WO2020248728A1 - 一种物料传输方法、传输装置、传输系统及可读存储介质 - Google Patents

一种物料传输方法、传输装置、传输系统及可读存储介质 Download PDF

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Publication number
WO2020248728A1
WO2020248728A1 PCT/CN2020/086898 CN2020086898W WO2020248728A1 WO 2020248728 A1 WO2020248728 A1 WO 2020248728A1 CN 2020086898 W CN2020086898 W CN 2020086898W WO 2020248728 A1 WO2020248728 A1 WO 2020248728A1
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WIPO (PCT)
Prior art keywords
baffle
transfer
transferred
conveying
move
Prior art date
Application number
PCT/CN2020/086898
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English (en)
French (fr)
Inventor
陈姣
申璐迪
Original Assignee
南京协辰电子科技有限公司
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Publication of WO2020248728A1 publication Critical patent/WO2020248728A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/28—Testing of electronic circuits, e.g. by signal tracer
    • G01R31/2801—Testing of printed circuits, backplanes, motherboards, hybrid circuits or carriers for multichip packages [MCP]
    • G01R31/2806—Apparatus therefor, e.g. test stations, drivers, analysers, conveyors
    • G01R31/2808—Holding, conveying or contacting devices, e.g. test adapters, edge connectors, extender boards
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K3/00—Apparatus or processes for manufacturing printed circuits

Definitions

  • the invention relates to the technical field of automated production of electronic products, and in particular to a material transmission method, a transmission device, a transmission system and a readable storage medium.
  • PCBs printed circuit boards
  • PCB boards are essential components in the modern electronics industry. They are used for electrical connection of electronic components and are electronic components. Support carrier.
  • the printed circuit board after processing and manufacturing must be quality tested to detect whether the performance of the printed circuit board meets the requirements.
  • PCB board production and quality inspection equipment appears on the market. The use of equipment can realize automatic production and inspection of PCB boards, which reduces the labor intensity of operators to a certain extent.
  • a conversion platform by setting up a conversion platform, it includes a transfer mechanism for transferring the PCB board transported by the transfer mechanism from the loading platform (the output platform of the upstream inspection equipment) to the downstream inspection equipment, and the transfer mechanism After the PCB board on the upper PCB board is lifted, the alignment mechanism performs the alignment operation to realize the conversion between the two detection equipment.
  • the increased conversion platform will increase the running distance of the PCB board, from the original only to the downstream detection equipment The distance between the feeding position and the detection position is increased to the sum of the running distance in the conversion platform and the distance between the feeding position of the downstream detection equipment and the detection position, which will lead to the problem of reduced detection efficiency .
  • the embodiments of the present invention provide a material transfer method, a transfer device, a transfer system, and a readable storage medium to solve the PCB caused by the conversion platform set in the prior art to achieve conversion between two devices.
  • the running distance of the board increases and the detection efficiency decreases.
  • an embodiment of the present invention provides a material transfer method, including: controlling the material to be transferred to be transferred to the transfer surface of the first transfer mechanism; controlling the lifting mechanism to drive the material to be transferred to move in the first direction, In order to make the material to be conveyed out of the conveying surface; determine whether there is material at the first baffle; wherein, the first baffle is arranged at the discharge position of the first conveying mechanism; when there is no material at the first baffle, the lifting mechanism is controlled Move in the second direction to make the material to be transferred fall onto the conveying surface; wherein the first direction is opposite to the second direction; control the first transfer mechanism to transfer the material to be transferred to the first baffle.
  • the lifting mechanism After controlling the transfer of the material to be transferred to the transfer surface of the first transfer mechanism (the transfer mechanism of the conversion platform), the lifting mechanism is controlled to drive the material to be transferred to move in the first direction, so that the material to be transferred is separated from the transfer surface and the lifting mechanism The material to be transferred will not be transferred by the first transfer mechanism, that is, the material to be transferred enters the waiting state; then it is judged whether there is material at the first baffle, and when there is no material at the first baffle, the lifting mechanism is controlled to move along the first baffle.
  • the detection equipment docked with the output end of the conversion platform ends the detection of the previous material of the material to be transported, and when the material to be transported is transferred to the detection position, the running distance of the material to be detected is
  • the distance from the position where the material to be transported is placed on the first transport mechanism to the detection position is shortened to the distance between the first baffle and the detection position.
  • the distance between the first baffle and the detection position can be considered as the transmission distance of the detection device itself. Therefore, it can solve the problem of switching between the two devices in the prior art.
  • the material transport method further includes: when there is material at the first baffle, judging whether the detection of the previous material of the material at the first baffle ends; When the detection of the previous material of the material at a baffle ends, the first baffle is controlled to move in the third direction, so that the first baffle can release the blocking state of the material at the first baffle; control the first transmission mechanism The material at the first baffle is transferred to the second transfer mechanism, and the second transfer mechanism is controlled to transfer the material on the second transfer mechanism to a predetermined detection location.
  • the first baffle When there is material at the first baffle, it is judged whether the detection of the previous material of the material at the first baffle is completed, and when the detection of the previous material of the material at the first baffle ends, the first block is released
  • the blocking state of the board to the material at the first baffle allows the material at the first baffle to pass, so that the first transmission mechanism can transfer the material at the first baffle to the second transmission mechanism, and then the The second transfer mechanism can transfer the material on the second transfer mechanism to a predetermined inspection place for inspection, so that the material is transferred from the first baffle to the predetermined inspection place and the inspection process can continue uninterrupted.
