X1 through the third cutout portion 190, and can also be used to place the second material box 50 onto the conveying device 19 in the opposite direction of the first direction X1. The rotating device 19 is connected to the second lifting device 60. When the second lifting device 60 lifts the second material box 50 onto the conveying device 19, the rotating device 19 drives the second lifting device 60 to rotate so that the sheet placement area 51 is located at the second sheet pick-and-place position 103.

[0101] For example, the third cutout portion 190 can be configured to correspond to the second sheet placement position 103.

[0102] In some applications, the conveying device 19 transports the second material box 50 located at the second material box pick-up and place position 104 to the second sheet pick-up and place position 103, with the first sheet pick-up and place position 51 of the plurality of sheet pick-up and place positions 51 located at the second sheet pick-up and place position 103. After a set of base trays 40 and a stack of sheets 20 are placed in the first sheet pick-up and place position 51, the second lifting device 60 passes through the third cutout 190 and lifts the second material box 50 on the conveying device 19 along the first direction X1. The rotating device 19 drives the second lifting device 60 to rotate so that the second sheet pick-up and place position 51 of the plurality of sheet pick-up and place positions 51 is located at the second sheet pick-up and place position 103. Then, the second lifting device 60 places the second material box 50 on the conveying device 19 in the opposite direction of the first direction X1 so that the second sheet pick-up and place position 51 can receive the next set of base trays 40 and the stack of sheets 20.

[0103] Exemplarily, the conveying device 19 may include one or more combinations of the following drive structures: a conveyor belt, a gear set, a sprocket chain, a lead screw guide, a power cylinder, a motor, and a crank-slider. For example, the conveying device 19 may include two conveyor belts spaced apart along a third direction X3. The interval between the two conveyor belts may form a third cutout 190. The structure of the second lifting device 60 may adopt the structure of conventional lifting devices in the art, and will not be described in detail here.

[0104] The transfer device 10 provided in this embodiment, by setting a conveying device 19, allows the second material box 50 to move between the second material box pick-up and drop position 104 and the second sheet pick-up and drop position 103, so that the transfer device 10 can be connected to an external process production line. Simultaneously, by setting a third perforated portion 190 on the conveying device 19, and a second lifting device 60 correspondingly set to the third perforated portion 190, the second lifting device 60 can lift the second material box 50 on the conveying device 19, thus preventing the rotation of the second material box 50 from being interfered with by the conveying device 19. Furthermore, the rotating device 19 is connected to the second lifting device 60; by driving the second lifting device 60 to rotate, the second material box 50 can be rotated, thereby reducing the load on the second lifting device 60.

[0105] In some embodiments, such as Figure 1 , Figure 2 , Figure 8 and Figure 9 As shown, one or more first sheet pick-and-place positions 100 and second sheet pick-and-place positions 103 are arranged along a second direction X2. A transfer drive device 13 is used to drive the elastic clamping device 12 and the clamping support device 14 to move along the second direction X2 or the opposite direction of the second direction X2, so that the elastic clamping device 12 and the clamping support device 14 are located at the first sheet pick-and-place position 100 or the second sheet pick-and-place position 103. A conveying device 19 is also used to drive the second material box 50 along a third direction X3 or the opposite direction of the third direction X3, so that the center of the sheet placement area 51 is aligned with the center of the second sheet pick-and-place position 103.

[0106] When the size of the sheet 20 (e.g., the length or width of the sheet) changes, the size and position of the second sheet pick-up / placement position 103 also change. Since the transfer drive device 13 can drive the elastic clamping device 12 and the clamping support device 14 in the second direction X2 or the opposite direction of the second direction X2, the elastic clamping device 12 and the clamping support device 14 can be aligned with the center of the second sheet pick-up / placement position 103 along the second direction X2. Since the conveying device 19 can drive the second material box 50 in the third direction X3 or the opposite direction of the third direction X3, the second material box 50 can be aligned with the center of the second sheet pick-up / placement position 103 along the third direction X3. This arrangement allows for precise alignment of the transfer drive device 13, the second sheet pick-up / placement position 103, and the second material box 50 carried by the conveying device 19, achieving precise transfer of stacks of sheets 20 of different sizes.

