WO2019007421A1

WO2019007421A1 - Material transfer apparatus and method

Info

Publication number: WO2019007421A1
Application number: PCT/CN2018/094852
Authority: WO
Inventors: 陈永明; 方泽; 余泽亮; 熊凯
Original assignee: 宁波舜宇光电信息有限公司
Priority date: 2017-07-07
Filing date: 2018-07-06
Publication date: 2019-01-10
Also published as: CN109205222B; CN109205222A

Abstract

The present invention provides a material transfer apparatus, comprising: a transfer track, having a first wall and a second wall which are provided in parallel; a conveyor belt, a first gap being formed between the conveyor belt and the first wall, a second gap being provided between the conveyor belt and the second wall, and the conveyor belt having a bearing surface for bearing a material; a first material pending mechanism, having a first carrier part, which can move along a direction vertical to the bearing surface and penetrate through the first gap; and a second material pending mechanism, having a second carrier part, which can move along the direction vertical to the bearing surface and penetrate through the second gap. The present invention further provides a corresponding material transfer method. According to the present invention, material congestion caused by lack of feeding and unloading processes can be reduced, and thus the material transfer efficiency is enhanced; the intelligence degree is high, a material can be recognized and corresponding processing may be executed; the sequence of materials may be changed; and orientations of the materials may be changed.

Description

Material conveying device and method

Cross-reference to related applications

The present application claims priority to and the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit of the benefit.

Technical field

The invention relates to the field of material conveying technology, in particular to a material conveying device and method.

Background technique

In the processing, manufacturing or testing of products, material transfer devices are often used to move materials from one station to another to complete the entire process of processing, manufacturing or testing the product.

In the prior art, a typical material transfer device is to arrange a track on a production line and install a transfer belt along the track. During the production or testing process, the material is placed on the belt, and the belt is rotated by the motor to move the animal material along the track. After reaching the station, the material is taken out of the track and placed to the corresponding equipment of the station. (This process can also be called loading). The material processed by the equipment corresponding to the station (for example, processed or tested) is put back into the track (this process can also be called blanking). The loading and unloading operation can be done with a robotic arm to increase the automation of the assembly line.

The above conventional material transfer device has many drawbacks. For example, when a material arrives at a certain station, the robot arm needs to grab the material to complete the loading operation, and at this time, it is often necessary to stop the material from moving, so it is necessary to stop the rotation of the belt. In this way, the rear material needs to wait for the material at the station to be grabbed before moving forward. When using the robot arm to complete the blanking operation, there is a similar problem, that is, after the mechanical arm stabilizes the processed material on the belt, the belt can be rotated, and the rear material can continue to move forward. This problem is clearly not conducive to productivity or test efficiency. Especially for materials with precise structure, in order to avoid vibration and bump, the loading and unloading time is relatively long, and the above problems are more prominent.

Summary of the invention

The present invention is directed to providing a material transfer solution that overcomes at least one of the above-discussed deficiencies of the prior art.

According to an aspect of the invention, there is provided a material transfer apparatus comprising: a transport track having parallel first and second walls; a conveyor belt mounted between the first wall and the second wall; the conveyor belt and the a first gap between the walls and a second gap between the second wall; and the conveyor belt has a bearing surface capable of carrying material; the first receiving mechanism has a first carrier, the first carrier a carrier portion movable in a direction perpendicular to the bearing surface and passing through the first gap; and a second receiving mechanism having a second carrier portion, the second carrier portion being perpendicular to the Moving in the direction of the bearing surface and passing through the second gap.

In one embodiment, the first feeding mechanism further has a first connecting portion integrally formed with the first supporting portion; the second receiving mechanism further has a second connecting portion, and the second The carrier portion is formed integrally; the first connection portion and the second connection portion have a first spacing therebetween, which allows material carried on the conveyor belt to pass therethrough.

In one embodiment, the first carrier portion has a first carrier surface, and the second carrier portion has a second carrier surface. The first carrier surface and the second carrier surface can support the carrier. The material carried by the conveyor belt.

In one embodiment, the first carrier portion and the second carrier portion have a second pitch, and the second pitch is smaller than the first pitch.

In one embodiment, the first carrier portion is movable to at least a first height below the bearing surface and a second height higher than the bearing surface; the second carrier portion is movable to at least The first height and the second height are described.

In one embodiment, the first carrier portion includes a first positioning pin, the root portion of which is coupled to the first carrier surface, the head portion of which is tapered; and the second carrier portion includes a second positioning pin. The root is connected to the second carrier surface, and the head is tapered.

In one embodiment, the transport track defines a transport direction of the material carried by the conveyor belt, and the dimensions of the first carrier surface and the second carrier surface along the transport direction are respectively carried by the conveyor belt The size of the material is adapted.

In one embodiment, at least two of the first positioning pins are arranged along the conveying direction on the first carrier surface, and the second carrier surface is arranged along the conveying direction. At least two of said second positioning pins.

In one embodiment, the first take-up mechanism includes a first drive device that is coupled to the first carrier portion by the first connection portion.