  • a second baffle is provided at the discharge position of the second transmission mechanism, and it is determined whether the detection of the previous material of the material at the first baffle is
  • the ending step includes: judging whether there is material at the second baffle; when there is no material at the second baffle, controlling the movement of the first baffle in the third direction, so that the first baffle lifts the position of the first baffle The blocking state of the material; control the first transmission mechanism to transmit the material at the first baffle to the second transmission mechanism, and control the second transmission mechanism to transmit the material on the second transmission mechanism to the second baffle.
  • the detection equipment docked with the output end of the conversion platform ends the detection of a material
  • the running distance of the next material from the position where the next material is placed on the first transmission mechanism to the detection position is shortened to the second
  • the distance between the baffle and the detection position can further improve the material detection efficiency of the detection equipment docked with the output end of the conversion platform.
  • the material transport method further includes: when there is material at the second baffle, judging whether the material at the second baffle is detected by the previous material End; when the detection of the previous material at the second baffle ends, control the second baffle to move in the fourth direction, so that the second baffle releases the blocking state of the material at the second baffle; control The second transmission mechanism transmits the material at the second baffle to the third transmission mechanism, and controls the third transmission mechanism to transmit the material on the third transmission mechanism to a predetermined inspection location.
  • the predetermined inspection place is the appearance inspection place
  • the appearance inspection place is provided with at least one appearance inspection device for performing appearance inspection on the material.
  • the material to be transferred is controlled
  • the step of transferring to the transfer surface of the first transfer mechanism includes: sequentially determining whether there are materials to be transferred on at least two input platforms based on the serial numbers of the input platforms, and using the input platforms on which the materials to be transferred are used as the feeding platform; The material to be transferred on the material platform is transferred to the transfer surface of the first transfer mechanism.
  • the platform serves as a loading platform, enabling one conversion platform to be docked with at least two input platforms, which can prevent all materials to be transferred on the input platform from being transferred when there is only one input platform, and no new materials to be transferred are added.
  • the occurrence of the problem that the detection process of the detection equipment docked with the output end of the conversion platform is interrupted has further improved the material detection efficiency of the detection equipment.
  • the lifting mechanism includes The positioning unit and the lifting unit connected thereto, the positioning unit includes at least one set of moving components for performing alignment operations on the material to be transferred; wherein the moving direction of the at least one moving component is different from that of the first transmission mechanism;
  • the step of driving the material to be transferred by the mechanism to move in the first direction so that the material to be transferred is separated from the conveying surface includes: controlling the lifting unit to drive the alignment unit to move in the first direction, and the alignment unit drives the material to be transferred to move in the first direction; So that the material to be transferred is separated from the conveying surface; at least one group of moving components is controlled to perform alignment operations on the material to be transferred.
  • the alignment unit connected to the lifting unit will drive the material to be transferred away from the conveying surface.
  • control at least one of the alignment units The mobile component performs automatic alignment of the materials to be transferred, which enables the materials to be transferred after alignment to be accurately transferred to the detection equipment connected with the output terminal of the conversion platform at a unified predetermined angle and position, without manual operation, and because The automatic positioning is carried out by the lifting mechanism, and the operation accuracy requirements for transferring the material to be conveyed to the first conveying mechanism are reduced, and therefore, the manpower and design cost can be reduced.
  • an embodiment of the present invention provides a material transfer device, including: a loading control module for controlling the transfer of materials to be transferred to the transfer surface of the first transfer mechanism; and a first lifting control module for controlling The lifting mechanism drives the material to be transferred to move in the first direction, so that the material to be transferred is separated from the conveying surface; the waiting judgment module is used to judge whether there is material at the first baffle; wherein, the first baffle is arranged in the first conveying mechanism At the discharge position; the second lifting control module is used to control the lifting mechanism to move in the second direction, so that the material to be transferred falls on the conveying surface; wherein the first direction is opposite to the second direction; the material transfer module is used to Control the first transfer mechanism to transfer the material to be transferred to the first baffle.
  • an embodiment of the present invention provides a material conveying system, including: a feeding mechanism for conveying the material to be conveyed to the conveying surface of the first conveying mechanism; and a lifting mechanism for moving in a first direction When the material to be transferred is separated from the conveying surface, or when moving in the second direction, the material to be conveyed falls on the conveying surface; wherein the first direction is opposite to the second direction; the first baffle is arranged at the exit of the first conveying mechanism
  • the material location; a memory and a processor, and computer instructions are stored in the memory.
  • the processor executes the material transfer method described in the first aspect by executing the computer instructions.
  • the material conveying system further includes: a second conveying mechanism for conveying materials that have passed through the first baffle; and a second baffle arranged on the second conveying mechanism At the discharging position; the third transfer mechanism is used to transfer the material passing through the second baffle; the processor executes the computer instruction to execute the material transfer method described in the first aspect or any one of the first aspects.
  • an embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the first aspect or any one of the implementation manners of the first aspect.
  • Figure 1A is a schematic diagram of an application scenario of an embodiment of the present invention.
  • Figure 1B is a top view of the conversion platform and detection equipment in Figure 1;
  • Figure 1C is a right side view of the conversion platform and detection equipment in Figure 1;
  • Figure 1D is a schematic structural diagram of the lifting mechanism that makes the material to be transported fall on the transport surface
  • Figure 1E is a schematic structural view of the lifting mechanism that makes the material to be transported separate from the transport surface
  • Figure 1F is a schematic structural diagram of the first baffle
  • Figure 1G is an enlarged view of part A in Figure 1C;
  • Figure 1H is a schematic structural view of the third baffle
  • FIG. 3 is a flowchart of another method of a material transfer method provided by an embodiment of the present invention.
  • FIG. 4 is a flowchart of a specific implementation manner of step S201 in FIG. 2 or step S301 in FIG. 3;
  • Figure 5 is a functional block diagram of a material transport device provided by an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of the hardware structure of the material transfer system provided by an embodiment of the present invention.