[0107] Specifically, the conveying device 19 can either transport the second material box 50 between the second material box pick-up and drop position 104 and the second sheet pick-up and drop position 103, or drive the second material box 50 in the third direction X3 or the opposite direction of the third direction X3. For example, the second material box pick-up and drop position 104 and the second sheet pick-up and drop position 103 can be arranged in the third direction X3 or the opposite direction of the third direction X3.

[0108] For example, such as Figure 8 and Figure 9 As shown, the transfer device 10 also includes a conveying bracket 65, a third positioning component 66, a fourth positioning component 67, a third alignment component, a fourth alignment component 70, a third positioning drive component 68, and a fourth positioning drive component 69. The third positioning component 66, the fourth positioning component 67, the third positioning drive component 68, and the fourth positioning drive component 69 are all disposed on the conveying bracket 65.

[0109] A conveying device 19 is mounted on a conveying bracket 65. A third positioning member 66 and a third alignment member are positioned on both sides of the third hollow portion 190 and are arranged opposite each other along a third direction X3. A third positioning drive member 68 is connected to the third alignment member and is used to drive the third alignment member away from or towards the third positioning member 66 along the third direction X3 or the opposite direction of the third direction X3. This achieves positioning of the second material box 50 in the third direction X3. A fourth positioning member 67 and a fourth alignment member 70 are positioned on both sides of the third hollow portion 190 and are arranged opposite each other along a second direction X2. A fourth positioning drive member 69 is connected to the fourth alignment member 70 and is used to drive the fourth alignment member 70 away from or towards the fourth positioning member 67 along the second direction X2 or the opposite direction of the second direction X2. This achieves positioning of the second material box 50 in the second direction X2.

[0110] For example, the shapes of the third positioning member 66, the fourth positioning member 67, the third alignment member, and the fourth alignment member 70 may all include block, column, or strip shapes.

[0111] The third positioning drive 68 and the fourth positioning drive 69 may include one or more combinations of the following drive structures: gear set, sprocket and chain, lead screw and guide rail, power cylinder, motor, and crank-slider. For example, both the third positioning drive 68 and the fourth positioning drive 69 may include a cylinder piston.

[0112] Exemplarily, the conveying device 19 includes a first conveying assembly 191 and a second conveying assembly 192 disposed adjacent to the transfer drive device 13. The first conveying assembly 191 has a third hollow portion 190 for receiving the second material box 50 and conveying the second material box 50 along the second direction X2 or the opposite direction of the second direction X2. The conveying bracket 65 includes a first support member 650, a second support member 651, a plurality of support columns 652, and a third support plate 653. The third support plate 653 is disposed on the second conveying assembly 192, and the second conveying assembly 192 is used to convey the third support plate 653 along the third direction X3 or the opposite direction of the third direction X3. The plurality of support columns 652 are disposed on the third support plate 653 and form a support receiving space with the third support plate 653, and the support receiving space communicates with the third hollow portion 190. The first support member 650 and the second support member 651 both extend along the second direction X2, are disposed on both sides of the third hollow portion 190, and are disposed opposite each other along the third direction X3. A first conveying assembly 191 is disposed on a first support member 650 and a second support member 651. A third positioning member 66 is disposed on a first support member 650. A third positioning drive member 68 is disposed on a second support member 651. Two ends of a fourth positioning member 67 are respectively disposed on a first support member 650 and a second support member 651.

[0113] The fourth positioning drive 69 is disposed on the third support plate 653, located in the support accommodating space, and includes a telescopic rod. The fourth alignment member 70 has a first end, a middle section, and a second end connected in sequence. The telescopic rod is rotatably connected to the first end, and the middle section is rotatably connected to the conveying bracket 65. The extension and retraction of the fourth positioning drive 69 causes the second end to reciprocate and rotate, thereby clamping the second end against the second material box 50. When the second end moves away from the fourth positioning member 67, it rotates toward the third support plate 653 so that when the first conveying assembly 191 transports the second material box 50 in the second direction X2 or the opposite direction of the second direction X2, the fourth alignment member 70 can avoid the second material box 50.