In one embodiment, the first drive device is mounted on the first wall.

In one embodiment, the first wall has a first side facing the second wall and a second side facing away from the second wall, the first drive device being mounted on the first wall On both sides, the first connecting portion and the first carrier portion are located on a first side of the first wall.

In one embodiment, the first feeding mechanism further includes a first U-shaped lifting frame having a first arm disposed on a first side of the first wall and connected to the first connecting portion And a second arm disposed on the second side of the first wall and coupled to the first driving device.

In one embodiment, the first driving device comprises: a first bottom plate mounted on a second side of the first wall; a first guide rail mounted on the first bottom plate and perpendicular to the a direction arrangement of the bearing surface; and a first lifting cylinder mounted on the first bottom plate for driving the first U-shaped lifting frame to move along the first guiding rail.

In one embodiment, the first arm of the first U-shaped crane has a slider that is adapted to the first rail.

In one embodiment, the first driving device further includes: a first stopper, wherein the first U-shaped lifting frame can be stopped at a preset position on the first rail, and the first The carrier portion stays at the second height.

In one embodiment, the second receiving mechanism includes a second drive device coupled to the second carrier portion via the second connection portion.

In one embodiment, the second drive device is mounted on the second wall, the second wall having a first side facing the first wall and a second side facing away from the first wall, The second drive device is mounted on a second side of the second wall, the second attachment portion and the second carrier portion being located on a first side of the second wall.

In one embodiment, the second feeding mechanism further includes a second U-shaped lifting frame having a first arm disposed on a first side of the second wall and coupled to the second connecting portion And a second arm disposed on the second side of the second wall and coupled to the second driving device.

In one embodiment, the second driving device comprises: a second bottom plate mounted on the second side of the second wall; a second rail mounted on the second bottom plate and perpendicular to the a direction arrangement of the bearing surface; a second lifting cylinder mounted on the second bottom plate for driving the second U-shaped lifting frame to move along the second guiding rail; and a second limiter for enabling The second U-shaped lifting frame stays at a preset position on the second rail and causes the second carrier to stay at the second height; the first arm of the second U-shaped lifting frame There is a slider that is adapted to the second rail.

In one embodiment, the conveyor belt includes: a first conveyor belt mounted on the first wall and having the first gap between the first wall; and a second conveyor belt mounted on the first The second gap is on the second wall and between the second wall and the second wall.

In one embodiment, the first conveyor belt is mounted on the first wall by a first wheel set and the second conveyor belt is mounted on the second wall by a second wheel set.

In one embodiment, the material transfer device further includes a blocking mechanism having a blocking portion disposed between the first wall and the second wall, the blocking portion being connectable between the first position and the second position Switching, and the blocking portion allows the material carried by the conveyor belt to pass when in the first position, and blocks the material carried by the conveyor belt when in the second position.

In one embodiment, the material transfer device further includes an identification module mounted between the first wall and the second wall for identifying the identity of the material carried by the conveyor belt.

In one embodiment, the material transfer device further includes a lift rotation mechanism having a third carrier portion; the third carrier portion is movable in a direction perpendicular to the bearing surface and passes through the first A space between the conveyor belt and the second conveyor belt and rotatable about an axis perpendicular to the bearing surface.

In one embodiment, the third carrier portion has: a third carrier surface; and a third positioning pin, the root portion of which is coupled to the third carrier surface, the head of which is tapered.

According to another aspect of the present invention, there is also provided a material transfer method comprising the following steps:

1) the conveyor carries and transports the first material and the second material along the transport track;

2) lifting the first material;

3) The conveyor continues to convey the second material along the transport track such that the second material passes under the first material.

In one embodiment, the transfer track has parallel first and second walls; the conveyor belt is mounted between the first wall and the second wall; the conveyor belt has a first gap with the first wall, Having a second gap with the second wall; the first material has a bottom surface, and the bottom surface of the first material is exposed at least in the first gap and the second gap;

The step 2) comprises the following sub-steps:

21) lifting the first carrier portion and the second carrier portion from bottom to top such that the first carrier portion contacts the bottom surface of the first material at the first gap, and the second carrier portion is at the second portion Contacting a bottom surface of the second material at a gap;

22) continuing to lift the first carrier portion and the second carrier portion such that the first material exits the conveyor belt and reaches a desired position above the conveyor belt.

In one embodiment, the material transfer method further includes performing the steps after completing 22):

4) Taking the first material from the position to be taken by a robot arm.

According to still another aspect of the present invention, there is also provided a material transfer method of the foregoing material transfer device, comprising the steps of:

2) lifting the first carrier portion and the second carrier portion from the bottom up such that the first carrier portion contacts the bottom surface of the first material at the first gap, and the second carrier portion is at the second portion Contacting a bottom surface of the second material at a gap;

3) continuing to lift the first carrier portion and the second carrier portion such that the first material leaves the conveyor belt and reaches a waiting position above the conveyor belt;

After completing step 3), the following steps 4) and 5) are performed in parallel,

4) the conveyor continues to transport the second material along the transport track;

5) Taking the first material from the position to be taken by a robot arm.