  • FIG. 1A-1H show a schematic diagram of an application scenario of an embodiment of the present invention, in which there is a conversion platform 1 and a detection device 2 (ie, downstream detection device) connected to the output terminal of the conversion platform 1.
  • a detection device 2 ie, downstream detection device
  • the conversion platform 1 includes: a first input platform 11, a second input platform 12, a feeding mechanism 13, a lifting mechanism 14, a first transmission mechanism 15 and a first baffle 16, wherein the lifting The mechanism 14 includes an alignment unit and a lifting unit 142 connected to the alignment unit.
  • the alignment unit includes at least one set of moving components for performing alignment operations on the material to be transferred. The moving direction of the at least one set of moving components is the same as that of the first transmission mechanism 15 different.
  • the feeding mechanism 13 is used to transport the materials to be transferred on the first input platform 11 or the second input platform 12 to the transfer surface of the first transfer mechanism 15, and the lifting unit 142 is used to drive the alignment unit along the first Move in the direction so that the material to be conveyed on the conveying surface of the first conveying mechanism 15 is separated from the conveying surface, the material to be conveyed enters the waiting state where the first conveying mechanism 15 cannot be conveyed, or the alignment unit is driven to move in the second direction, so that The material to be transferred falls on the transfer surface, and the material to be transferred enters a transfer state capable of being transferred by the first transfer mechanism 15.
  • the alignment unit in the lifting mechanism 14 performs alignment operations during the entire process of transferring the material into the waiting state (that is, the entire process of the material to be transferred from leaving the transfer surface to falling on the transfer surface again).
  • the first input platform 11 and the second input platform 12 of the conversion platform 1 are both docked with the discharge port of an upstream detection device 3.
  • the bodies 1A-1C are shown with two input platforms (the first input platform 11 and the second input platform 12) as an example, it should be understood that the The three sides of the conveying mechanism 15 except for the discharge position are respectively provided with input platforms, and the feeding mechanism 13 is correspondingly provided, so that the feeding mechanism 13 can transfer the material to be conveyed on any of the three input platforms to the second A transmission mechanism 15 on.
  • Fig. 1D and Fig. 1E show that the moving direction of at least one group of moving components is perpendicular to the conveying direction of the first transmission mechanism 15 as an example.
  • the first transmission mechanism 15 is a group of transmissions.
  • Roller 151 the transfer direction of the first transfer mechanism 15 is perpendicular to the axis of the transfer roller 151 (as shown in the positive direction of the Y axis in Figure 1D and Figure 1E);
  • the moving component in the alignment unit is the conveyor belt 141, and the movement direction of the conveyor belt 141 is parallel
  • the axis of the conveyor roller 151 (as shown in the positive or negative direction of the X axis in Fig. 1D and Fig.
  • the movement direction of the conveyor belt 141 is the positive direction of the X axis in Fig. 1D and Fig. 1E as an example, the material to be conveyed passes through the conveyor belt 141 After the alignment, they will reach the position close to the right transmission rack 17).
  • first interval 152 between two adjacent conveyor rollers 151 that allows the conveyor belt 141 to enter there is a first interval 152 between two adjacent conveyor rollers 151 that allows the conveyor belt 141 to enter, and a second interval between two adjacent conveyor belts 141 that allows the conveyor roller 151 to enter; when the conveyor belt of the alignment unit 141 is driven by the lifting unit 142 to move in the first direction, the conveyor belt 141 enters the first gap 152 between the two adjacent conveyor rollers 151, and when the conveyor belt 141 is higher than the conveying surface of the conveying roller 151 for conveying the material to be conveyed, The material to be transferred leaves the conveyor roller 151; when the conveyor belt 141 of the alignment unit is driven by the lifting unit 142 to move in the second direction, and the conveyor belt 141 is lower than the conveying surface of the material on the conveyor roller 151, the material to be conveyed falls to the conveyor roller 151 on.
  • the conveyor belt 141 does not interfere with the conveyor rollers 151 on the adjacent two sides during the movement in the first direction
  • the first baffle 16 is disposed at the discharge position of the first conveying mechanism 15.
  • the first baffle 16 includes a first plate body 161 and a first plate body. 161 is connected to the first driving unit 162, where the first driving unit 162 (shown by taking the air cylinder as an example in FIG. 1F) is used to drive the first plate 161 to move in the third direction or the fifth direction.
  • the first baffle 16 is also provided with a sensor (not shown in the figure) for detecting whether there is material at the first baffle 16.
  • the detection device 2 includes a second transmission mechanism (not shown in the figure), a second baffle 21, a third transmission mechanism (not shown in the figure), and a third baffle 22.
  • FIG. 1B and FIG. 1C take the detection device 22 as the appearance detection device 2 as an example.
  • the predetermined detection position of the detection device 22 is provided with at least one appearance detection device 23 for performing the appearance detection of the material.
  • the second baffle 21 is disposed at the discharge position of the second conveying mechanism.
  • the second baffle 21 includes a second plate body 211 and a second plate body 211. Connected to the second driving unit 212, wherein the second driving unit 212 (shown in FIG. 1G using a cylinder as an example) is used to drive the second plate 211 to move in the fourth direction or the sixth direction.
  • the blocking of the material at the second baffle 21 is released State; when the second plate 211 is driven by the second drive unit 212 to move in the sixth direction until the distance between the lower edge of the second plate 211 and the conveying surface of the second transmission mechanism is less than the specified height, the second The blocking state of the material at the baffle 21.
  • the designated height refers to the height at which the material at the second baffle 21 can pass, that is, the designated height is slightly larger than the thickness of the material.