[0114] The transfer device 10 provided in this embodiment has a first sheet pick-and-place position 100 and a second sheet pick-and-place position 103 arranged along the second direction X2. The transfer drive device 13 drives the elastic pressing device 12 and the clamping support device 14 to move along the second direction X2 or the opposite direction of the second direction X2. The conveying device 19 drives the second material box 50 along the third direction X3 or the opposite direction of the third direction X3 so that the center of the sheet placement area 51 is aligned with the center of the second sheet pick-and-place position 103. This allows the transfer drive device 13, the second sheet pick-and-place position 103 and the second material box 50 carried by the conveying device 19 to be precisely aligned, thus realizing the precise transfer of stacked sheets 20 of different sizes.

[0115] Figure 10 The diagram shown is a structural schematic of an embodiment of this application, applicable to a cache rack, cache support, lifting device, and raising device.

[0116] In some embodiments, such as Figure 1 , Figure 2 and Figure 10 As shown, the transfer device 10 also includes: a buffer rack 61, a buffer support 62, a lifting device 63, and a hoisting device 64. The buffer rack 61 and the buffer support 62 form a receiving space 105. The receiving space 105 is used to receive one or more base trays 40, which are stacked vertically.

[0117] The lifting device 63 is connected to the buffer support 62 and adjacent to the transfer drive device 13. It is used to drive the buffer support 62 to lift and lower so that the uppermost base 40 in the receiving space 105 is in a preset position. The lifting device 64 is used to lift the uppermost base 40 when it is in the preset position in the receiving space 105, so that the uppermost base 40 is separated from the other bases 40 or buffer supports 62.

[0118] Exemplarily, the clamping support device 14 is also used to acquire or release the bottom tray 40. The transfer drive device 13 is also used to drive the clamping support device 14 to move between the lifting device 64 and the first sheet pick-and-place position 100 or the second sheet pick-and-place position 103, so that the clamping support device 14 acquires the uppermost bottom tray 40 at the lifting device 64 and releases the uppermost bottom tray 40 into the first material box 30 or the second material box 50.

[0119] In some application scenarios, after the bottom tray 40 and the stack of sheets 20 in the first material box 30 are transferred away, the lifting device 63 drives the buffer support 62 to rise and fall, so that the topmost bottom tray 40 in the accommodating space 105 is in a preset position. Then, the lifting device 64 lifts the topmost bottom tray 40 to separate it from the other bottom trays 40 or buffer support 62. The transfer drive device 13 drives the clamping support device 14 to the lifting device 64 and picks up the topmost bottom tray 40 from the lifting device 64. Then, it drives the clamping support device 14 to the first sheet pick-and-place position 100, where the clamping support device 14 cooperates with the first lifting device 11 to place the topmost bottom tray 40 at the bottom of the first material box 30. The first material box 30 can receive material through the second material box 50 without receiving material through the second material box 50, thus it can accept sheet material 20 conveyed by other feeding structures, such as other feeding structures that can only put sheet material 20 into the first material box 30 one by one, thus expanding the application scenarios of the transfer equipment 10.

[0120] For example, if there is only one base 40 in the accommodating space 105, the lifting device 64 can be used to lift the uppermost base 40 so as to separate the base 40 from the buffer carrier 62.

[0121] For example, the transfer drive device 13 is also used to drive the clamping support device 14 to move between the buffer rack 61 and the first sheet pick-and-place position 100 or the second sheet pick-and-place position 103, so that the clamping support device 14 picks up the base tray 40 from the first material box 30 or the second material box 50 and places the base tray 40 into the receiving space 105.

[0122] In some applications, the second material box 50 receives the base tray 40 and the stack of sheets 20 before accommodating the base tray 40. The clamping and supporting device 14 can remove the base tray 40 and place it into the accommodating space 105.