In one embodiment, at least one station is disposed beside the transfer track;

The step 1) further includes: for any one of the current stations, identifying the identity of the first item before the first item enters the current station.

In an embodiment, the step 1) further comprises: determining, according to the identified identity, whether the first material needs to be processed by a current station; and when the first material needs to be processed by a current station, performing the Steps 2 to 5), when the first material does not need to be processed by the current station, the conveyor belt continues to transfer the first material to pass the current station directly.

In an embodiment, the step 1) further comprises: judging whether the first material needs to be rotated according to the identified identity; rotating the first one by using a lifting rotation mechanism when the first material needs to be rotated Material, and then perform the steps 2 to 5), when the first material does not need to be rotated, directly perform the steps 2 to 5);

Wherein the lift rotation mechanism has a third carrier portion; the third carrier portion is movable in a direction perpendicular to the bearing surface and passes between the first conveyor belt and the second conveyor belt Space and rotatable about an axis perpendicular to the bearing surface.

According to still another embodiment of the present invention, there is provided another material transfer method based on the foregoing material transfer device, comprising the following steps:

1) placing the first carrier portion and the second carrier portion at a position to be placed above the conveyor belt;

After completing step 1), the following steps 2) and 3) are performed in parallel,

2) the conveyor conveys the second material along the transport track;

3) using a robot arm to place the first material on the first carrier portion and the second carrier portion;

4) after the completion of the step 3), the conveyor belt stops rotating, the first carrier portion and the second carrier portion are lowered, so that the bottom surface of the first material contacts the conveyor belt;

5) the first carrier portion and the second carrier portion continue to descend, so that the bottom surface of the first material is separated from the first carrier portion and the second carrier portion;

6) After completing step 5), the conveyor continues to rotate.

Compared with the prior art, the present invention has at least one of the following technical effects:

1. It can reduce material siltation caused by the loading and unloading process, thereby improving material transmission efficiency.

2, high degree of intelligence, ability to identify the material and make corresponding processing.

3. The order in which materials can be exchanged.

4, can change the orientation of the material, which in turn helps reduce the equipment cost and maintenance difficulty of the production line.

5. It is especially suitable for the transportation of materials with precise structure, such as the transportation of the camera module in the camera module test line.

DRAWINGS

Exemplary embodiments are shown with reference to the drawings. The embodiments and the figures disclosed herein are to be considered as illustrative and not restrictive.

1 shows a perspective structural view of a material transfer device 100 according to an embodiment of the present invention;

2 is a cross-sectional view showing a combined system of a material transfer device and a material in which the first and second carrier portions are disposed at a first height in an embodiment of the present invention;

Figure 3 is a cross-sectional view showing the combined system of the material conveying device and the material in the case where the first and second carrier portions of the embodiment shown in Figure 2 are in contact with the bottom surface of the first material;

4 is a cross-sectional view showing a combined system of material conveying devices and materials in the case where the first and second carrier portions reach the second height in one embodiment of the present invention;

Figure 5 is a perspective view showing the first lifting and holding mechanism in one embodiment;

Figure 6 shows a side view of the first lift waiting mechanism shown in Figure 5;

Fig. 7 is a perspective view showing the lifting mechanism of the lift mechanism in one embodiment.

Detailed ways

For a better understanding of the present application, various aspects of the present application will be described in more detail with reference to the accompanying drawings. It should be understood that the detailed description is only illustrative of the exemplary embodiments of the application, and is not intended to limit the scope of the application. Throughout the specification, the same reference numerals will be used to refer to the same elements. The expression "and/or" includes any and all combinations of one or more of the associated listed items.

It should be noted that in the present specification, the expressions of the first, second, etc. are used to distinguish one feature from another, and do not represent any limitation of the feature.

The drawings are only examples and are not to scale.

It is also to be understood that the terms "comprises", "including", "having", "includes", and "includes", when used in the specification, means that there are the stated features, integers, steps, and operations. The elements, components, and/or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, components, components and/or combinations thereof. Moreover, when an expression such as "at least one of" appears after the list of listed features, the entire listed features are modified instead of the individual elements in the list. Further, when describing an embodiment of the present application, "may" is used to mean "one or more embodiments of the present application." Also, the term "exemplary" is intended to mean an example or an illustration.

As used herein, the terms "substantially", "about", and the like are used as terms of a table approximation, and are not intended to be used as a list of terms, and are intended to illustrate measurement that will be recognized by those of ordinary skill in the art. The inherent deviation in the value or calculated value.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. It should also be understood that terms (such as terms defined in commonly used dictionaries) should be interpreted as having meaning consistent with their meaning in the context of the related art, and will not be interpreted in an idealized or overly formal sense unless This is clearly defined in this article.

It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings.