  • the second baffle 21 is also provided with a sensor (not shown in the figure) for detecting whether there is material at the second baffle 21.
  • the third baffle 22 is set at the discharge position of the third transmission mechanism.
  • the third transmission mechanism and the second transmission mechanism may be the same transmission mechanism, only
  • the part from the first baffle 16 to the second baffle 21 in the transmission mechanism is named the second transmission mechanism
  • the part from the second baffle 21 to the third baffle 22 in the transmission mechanism is named The third transmission mechanism.
  • the third baffle 22 includes a third plate body 221 and a third drive unit 222 connected to the third plate body 221, wherein the third drive unit 222 (a cylinder is shown as an example in FIG. 1H ) Is used to drive the third plate 221 to rotate clockwise or counterclockwise along the rotating shaft 223.
  • the third drive unit 222 a cylinder is shown as an example in FIG. 1H .
  • the predetermined height refers to the third stop.
  • the height at which the material at the board 22 can pass is slightly larger than the thickness of the material (the predetermined height and the above-mentioned designated height can be the same height).
  • the third baffle 22 is also provided with a sensor (not shown in the figure) for detecting whether there is material at the third baffle 22.
  • Fig. 2 shows a flow chart of a material transfer method according to an embodiment of the present invention.
  • the method can be used for, but not limited to, the conversion platform shown in Figs. 1A-1H and the detection device docked with the output terminal of the conversion platform.
  • the material transfer method includes the following steps:
  • S201 Control the transfer of the material to be transferred to the transfer surface of the first transfer mechanism.
  • the feeding mechanism when applied to the equipment shown in Figures 1A-1H, can be controlled to absorb the material to be transferred, and the feeding mechanism can be controlled to move above the first output mechanism to release the material to be transferred to achieve control
  • the material to be transferred is transferred to the transfer surface of the first transfer mechanism.
  • this method is not limited to the device shown in FIGS. 1A-1H.
  • the feeding mechanism may be a robot arm in addition to the suction cup shown in FIGS. 1B-1C.
  • step S201 may include The following steps:
  • Step A Determine in turn whether there are materials to be transferred on at least two input platforms based on the serial numbers of the input platforms, and use the input platform with materials to be transferred on them as the feeding platform.
  • the conversion platform including the first input platform and the second input platform as shown in Figure 1A-1C as an example.
  • First determine whether there is material to be transferred on the first input platform; when the first input platform When there are materials to be transferred, the first input platform is directly used as the loading platform (no need to determine whether there are materials to be transferred on the second input platform); when there is no material to be transferred on the first input platform, the second input is determined Whether there are materials to be transferred on the platform; when there are materials to be transferred on the second input platform, the second input platform will be used as the feeding platform; when there are no materials to be transferred on the second input platform, it will enter the feeding waiting state, and After a predetermined time interval, the above judgment process is re-executed.
  • first transfer platform and the second transfer platform are respectively provided with sensors for detecting whether there are materials to be transferred on the first transfer platform and the second transfer platform.
  • Step B Control the material to be transferred on the loading platform to be transferred to the transfer surface of the first transfer mechanism.
  • S202 Control the lifting mechanism to drive the material to be transferred to move in the first direction, so that the material to be transferred is separated from the transfer surface.
  • the lifting unit in the lifting mechanism can be controlled to start operation, thereby driving the alignment unit to move in the first direction, so that the material to be conveyed is separated from the conveying surface.
  • the material to be transferred enters the waiting state where the first transfer mechanism cannot transfer.
  • this method is not limited to the devices shown in Figures 1A-1H.
  • at least one set of moving components on the alignment unit can be replaced with at least one set of fixed components, such as at least one Groups of column-shaped members or band-shaped members that can enter the first interval.
  • step S203 Determine whether there is material at the first baffle.
  • the first baffle is arranged at the discharge position of the first transmission mechanism.
  • step S204 is executed.
  • the lifting mechanism is controlled to continue to be in a waiting state for the material to be transferred to be separated from the conveying surface.
  • the sensor provided at the first baffle determines whether there is material at the first baffle.
  • step S204 Control the lifting mechanism to move in the second direction, so that the material to be transferred falls on the transfer surface.
  • the first direction is opposite to the second direction.
  • the specific content of this step can be understood with reference to step S202, which will not be repeated here.
  • step S205 Control the first transfer mechanism to transfer the material to be transferred to the first baffle.
  • step S201 can be executed to control the transfer of the next material to be transferred to the transfer surface of the first transfer mechanism, that is, step S205 in one process can be synchronized with step S201 in the next process carried out.
  • the lifting mechanism is controlled to drive the material to be transferred to move in the first direction, so that the material to be transferred is Leaving the conveying surface, the material to be transferred on the lifting mechanism will not be transferred by the first transfer mechanism, that is, the material to be transferred enters the waiting state; then it is judged whether there is material at the first baffle, and there is no material at the first baffle
  • the lifting mechanism is controlled to move in the second direction, so that the material to be conveyed falls on the conveying surface, and the material to be conveyed can be conveyed to the first baffle by the first conveying mechanism, so that the first baffle can continuously buffer the materials , Realize the buffer function, so that the detection device docked with the output end of the conversion platform (the output end of the first transmission mechanism) ends the detection of the previous material of the material to be transferred, and waits for the material to be transferred to be transferred to
  • the running distance of the detected material is the distance from the position where the material to be transported is placed on the first transport mechanism to the detection position, which is shortened to the distance between the first baffle and the detection position.
  • the baffle is arranged at the discharge position of the first transmission mechanism, and the distance between the first baffle and the detection position can be considered as the transmission distance of the detection device itself. Therefore, it can solve the problem of The conversion platform between the two devices causes the increase in the running distance of the PCB board and the problem of decreased detection efficiency.