[0123] Exemplarily, the lifting device 63 may include one or more combinations of the following drive structures: gear set, sprocket chain, lead screw guide, power cylinder, motor, and crank slider. For example, the lifting device 63 may include a linear module. Exemplarily, the lifting device 64 includes two insertion / separation members 640 and two insertion / separation drive members 641. Each insertion / separation drive member 641 is connected to one insertion / separation member 640 and is used to drive the insertion / separation member 640 to move toward the receiving space 105 to insert and raise the base 40. The two insertion / separation members 640 are located on both sides of the receiving space 105 and are disposed opposite to each other. Exemplarily, the shape of the insertion / separation member 640 may include a wedge shape. The pointed end of the wedge is disposed toward the receiving space 105. Exemplarily, the lifting device 64 is located at the top of the buffer rack 61. Exemplarily, a preset position is located within the insertion range of the insertion / separation member 640.

[0124] The transfer device 10 provided in this embodiment has a buffer space 105 formed by the buffer rack 61 and the buffer support 62, which can buffer the base tray 40. The base tray 40 can circulate in the buffer space 105, the first material box 30, and the second material box 50. The lifting device 63 drives the buffer support 62 to rise and fall, so that the uppermost base tray 40 in the buffer space 105 is in a preset position. The lifting device 64 then lifts the uppermost base tray 40, so that the uppermost base tray 40 is separated from the other base trays 40 or the buffer support 62, thereby facilitating manual or clamping support device 14 to obtain or release the base tray 40 and improve transfer efficiency.

[0125] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “featuring,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0126] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0127] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0128] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A transfer device, characterized in that, This is used to transfer multiple sheets into or out of a first material box. The first material box can accommodate a base and multiple sheets. The first material box includes multiple side plates and a base plate connected to the side plates. The base plate has a first hollow portion and a supporting portion. The first hollow portion penetrates through the base plate. The supporting portion is used to support the base plate. The base plate is used to support multiple sheets. The first material box is used to support multiple sheets. The transfer device has one or more first sheet pick-and-place positions, which are used to place the first material box. The transfer equipment includes: One or more first lifting devices are located at the first sheet pick-up and drop position, for passing through the first cutout portion and pushing the bottom support and multiple sheets in the first material box out of the first material box along the first direction, or for receiving the bottom support and multiple sheets in the first material box in the opposite direction of the first direction. An elastic clamping device is used to provide elastic force; A transfer drive device is adjacent to the first sheet pick-and-place position. The transfer drive device is connected to the elastic clamping device and is used to drive the elastic clamping device to the first sheet pick-and-place position and move it in the first direction or the opposite direction of the first direction so that the elastic clamping device presses the base and the multiple sheets against the first lifting device. A clamping and supporting device is provided on the transfer drive device for acquiring or releasing the base and the plurality of sheets; The clamping support device and the elastic pressing device can together form an accommodating space, which is used to accommodate the base and multiple sheets. The elastic pressing device is also used to elastically press the base and multiple sheets against the clamping support device.

2. The transfer device according to claim 1, characterized in that, The first lifting device includes: Adsorption component for adsorbing the base; A lifting drive assembly, connected to the adsorption assembly, is used to drive the adsorption assembly through the first hollow portion and move in the first direction or the opposite direction of the first direction, so as to drive the base to rise through the adsorption assembly, or to put the received base into the first material box.

3. The transfer device according to claim 1, characterized in that, The elastic clamping device includes: One or more elastic elements, one end of which is connected to the transfer drive device; A clamping member is connected to the other end of the elastic member, and the clamping member is used to press the base and the plurality of the sheets against the first lifting device or the clamping support device.