1 shows a perspective structural view of a material transfer device 100 provided in accordance with one embodiment of the present invention. The material transfer device 100 includes a transport track 10. The transport track 10 has parallel first track walls 101 and second track walls 102. Wherein the first rail wall 101 has a first side 131 facing the second rail wall 102 and a second side 132 remote from the second rail wall 102, the second rail wall 102 having a first side 133 facing away from the first rail wall 101 and away from The second side 134 of the first track wall 101. In one embodiment, the first rail wall 101 and the second rail wall 102 are secured together by a connecting rod 135 such that the spacing therebetween is constant.

Referring to FIG. 1, the material transfer device 100 further includes a first conveyor belt 20 and a second conveyor belt 30. The first side of the first rail wall is mounted by a set of runners and has a first gap 103 between it and the first rail wall. The second conveyor belt 30 is mounted on the first side of the second rail wall 102 by a set of runners and has a second gap 104 between it and the second rail wall 102, the first conveyor belt 20 and the second conveyor belt 30 can carry material along The direction in which the transport track is defined moves. For convenience of description, in the present embodiment, the plane defined by the upper surfaces of the first conveyor belt 20 and the second conveyor belt 30 for carrying materials is referred to as a bearing surface.

As shown in FIG. 1, the material transfer device 100 further includes a first lift waiting mechanism 40 and a second lift waiting mechanism 50. The first lift waiting mechanism 40 is mounted on the first rail wall 101. The second lift waiting mechanism 50 is mounted on the second rail wall 102. The first lift waiting mechanism 40 has a first carrier portion 105 and the second lift stock mechanism 50 has a second carrier portion 107.

Further, FIG. 2 is a cross-sectional view showing a combined system of material conveying devices and materials in which the first and second carrier portions are disposed at the first height in one embodiment of the present invention. Figure 3 is a cross-sectional view showing the combined system of the material transfer device and the material in the case where the first and second carrier portions of the embodiment shown in Figure 2 are in contact with the bottom surface of the first material. 4 is a cross-sectional view showing a combined system of material conveying devices and materials in the case where the first and second carrier portions reach the second height in one embodiment of the present invention. In order to clarify the illustration, part of the structure of the material transfer device is omitted in FIGS. 2 to 4.

Referring to FIGS. 2 to 4, in one embodiment, the first lift waiting mechanism 50 includes a first carrier portion 105 and a first connecting portion 106, the first carrier portion 105 being integral with the first connecting portion 106, first The connecting portion 106 is movable in a vertical direction such that the first carrier portion 105 enters the first gap 103, and the first carrier portion 105 can move at least below a first height of the bearing surface (refer to FIG. 2 And a second height above the bearing surface (refer to Figure 4).

The second lift waiting mechanism 50 includes a second carrier portion 107 and a second connecting portion 108, and the second carrier portion 107 is integrally formed with the second connecting portion 108. The second connecting portion 108 is movable in a vertical direction such that the second carrier portion 107 enters the second gap 104, and the second carrier portion 107 is movable to at least a first height lower than the bearing surface. And a second height above the bearing surface. Therein, the spacing between the first and

second carrier portions

105, 107 is smaller than the spacing between the first and second connecting

portions

106, 108, which is greater than the spacing between the first and

second conveyor belts

20, 30.

The first and

second conveyor belts

20, 30 carry a number of materials while the conveyor is in operation. The width of the material carried is greater than the spacing between the first and

second carrier portions

105, 107 and is less than the spacing between the first and

second connectors

106, 108.

For the loading operation, the initial positions of the first and second carrier portions are set at the first height. As shown in FIG. 2, when a certain material moves over the transport track 10 to above the first and

second carrier portions

105, 107, the first and

second carrier portions

105, 107 are at the first and second connecting portions. Driven by 106, 108, it starts to move up. For ease of description, the material in FIG. 2 is represented by a first material 136, and the subsequent materials carried on the first and

second conveyor belts

20, 30 are represented by a second material 137.

Referring to FIG. 3, since the spacing between the first and

second carrier portions

105, 107 is less than the material width, the first and

second carrier portions

105, 107 can lift the first material from below to leave it. First and

second conveyor belts

20,30.

Referring to FIG. 4, when the first and

second carrier portions

105, 107 are moved to the second height, the movement is stopped and the standby state is entered. At this time, the robot arm can grasp the first material carried by the first and

second carrier portions

105, 107 to complete the loading operation. On the other hand, since the first material to be grasped at the station has left the first and

second conveyor belts

20, 30, the first and

second conveyor belts

20, 30 can continue to rotate to convey the subsequent second material. Since the material width is smaller than the spacing between the first and second connecting

portions

106, 108, a subsequent second material can pass between the first and second connecting

portions

106, 108.