  • the material transfer method further includes:
  • step S206 Determine whether the detection of the previous material of the material at the first baffle is completed.
  • this step is executed.
  • step S207 and step S208 are executed; when the detection of the previous material of the material at the first baffle is not ended, wait for the first stop The detection of the previous material of the material at the board ends, and step S207 and step S208 are executed after the detection is determined to be completed.
  • the first predetermined time period refers to the time required for the material to be transported from the first baffle to the predetermined inspection place, and the time required for the inspection device (such as the appearance inspection device) at the predetermined inspection place to inspect a material with.
  • the first predetermined duration is the same as the first transfer The first time length corresponding to the material to be transported on the platform.
  • the first predetermined time length is the second time length corresponding to the material to be transported on the second transport platform.
  • S207 Control the movement of the first baffle in the third direction, so that the first baffle releases the blocking state of the material at the first baffle.
  • the first drive unit shown in FIG. 1F can be controlled to drive the first plate to move in the third direction until the upper edge of the first plate is lowered.
  • the first baffle is controlled to release the blocking state of the material at the first baffle.
  • S208 Control the first transfer mechanism to transfer the material at the first baffle to the second transfer mechanism, and control the second transfer mechanism to transfer the material on the second transfer mechanism to a predetermined detection location.
  • the discharge position of the first transmission mechanism is opposite to the input position of the second transmission mechanism, so that the first transmission mechanism can transmit the material to be transmitted on the first transmission mechanism to the second transmission mechanism. 2. On the transmission mechanism.
  • the first baffle can be controlled to move in the fifth direction, so that the first baffle can recover the material at the first baffle. At the same time, it returns to the state where there is no material at the first baffle.
  • the predetermined detection location can be directly set at the discharge position of the second transmission mechanism, and the second transmission mechanism can directly transfer the material on the second transmission mechanism to the predetermined detection location; in addition, as shown in Figure 1B and Figure 1C
  • a third baffle can also be provided at the side of the predetermined detection location close to the conveying mechanism, that is, a third baffle is provided at the discharge position of the second transmission mechanism, and the predetermined detection location is set at The third baffle is far away from the side of the second transport mechanism, so that when the material at the first baffle is transferred to the predetermined inspection place, a buffer (at the third baffle) is added to further improve the material
  • the detection efficiency specifically, when the third baffle is provided at the discharge position of the second transmission mechanism, the above step S206 may include the following steps:
  • Step a Determine whether there is material at the third baffle.
  • step b when there is material at the third baffle, perform step b (at the same time, keep the first baffle blocking the material at the first baffle); when there is no material at the third baffle, perform Step c and step d.
  • the sensor provided at the third baffle determines whether there is material at the third baffle.
  • Step b Determine whether the detection of the previous material of the material at the third baffle is completed.
  • the above steps e and f are performed; when the detection of the last material of the material at the third baffle is not ended, wait for the first material.
  • steps e and f are executed after the detection is determined to be completed.
  • Step c controlling the movement of the first baffle in the third direction, so that the first baffle releases the blocking state of the material at the first baffle.
  • Step d Control the first transfer mechanism to transfer the material at the first baffle to the second transfer mechanism, and control the second transfer mechanism to transfer the material on the second transfer mechanism to the third baffle.
  • Step e controlling the third baffle to rotate clockwise along the rotating shaft, so that the third baffle releases the blocking state of the material at the third baffle.
  • Step f Control the second conveying mechanism to convey the material at the third baffle to the predetermined inspection place.
  • the third baffle can be controlled to rotate counterclockwise along the rotation axis, so that the third baffle can return to the third baffle. The blocking state of the material is restored to the state where there is no material at the third baffle at the same time.
  • the first transmission mechanism can transfer the material at the first baffle to the second baffle.
  • the second transmission mechanism can transfer the material on the second transmission mechanism to the predetermined inspection place for inspection, so that the material is transported from the first baffle to the predetermined inspection place and the inspection process can continue uninterrupted To proceed.
  • Fig. 3 shows a flow chart of another material transfer method according to an embodiment of the present invention.
  • the method can be used for but not limited to the conversion platform shown in Figs. 1A-1H and the detection device docked with the output terminal of the conversion platform.
  • a second baffle is provided at the discharge position of the second transmission mechanism, as shown in FIG. 3, the method includes the following steps:
  • step S301 Control the transfer of the material to be transferred to the transfer surface of the first transfer mechanism.
  • the specific content of this step can be understood with reference to the above step S201, which will not be repeated here.
  • step S302 Control the lifting mechanism to drive the material to be transferred to move in the first direction, so that the material to be transferred is separated from the transfer surface.
  • the specific content of this step can be understood with reference to the above step S202, which will not be repeated here.
  • step S303 Determine whether there is material at the first baffle.
  • step S304 is executed; when there is material at the first baffle, the lifting mechanism is controlled to continue to be in a waiting state for the material to be transferred to be separated from the conveying surface.
  • the sensor provided at the first baffle determines whether there is material at the first baffle.
  • step S304 Control the lifting mechanism to move in the second direction, so that the material to be transferred falls on the transfer surface.
  • the first direction is opposite to the second direction.
  • step S305 Control the first transfer mechanism to transfer the material to be transferred to the first baffle.
  • the specific content of this step can be understood with reference to the above step S205, which will not be repeated here.
  • step S306 Determine whether there is material at the second baffle.
  • step S307 and step S308 are executed; when there is material at the second baffle, the first baffle is controlled to keep blocking the material at the first baffle, so that It is in a waiting state until there is no material at the second baffle.
  • the sensor set at the second baffle is used to determine whether there is material at the second baffle.