4. The transfer device according to claim 1, characterized in that, The clamping and supporting device includes: A pair or more clamping members are spaced apart along a second direction, and the clamping members extend along the first direction, wherein the second direction is perpendicular to the first direction; One or more support members are connected to the clamping member and extend along the second direction, wherein the clamping member, the support member, and the elastic clamping device together form the receiving space, and the elastic clamping device is also used to press the base and the plurality of sheets against the support member; A clamping drive assembly is disposed in the transfer drive device and connected to one or more clamping members for driving one or more clamping members to move relative to each other or away from each other, so that one or more clamping members clamp or release the base and the plurality of sheets.

5. The transfer device according to claim 1, characterized in that, Also includes: One or more first platforms are located at the first sheet placement position and have a second cutout portion that penetrates the first platform. The first platform is used to receive and carry the first material box. One or more first positioning devices are disposed on the first platform for positioning the first material box along the second direction and the third direction, so that the first material box is located at the first sheet pick-up and put-out position, wherein the first direction, the second direction and the third direction are perpendicular to each other; The first lifting device is also used to pass through the first hollow portion and the second hollow portion to push the base and multiple sheets in the first material box out of the first material box along the first direction, or to receive the base and multiple sheets in the first material box in the opposite direction of the first direction.

6. The transfer device according to claim 5, characterized in that, Also includes: One or more first stage driving devices are connected to the first stage and are used to drive the first stage to move between the first sheet pick-and-place position and the first material box pick-and-place position, wherein the first stage receives the first material box at the first material box pick-and-place position.

7. The transfer equipment according to any one of claims 1 to 6, characterized in that, It is also used to transfer multiple of the sheets into or out of a second material box, the second material box being capable of accommodating one or more of the base trays and multiple of the sheets; The transfer device also has one or more second sheet pick-and-place positions, which are used to place the second material box; The transfer drive device is also used to drive the elastic pressing device and the clamping support device to move synchronously to the second sheet pick-up and drop position, so as to take out or put in the base and multiple sheets in the second material box.

8. The transfer device according to claim 7, characterized in that, The second material box has multiple sheet placement areas, which are symmetrically arranged at the center. The sheet placement areas are used to place the base and multiple sheets. The transfer equipment also includes: A rotating device is used to rotate the second material box so that the plurality of sheet placement areas can be alternately located at the second sheet pick-and-place position.

9. The transfer device according to claim 8, characterized in that, Also includes: A conveying device is arranged adjacent to the transfer drive device for conveying the second material box between the second material box pick-up and place position and the second sheet pick-up and place position. The conveying device receives the second material box at the second material box pick-up and place position. The conveying device also has a third hollowed-out portion. The second lifting device is provided corresponding to the third hollow part, and is used to pass through the third hollow part to lift the second material box on the conveying device in the first direction, or to place the second material box on the conveying device in the opposite direction of the first direction. The rotating device is connected to the second lifting device. When the second lifting device lifts the second material box on the conveying device, the rotating device drives the second lifting device to rotate so that the sheet placement area is located at the second sheet pick-up and place position.

10. The transfer device according to claim 9, characterized in that, One or more of the first sheet pick-and-place positions and the second sheet pick-and-place positions are arranged along the second direction; The transfer drive device is used to drive the elastic clamping device and the clamping support device to move in the second direction or the opposite direction of the second direction, so that the elastic clamping device and the clamping support device are located in the first sheet pick-up and drop position or the second sheet pick-up and drop position; The conveying device is also used to drive the second material box in a third direction or the opposite direction of the third direction so that the center of the sheet placement area is aligned with the center of the second sheet pick-and-place position.

11. The transfer device according to any one of claims 1 to 6, characterized in that, Also includes: Cache rack; A buffer support, wherein the buffer frame and the buffer support form a receiving space, the receiving space being used to receive one or more of the base supports, and the one or more base supports are stacked in the vertical direction; A lifting device is connected to the buffer support and adjacent to the transfer drive device, used to drive the buffer support to lift so that the uppermost base in the accommodating space is located in a preset position; A lifting device is used to lift the uppermost base in the accommodating space when the uppermost base is in the preset position, so as to separate the uppermost base from the bases or the buffer carriers other than the uppermost base.

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