The blanking operation is the reverse process of the loading operation. In one embodiment, for the blanking operation, the initial positions of the first and

second carrier portions

105, 107 are set at said second height. The robot arm can place the grasped first material on the first and

second carrier portions

105, 107. While the robotic arm is in operation, the first and

second conveyor belts

20, 30 continue to rotate, causing the carried subsequent second material to pass between the first and second connecting

portions

106, 108. After the mechanical arm completes the placing operation, the first and

second conveyor belts

20, 30 stop rotating, and the first and

second carrier portions

105, 107 carry the first material returned by the robot arm to move downward, in the first and the When the two

carrier portions

105, 107 pass through the first and

second conveyor belts

20, 30, the first materials carried by the first and

second carrier portions

105, 107 are placed on the first and

second conveyor belts

20, 30 on. The first and

second carrier portions

105, 107 continue to move downwardly such that the loaded first material is disengaged from the first and

second carrier portions

105, 107. Finally, the first and

second carrier portions

105, 107 retract the first height.

Figure 5 shows a perspective view of a first elevated feed mechanism in one embodiment. Referring to Figures 1 and 5, in one embodiment, the first and

second carrier portions

105, 107 are each elongated, the length direction of which is parallel to the direction of transport of the transport track, the first and second carrier portions. The length of 105, 107 is approximately the same as the length of the material. The first carrier portion 105 has a carrier surface having two first positioning pins 109, 110 facing upward on the carrier surface. The distance between the two first positioning pins 109, 110 is slightly smaller than the length of the first carrier portion 105. The heads of the first positioning pins 109, 110 are tapered. Two first positioning holes that are matched with the two first positioning pins 109, 110 are disposed on the material.

Similarly, the second carrier portion has a carrier surface with two second positioning pins facing upward on the carrier surface. The distance between the two second positioning pins is slightly smaller than the length of the second carrier. The head of the second positioning pin is tapered, and the material is further provided with two second positioning holes which are matched with the two second positioning pins.

When the bottom surface of the material is rectangular, the two first positioning holes and the two second positioning holes are respectively located at positions near the four corners of the bottom surface of the material.

It should be noted that in other embodiments, more first positioning pins may be disposed on the carrier surface of the first carrier portion 105, for example, more than two may be arranged along the material conveying direction (for example, three or four. For the first positioning pin of the second carrier portion, more second positioning pins can be disposed on the carrier surface of the second carrier portion 107, for example, more than two (for example, three or four) can be arranged along the material conveying direction. Second) pin.

In the loading operation, when the first and second carrier portions are moved upward to approach the bottom surface of the material, the positioning pins of the first and second carrier portions are respectively aligned with the corresponding positioning holes. Since the positioning pin head is tapered, the positioning pin can be inserted into the corresponding positioning hole as long as the tip of the positioning pin head enters the corresponding positioning hole. In this way, even if the material is disturbed during the transport on the conveyor belt, the four locating pins can still be inserted into their respective locating holes and reposition the disturbed material.

Further, Fig. 6 shows a side view of the first lift waiting mechanism shown in Fig. 5. In one embodiment, the first lift waiting mechanism is adapted to be mounted on the rail wall. Direct mounting of the lifting mechanism on the rail wall will aid in the assembly, commissioning and maintenance of the material handling device. The structure of the second lift waiting mechanism is symmetrical with the first lift waiting mechanism shown in FIG. 5, and therefore will not be described below.

Referring to FIGS. 5 and 6, in one embodiment, the first lift standby mechanism 40 includes a first carrier portion 105, a first connection portion 106, a first U-shaped lift frame 111, and a bottom plate 112. The first U-shaped lifting frame 111 has a first arm 113 and a second arm 114. The first arm 113 is connected to the first connecting portion 106. The second arm 114 has a first slider 115 and a second slider 116. The bottom plate 112 has The first rail 117 and the second rail 118 are respectively adapted to the first slider 115 and the second slider 116 of the first U-shaped crane 111. In this embodiment, the bottom plate 112 has a first side 119 and a second side 120. The first side 119 faces the first arm 113 of the first U-shaped lifting frame 111, and the second side 120 faces the first U-shaped lifting frame 111. Two arms 114. The bottom plate 112 can be mounted on the first rail wall 101 by its first side 119, the spacing between the first side 119 of the bottom plate 112 and the first connecting portion 106 allows the first rail wall 101 to pass, and the first rail wall 101 It is not in contact with the first connecting portion 106. The first rail 117 and the second rail 118 of the bottom plate 112 are each disposed on a second side 120 thereof.

Still referring to FIGS. 5 and 6, in one embodiment, the second side 120 of the bottom plate 112 is also mounted with a first lift cylinder 121 and a first buffer limiter 122. The first lift cylinder 121 can drive the first U-shaped lift frame 111 to slide along the first and

second guide rails

117, 118. The buffer limiter 122 can limit the first U-shaped lifting frame 111 such that it stops moving after reaching a certain height, and the first carrier portion 105 will be at the aforementioned second height.

Further, referring to FIG. 1, in one embodiment, the material transfer device 100 further includes a blocking mechanism 60 disposed between the first and

second rail walls

101, 102 for moving the material to the pre-conveyor belt When the station is set, the material is prevented from continuing to advance, so that the first and second lifting and holding

mechanisms

40, 50 lift the material. The blocking mechanism 60 includes a blocking cylinder 61, a blocking plate 62, and a first in-position detector 63. The first in-position detector 63 is configured to detect whether the material reaches the preset station, and activates the blocking cylinder 61 when the material is detected to be in place, thereby driving the blocking plate 62 to rise. The raised barrier plate 62 blocks material from continuing to move with the conveyor.