  • S307 Control the first baffle to move in the third direction, so that the first baffle releases the blocking state of the material at the first baffle.
  • the first driving unit shown in FIG. 1F can be controlled to drive the first board to move in the third direction until the upper edge of the first board is lower than the first board.
  • the conveying surface of the conveying mechanism realizes the control of the first baffle to release the blocking state of the material at the first baffle.
  • S308 Control the first transfer mechanism to transfer the material at the first baffle to the second transfer mechanism, and control the second transfer mechanism to transfer the material on the second transfer mechanism to the second baffle.
  • the first baffle can be controlled to move in the fifth direction, so that the first baffle can recover the material at the first baffle. At the same time, it returns to the state where there is no material at the first baffle.
  • the second baffle that can also realize the buffer function is provided at the discharge position of the second transmission mechanism, so that the detection device that is docked with the output end of the conversion platform (the output end of the first transmission mechanism)
  • the running distance of the next material is from the position where the next material is placed on the first transmission mechanism to the detection position
  • the distance is shortened to the distance between the second baffle and the detection position, which can further improve the material detection efficiency of the detection equipment docked with the output end of the conversion platform.
  • the material transfer method further includes:
  • step S309 Determine whether the detection of the previous material of the material at the second baffle is completed.
  • this step is executed when the judgment result of step S306 is that there is material at the second baffle.
  • step S310 and step S311 are executed; when the detection of the previous material of the material at the second baffle is not completed, wait for the second baffle The detection of the previous material of the material at the location ends, and step S310 and step S311 are executed after the detection is determined to be completed.
  • S310 Control the second baffle to move in the fourth direction, so that the second baffle releases the blocking state of the material at the second baffle.
  • the second drive unit shown in FIG. 1G can be controlled to drive the second board to move in the fourth direction until the lower edge of the second board and the first
  • the manner in which the distance between the conveying surfaces of the two conveying mechanisms reaches a specified height realizes the control of the second baffle to release the blocking state of the material at the second baffle.
  • S311 Control the second transmission mechanism to transmit the material at the second baffle to the third transmission mechanism, and control the third transmission mechanism to transmit the material on the third transmission mechanism to a predetermined inspection location.
  • the second transmission mechanism and the third transmission mechanism can be the same transmission mechanism or different transmission mechanisms.
  • the second transmission mechanism and the third transmission mechanism are different transmission mechanisms, the second transmission mechanism The discharging position is opposite to the feeding position of the third transmission mechanism, so that the second transmission mechanism can transmit the material on the second transmission mechanism to the third transmission mechanism.
  • the predetermined detection location can be directly set at the discharge position of the third transmission mechanism, and the third transmission mechanism can directly transfer the material on the third transmission mechanism to the predetermined detection location; in addition, as shown in Figure 1B, As shown in Figure 1C and Figure 1H, a third baffle can also be provided at the side of the predetermined detection location close to the transmission mechanism, that is, a third baffle is provided at the discharge position of the third transmission mechanism, and the predetermined detection location It is arranged on the side of the third baffle far away from the third conveying mechanism, so that when the material at the second baffle is transferred to the predetermined inspection place, a buffer (the third baffle) is added to further improve Material inspection efficiency of inspection equipment.
  • a buffer the third baffle
  • the lifting mechanism includes an alignment unit and a lifting unit connected to it, and the alignment unit includes performing an alignment operation for the material to be transferred
  • step S201 and step S301 may include:
  • S401 Control the lifting unit to drive the alignment unit to move in the first direction, and the alignment unit drives the material to be transferred to move in the first direction, so that the material to be transferred is separated from the transfer surface.
  • the movement direction of the at least one group of moving components is different from the transmission direction of the first transmission mechanism.
  • S402 Control at least one group of moving components to perform alignment operations on the materials to be transferred.
  • the alignment operation is completed.
  • the moving direction of the conveyor belt is shown in FIG. 1D Take the positive direction of the X axis in Figure 1E as an example. After the materials to be transferred are aligned by the alignment unit, they will all arrive at a position close to the transfer rack on the right.
  • the alignment unit connected to the lifting unit will drive the material to be transferred away from the conveying surface.
  • control at least one of the alignment units The mobile component performs automatic alignment of the materials to be transferred, which enables the materials to be transferred after alignment to be accurately transferred to the detection equipment connected with the output terminal of the conversion platform at a unified predetermined angle and position, without manual operation, and because The automatic positioning is carried out by the lifting mechanism, and the operation accuracy requirements for transferring the material to be conveyed to the first conveying mechanism are reduced, and therefore, the manpower and design cost can be reduced.
  • Fig. 5 shows a principle block diagram of a material conveying device according to an embodiment of the present invention.
  • the device can be used to implement the material conveying method described in Embodiment 1 or any optional implementation thereof.
  • the device includes: a feeding control module 10, a first lifting control module 20, a waiting judgment module 30, a second lifting control module 40 and a material transfer module 50.
  • the feeding control module 10 is used to control the transfer of the material to be transferred to the transfer surface of the first transfer mechanism.
  • the first lifting control module 20 is used to control the lifting mechanism to drive the material to be transferred to move in the first direction, so that the material to be transferred is separated from the transfer surface.
  • the waiting judgment module 30 is used to judge whether there is material at the first baffle.
  • the first baffle is arranged at the discharge position of the first transmission mechanism.
  • the second lifting control module 40 is used to control the lifting mechanism to move in the second direction, so that the materials to be transferred fall onto the conveying surface.
  • the first direction is opposite to the second direction.
  • the material transfer module 50 is used to control the first transfer mechanism to transfer the material to be transferred to the first baffle.
  • the embodiment of the present invention also provides a material conveying system.