Further, referring to FIG. 1, in one embodiment, the material transfer device 100 further includes a two-dimensional code camera 70 and a corresponding second in-position detector 71. A two-dimensional code camera 70 is disposed between the first and

second track walls

101, 102 with the lens facing up. The bottom surface of the material has a QR code that identifies the unique identity of the material. When the material moves over the two-dimensional code camera 70 with the conveyor belt, the second in-position detector 71 detects that the material reaches the predetermined position and triggers the two-dimensional code camera 70 to capture the two-dimensional code of the bottom surface of the material to identify the identity of the current material ( For example, material ID). Through communication with the central processing device, related information of the current material can also be obtained through the identified material ID, and then transmitted through the identified information.

Further, referring to FIG. 1, in one embodiment, the material transfer device further includes a lifting and rotating mechanism 80 disposed between the first rail wall 101 and the second rail wall 102 for lifting and rotating the material. The material.

Fig. 7 is a perspective view showing the lifting mechanism of the lift mechanism in one embodiment. Referring to FIG. 7, the lift rotary mechanism 80 includes a mechanism frame 81, a lift cylinder 82, a lift platform 83, a rotary cylinder 84, and a material pallet 85. Among them, the lifting platform 83 is mounted on the mechanism frame 81 and can be moved up and down relative to the mechanism frame 81 by the driving of the lifting cylinder 82. The rotary cylinder 84 is mounted on the lifting platform 83. The material pallet 85 is mounted on the rotary cylinder 84 and is rotatable about an axis perpendicular to the material pallet driven by the rotary cylinder 84. The upper surface of the material pallet 85 has two third positioning pins 86, 87. The respective positions at the bottom of the material respectively have two third positioning holes which are adapted to the two third positioning pins 86, 87, so that the material pallet 85 holds the material.

It should be noted that in other embodiments, more third positioning pins may be disposed on the upper surface of the material pallet 85. For example, more than two (eg, three, four, etc.) third positioning pins may be disposed. .

Further, according to an embodiment of the present invention, there is also provided a material transfer method having a feed mechanism, comprising the following steps:

2) lifting the first material;

The step 2) comprises the following sub-steps:

After completing step 22), while performing step 3), the steps can be performed:

4) Taking the first material from the position to be taken by a robot arm.

In one embodiment, there is also provided a material transfer method based on the material transfer device provided by the foregoing embodiment, comprising the following steps:

101) the conveyor carries and transports the first material and the second material along the transport track;

102) lifting the first carrier portion and the second carrier portion from bottom to top such that the first carrier portion contacts the bottom surface of the first material at the first gap, and the second carrier portion is at the second portion Contacting a bottom surface of the second material at a gap;

103) continuing to lift the first carrier portion and the second carrier portion such that the first material leaves the conveyor belt and reaches a waiting position above the conveyor belt;

After completing step 103), the following steps 104) and 105) are performed side by side,

104) the conveyor continues to transport the second material along the transport track;

105) Taking the first material from the position to be taken by a robot arm.

In one embodiment, at least one station is disposed beside the transfer track; the step 101) further includes: identifying, for any one current station, the first material before the first material enters the current work station Identity.

After identifying the identity of the first material, determining whether the first material needs to be processed by the current station according to the identified identity; when the first material needs to be processed by the current station, performing the step 102~ 105), when the first material does not need to be processed by the current station, the conveyor continues to convey the first material to pass directly through the current station.

In an embodiment, the step 101) further includes: determining, according to the identified identity, whether the first material needs to be rotated; and when the first material needs to be rotated, rotating the first by using a lifting rotation mechanism The material is then subjected to the steps 102-105), and when the first material does not need to be rotated, the steps 102-105) are directly performed. Wherein the lift rotation mechanism has a third carrier portion; the third carrier portion is movable in a direction perpendicular to the bearing surface and passes between the first conveyor belt and the second conveyor belt Space and rotatable about an axis perpendicular to the bearing surface.

In one embodiment, another material transfer method based on the material transfer device provided by the foregoing embodiments is provided, including the following steps:

201) placing the first carrier portion and the second carrier portion at a waiting position above the conveyor belt;

After completing step 201), the following steps 202) and 203) are performed in parallel,

202) the conveyor conveys the second material along the transport track;

203) placing a first material on the first carrier portion and the second carrier portion by using a robot arm;

204) After the step 203) is completed, the conveyor belt stops rotating, and the first carrier portion and the second carrier portion are lowered to make the bottom surface of the first material contact the conveyor belt;

205) the first carrier portion and the second carrier portion continue to descend, leaving the bottom surface of the first material away from the first carrier portion and the second carrier portion;

206) After completing step 205), the conveyor continues to rotate.