  • the material conveying system may include a feeding mechanism, a lifting mechanism, a first baffle, a first conveying mechanism, a processor 61, and a memory 62.
  • the processor 61, the memory 62, the feeding mechanism, the lifting mechanism, the first baffle, and the first transmission mechanism may be connected by a bus or other methods.
  • the connection by a bus is taken as an example.
  • the material conveying system further includes: a second conveying mechanism for conveying materials that have passed through the first baffle; a second baffle arranged at the discharge position of the second conveying mechanism; and a third conveying mechanism , Used to convey the material passing through the second baffle.
  • the feeding mechanism the lifting mechanism, the first baffle, the first transmission mechanism, the second transmission mechanism, the second baffle, and the third transmission mechanism, please refer to the description of the application scenarios before the first embodiment.
  • the processor 61 may be a central processing unit (Central Processing Unit, CPU).
  • the processor 61 may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (ASIC), programmable logic controllers (Programmable Logic Controller), and field programmable gates.
  • Array Field-Programmable Gate Array, FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other chips, or a combination of the above types of chips.
  • the memory 62 can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions/modules corresponding to the material transfer method in Embodiment 1 of the present invention (For example, the loading control module 10, the first lifting control module 20, the waiting judgment module 30, the second lifting control module 40, and the material transport module 50 shown in FIG. 5).
  • the processor 61 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions, and modules stored in the memory 62, that is, realizes the material transfer method in the foregoing method embodiment 1.
  • the memory 62 may include a program storage area and a data storage area.
  • the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created by the processor 61 and the like.
  • the memory 62 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the memory 62 may optionally include memories remotely provided with respect to the processor 61, and these remote memories may be connected to the processor 61 through a network. Examples of the aforementioned networks include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 62, and when executed by the processor 61, the material transfer method in the embodiment shown in FIGS. 2 to 4 is executed.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, abbreviation: HDD) or solid-state drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the foregoing types of memories.

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Abstract

一种物料传输方法、传输装置、传输系统及可读存储介质，该方法包括：控制待传输物料传输至第一传输机构（15）的传送面上；控制升降机构（14）带动待传输物料沿第一方向运动，以使得待传输物料脱离传送面；判断第一挡板（16）处是否有物料；其中，第一挡板（16）设置于第一传输机构（15）的出料位置处；当第一挡板（16）处没有物料时，控制升降机构（14）沿第二方向运动，以使得待传输物料落至传送面上；其中，第一方向与第二方向相反；控制第一传输机构（15）将物料传输至第一挡板（16）处。该方法能够使与转换平台（1）的输出端对接的检测设备（2）等待待传输物料被传输至检测位置处时，待检测物料的运行距离缩短为第一挡板（16）处到检测位置处之间的距离，从而能够提高检测设备（2）的检测效率。

Description

一种物料传输方法、传输装置、传输系统及可读存储介质 技术领域