A series of embodiments of the present invention have been described in the foregoing, and it should be noted that the above embodiments are merely illustrative of the material transfer device or material transfer method of the present invention, and the present invention is not limited to the above embodiments. For example, only one conveyor belt may be installed between the first rail wall and the second rail wall as long as the bearing surface of the conveyor belt has a sufficient width to carry the material; in this case, the conveyor belt and the first rail wall Still having a first gap therebetween, and still having a second gap between the second rail wall, the first carrier portion is movable in a direction perpendicular to the bearing surface and passing through the first gap; and the second bracket The carrier portion is movable in a direction perpendicular to the bearing surface and passes through the second gap.

Claims

A material transfer device, comprising:

a transmission track having parallel first and second walls;

a conveyor belt having a first gap between the conveyor belt and the first wall and a second gap between the belt and the second wall; and the conveyor belt has a bearing surface for carrying material;

a first receiving mechanism having a first carrier portion, the first carrier portion being movable in a direction perpendicular to the bearing surface and passing through the first gap;

The second receiving mechanism has a second carrier portion that is movable in a direction perpendicular to the bearing surface and passes through the second gap.
The material transfer device according to claim 1, wherein said first feeding mechanism further has a first connecting portion integrally formed with said first supporting portion.
The material transfer device according to claim 2, wherein said second receiving mechanism further has a second connecting portion integrally formed with said second supporting portion.
A material transfer apparatus according to claim 3, wherein said first connecting portion and said second connecting portion have a first spacing which allows passage of material carried on said conveyor belt.
The material transfer device according to claim 4, wherein said first carrier portion has a first carrier surface, said second carrier portion has a second carrier surface, said first carrier surface and said The two carrier surfaces can jointly support the materials carried by the conveyor belt.
The material transfer device according to claim 5, wherein the first carrier portion and the second carrier portion have a second pitch, and the second pitch is smaller than the first pitch.
The material transfer device according to claim 1, wherein the first carrier portion is movable to at least a first height below the bearing surface and a second height higher than the bearing surface; The second carrier portion is movable to at least the first height and the second height.
The material transfer device according to claim 5, wherein the first carrier portion comprises a first positioning pin, the root portion of which is coupled to the first carrier surface, the head portion of which is tapered; The carrier portion includes a second positioning pin, the root portion of which is coupled to the second carrier surface, and the head portion is tapered.
The material transfer device according to claim 8, wherein said transport track defines a transport direction of material carried by said conveyor belt, said first carrier surface and said second carrier surface along said transport direction The dimensions are adapted to the dimensions of the material carried by the conveyor belt, respectively.
The material transfer device according to claim 9, wherein at least two of said first positioning pins are arranged along said conveying direction on said first carrier surface, said second carrier surface At least two of the second positioning pins are arranged along the conveying direction.
The material transfer device according to any one of claims 3 to 10, wherein the first feeding mechanism includes a first driving device that passes through the first connecting portion and the first supporting portion connection.
The material transfer device of claim 11 wherein said first drive means is mounted on said first wall.
The material transfer device of claim 12 wherein said first wall has a first side facing said second wall and a second side facing away from said second wall, said first drive Mounted on a second side of the first wall, the first connection portion and the first carrier portion are located on a first side of the first wall.
The material transfer device of claim 13 wherein said first means of stocking further comprises a first U-shaped lifting frame having:

a first arm disposed on a first side of the first wall and coupled to the first connection;

A second arm is disposed on the second side of the first wall and coupled to the first driving device.
The material transfer device of claim 14 wherein said first drive means comprises:

a first bottom plate mounted on the second side of the first wall;

a first rail mounted on the first bottom plate and arranged along a direction perpendicular to the bearing surface;

A first lifting cylinder is mounted on the first bottom plate for driving the first U-shaped lifting frame to move along the first guiding rail.
The material transfer device of claim 15 wherein the first arm of the first U-shaped crane has a slider that is adapted to the first rail.
The material transfer device according to claim 16, wherein the first driving device further comprises:

The first stopper may cause the first U-shaped lifting frame to stay at a preset position on the first rail and cause the first carrier to stay at the second height.
The material transfer device according to claim 11, wherein said second receiving mechanism comprises a second driving device coupled to said second carrier portion via said second connecting portion.
The material transfer device according to claim 18, wherein said second driving device is mounted on said second wall, said second wall having a first side facing away from said first wall and facing away from a second side of the first wall, the second driving device is mounted on a second side of the second wall, and the second connecting portion and the second carrier portion are located at a first side of the second wall side.
The material transfer device according to claim 19, wherein said second means of receiving further comprises a second U-shaped lifting frame having:

a first arm disposed on a first side of the second wall and coupled to the second connecting portion;

The second arm is disposed on the second side of the second wall and coupled to the second driving device.
The material transfer device of claim 20, wherein the second drive device comprises:

a second bottom plate mounted on the second side of the second wall;

a second rail mounted on the second bottom plate and arranged along a direction perpendicular to the bearing surface;

a second lifting cylinder mounted on the second bottom plate for driving the second U-shaped lifting frame to move along the second guiding rail;

a second stopper, wherein the second U-shaped lifting frame can be stopped at a preset position on the second rail, and the second supporting portion stays at the second height;

The first arm of the second U-shaped crane has a slider that is adapted to the second rail.
The material transfer device according to any one of claims 1 to 10, wherein the conveyor belt comprises:

a first conveyor belt mounted on the first wall and having the first gap therebetween and the first wall;

A second conveyor belt is mounted on the second wall and has the second gap between the second wall and the second wall.
The material transfer device according to claim 22, wherein said first conveyor belt is mounted on said first wall by a first rotor set, and said second conveyor belt is mounted by said second rotor set On the second wall.
A material transfer device according to claim 22, further comprising a blocking mechanism having a blocking portion disposed between said first wall and said second wall, said blocking portion being positionable in said first position The second position is switched, and the blocking portion allows the material carried by the conveyor belt to pass when in the first position, and blocks the material carried by the conveyor belt when in the second position.
A material transfer device according to claim 22, further comprising an identification module mounted between said first wall and said second wall for identifying the identity of the material carried by said conveyor belt .
The material transfer device according to claim 22, further comprising a lifting and rotating mechanism having a third carrier;

The third carrier portion is movable in a direction perpendicular to the bearing surface and passes through a space between the first conveyor belt and the second conveyor belt, and is rotatable about an axis perpendicular to the bearing surface .
The material transfer device according to claim 26, wherein said third carrier portion has:

Third carrier surface;

a third positioning pin having a root connected to the third carrier surface and having a tapered head.
A material transfer method, comprising the steps of:

The conveyor carries and transports the first material and the second material along the transport track;

Lifting the first material;

The conveyor continues to convey the second material along the transport track such that the second material passes under the first material.
The material transfer method according to claim 28, wherein said transfer track has parallel first and second walls; said transfer belt is mounted between said first wall and said second wall; said conveyor belt and said a first gap between the walls and a second gap between the second wall; the first material has a bottom surface, and the bottom surface of the first material is exposed at least in the first gap and the second gap;

The lifting the first material comprises:

Lifting the first carrier portion and the second carrier portion from bottom to top such that the first carrier portion contacts the bottom surface of the first material at the first gap, and the second carrier portion is at the second gap portion Contacting a bottom surface of the second material;

The first carrier portion and the second carrier portion are continuously raised such that the first material exits the conveyor belt and reaches a desired position above the conveyor belt.
A material transfer method according to the material transfer device of claim 1, comprising the steps of:

The conveyor carries and transports the first material and the second material along the transport track;

Lifting the first carrier portion and the second carrier portion from bottom to top such that the first carrier portion contacts the bottom surface of the first material at the first gap, and the second carrier portion is at the second gap portion Contacting the bottom surface of the second material; continuing to lift the first carrier portion and the second carrier portion such that the first material leaves the conveyor belt and reaches a waiting position above the conveyor belt;

Wherein, the method further comprises performing in parallel:

The conveyor continues to transport the second material along the transport track;

The first material is taken from the desired position by a robotic arm.
The material transfer method according to claim 30, wherein at least one station is disposed beside the transfer track;

The transmitting further includes identifying, for any one of the current stations, the identity of the first item before the first item enters the current station.
The material transfer method according to claim 31, wherein the step of transmitting further comprises: determining, according to the identified identity, whether the first material needs to be processed by a current station; when the first material needs to be During the current station processing, the step of lifting the first material, the step of continuing to transfer the second material, and the step of ingesting the first material are performed, when the first material is not needed When processed by the current station, the conveyor continues to deliver the first item directly through the current station.
The material transfer method according to claim 31, wherein the transferring further comprises: determining, according to the identified identity, whether the first material needs to be rotated; when the first material needs to be rotated, Rotating the first material with a lifting rotary mechanism, and then performing the step of lifting the first material, the step of continuing to deliver the second material, and the step of ingesting the first material, when The step of lifting the first material, the step of continuing to deliver the second material, and the step of ingesting the first material are directly performed when the first material does not need to be rotated;

Wherein the lift rotation mechanism has a third carrier portion; the third carrier portion is movable in a direction perpendicular to the bearing surface and passes between the first conveyor belt and the second conveyor belt Space and rotatable about an axis perpendicular to the bearing surface.
A material transfer method according to the material transfer device of claim 1, comprising the steps of:

Positioning the first carrier portion and the second carrier portion at a position to be placed above the conveyor belt;

The conveyor conveys the second material along the transport track;

Performing the step of transferring the second material, using the robot arm to place the first material on the first carrier portion and the second carrier portion;

After the placing step is completed, the conveyor belt stops rotating, and the first carrier portion and the second carrier portion are lowered to bring the bottom surface of the first material into contact with the conveyor belt; the first carrier portion and the second carrier portion The carrier continues to descend such that the bottom surface of the first material exits the first carrier portion and the second carrier portion;

After the bottom surface of the first material leaves the first carrier portion and the second carrier portion, the conveyor belt continues to rotate.