本发明涉及电子产品自动化生产技术领域，尤其涉及到一种物料传输方法、传输装置、传输系统及可读存储介质。
背景技术
随着电子技术的快速发展，印制电路板(Printed Circuit Board，PCB)广泛应用于各个领域，PCB板是现代电子行业中的必备元件，其用于电子元器件电气连接，是电子元器件的支撑载体。为保证电子设备正常工作，减少相互间的电磁干扰，加工制造后的印制电路板要进行质量检测，以检测印制电路板的性能是否符合要求。随着科学技术的发展，市场上出现了PCB板的生产和质量检测设备，利用设备能够实现对PCB板的自动生产和检测，一定程度上降低了操作员的人力劳动强度。
但在现有设备的生产作业中，PCB板的质量检测通常是采用独立设置的检测设备分别进行的，而PCB板通常需要经过多种检测设备执行多道检测程序，在转换设备或者转换工艺流程时，一方面，仍有相当一部分工作需要操作人员人工对PCB板进行放置和移送，自动化程度低，从而导致工作效率低，生产线的产能低，无法满足流水线批量检测需求，耗费人工成本的同时容易造成被检测PCB板产生二次污染等问题。另一方面，人工上料以及传输过程中必然会存在PCB板在水平面内的角度偏移，因此在传输过程中，若不及时进行纠正易增加PCB板传输和生产过程中的损坏率。
现有技术中，通过设置一转换平台，包括用于将被搬运机构从上料平台(上游检测设备的输出平台)搬运过来的PCB板传输至下游检测设备的传输机构，以及用于对传输机构上的PCB板进行顶升后执行对位操作的对位机构，实现两个检测设备之间的转换，但是，增加的转换平台会导致PCB板的运行距离增加，从原始的仅为下游检测设备的进料位置处到检测位置处之间的距离，增加到转换平台中的运行距离和下游检测设备的进料位置处到检测位置处之间的距离之和，从而会导致检测效率下降的问题。
发明内容
有鉴于此，本发明实施例提供了一种物料传输方法、传输装置、传输系统及可读存储介质，以解决现有技术中设置的用以实现两个设备之间转换的转换平台导致的PCB板的运行距离增加，检测效率下降的问题。
为此，根据第一方面，本发明实施例提供了一种物料传输方法，包括：控制待传输物料传输至第一传输机构的传送面上；控制升降机构带动待传输物料沿第一方向运动，以使得待传输物料脱离传送面；判断第一挡板处是否有物料；其中，第一挡板设置于第一传输机构的出料位置处；当第一挡板处没有物料时，控制升降机构沿第二方向运动，以使得待传输物料落至传送面上；其中，第一方向与第二方向相反；控制第一传输机构将待传输物料传输至第一挡板处。
通过在控制待传输物料传输至第一传输机构(转换平台的传输机构)的传送面上后，控制升降机构带动待传输物料沿第一方向运动，以使得待传输物料脱离传送面，升降机构上的待传输物料不会被第一传输机构传输，也即待传输物料进入等待状态；再通过判断第一挡板处是否有物料，并在 第一挡板处没有物料时，控制升降机构沿第二方向运动，以使得待传输物料落至传送面上，待传输物料能够被第一传输机构传输到第一挡板处，使得第一挡板能够持续不断地缓存物料，实现缓存功能，从而使与转换平台的输出端(第一传输机构的输出端)对接的检测设备结束对待传输物料的上一个物料的检测，等待待传输物料被传输至检测位置处时，待检测物料的运行距离从该待传输物料被放置到第一传输机构上的位置处到检测位置处之间的距离，缩短为第一挡板处到检测位置处之间的距离，而由于第一挡板设置于第一传输机构的出料位置处，第一挡板处到检测位置处之间的距离可以认为是检测设备自身的传输距离，因而，能够解决现有技术中设置的用以实现两个设备之间转换的转换平台导致的PCB板的运行距离增加，检测效率下降的问题。
结合第一方面，在第一方面第一实施方式中，物料传输方法还包括：当第一挡板处有物料时，判断第一挡板处的物料的上一个物料的检测是否结束；当第一挡板处的物料的上一个物料的检测结束时，控制第一挡板沿第三方向运动，以使得第一挡板解除对第一挡板处的物料的阻挡状态；控制第一传输机构将第一挡板处的物料传输至第二传输机构上，并控制第二传输机构将第二传输机构上的物料传输至预定检测处。
通过在第一挡板处有物料时，判断第一挡板处的物料的上一个物料的检测是否结束，并在第一挡板处的物料的上一个物料的检测结束时，解除第一挡板对第一挡板处的物料的阻挡状态，使得第一挡板处的物料能够通行，从而使第一传输机构能够将第一挡板处的物料传输至第二传输机构上，进而使第二传输机构能够将第二传输机构上的物料传输至预定检测处进行 检测，使物料被从第一挡板处传输到预定检测处并进行检测的流程能够持续不间断地进行。
结合第一方面第一实施方式，在第一方面第二实施方式中，第二传输机构的出料位置处设置有第二挡板，判断第一挡板处的物料的上一个物料的检测是否结束的步骤，包括：判断第二挡板处是否有物料；当第二挡板处没有物料时，控制第一挡板沿第三方向运动，以使得第一挡板解除对第一挡板处的物料的阻挡状态；控制第一传输机构将第一挡板处的物料传输至第二传输机构上，并控制第二传输机构将第二传输机构上的物料传输至第二挡板处。
通过在第二传输机构的出料位置处设置同样能够实现缓存功能的第二挡板，使与转换平台的输出端(第一传输机构的输出端)对接的检测设备结束对一个物料的检测，等待该物料的下一个物料被传输至检测位置处时，下一个物料的运行距离从该下一个物料被放置到第一传输机构上的位置处到检测位置处之间的距离，缩短为第二挡板处到检测位置处之间的距离，从而能够进一步提高与转换平台的输出端对接的检测设备的物料检测效率。
结合第一方面第二实施方式，在第一方面第三实施方式中，物料传输方法还包括：当第二挡板处有物料时，判断第二挡板处的物料的上一个物料的检测是否结束；当第二挡板处的物料的上一个物料的检测结束时，控制第二挡板沿第四方向运动，以使得第二挡板解除对第二挡板处的物料的阻挡状态；控制第二传输机构将第二挡板处的物料传输至第三传输机构上，并控制第三传输机构将第三传输机构上的物料传输至预定检测处。
结合第一方面第三实施方式，在第一方面第四实施方式中，预定检测处为外观检测处，外观检测处设置有用以对物料进行外观检测的至少一个外观检测装置。
结合第一方面或者第一方面第一实施方式或者第一方面第二实施方式或者第一方面第三实施方式或者一方面第四实施方式，在第一方面第五实施方式中，控制待传输物料传输至第一传输机构的传送面上的步骤，包括：基于输入平台的序号依次判断至少两个输入平台上是否有待传输物料，并将其上有待传输物料的输入平台作为上料平台；控制上料平台上的待传输物料传输至第一传输机构的传送面上。
通过在控制上料平台上的传输物料传输至第一传输机构的传送面上的之前，基于输入平台的序号依次判断至少两个输入平台上是否有待传输物料，并将其上有待传输物料的输入平台作为上料平台，使一个转换平台能够与至少两个输入平台对接，能够防止仅有一个输入平台时，该输入平台的全部待传输物料均被传输完毕，而没有新的待传输物料补充，与转换平台的输出端对接的检测设备的检测流程中断的问题的出现，进一步提高了检测设备的物料检测效率。
结合第一方面或者第一方面第一实施方式或者第一方面第二实施方式或者第一方面第三实施方式或者一方面第四实施方式，在第一方面第六实施方式中，升降机构包括对位单元和与之连接的升降单元，对位单元包括对待传输物料执行对位操作的至少一组移动组件；其中，至少一组移动组件的移动方向与第一传输机构的传输方向不同；控制升降机构带动待传输物料沿第一方向运动，以使得待传输物料脱离传送面的步骤，包括：控制 升降单元驱动对位单元沿第一方向运动，对位单元带动待传输物料沿第一方向运动，以使得待传输物料脱离传送面；控制至少一组移动组件对待传输物料执行对位操作。
通过在控制升降单元驱动对位单元沿第一方向运动，使与升降单元连接的对位单元将待传输物料带动脱离传送面，待传输物料进入等待状态之后，控制对位单位中的至少一组移动组件对待传输物料执行自动对位，能够使经过对位后的待传输物料以统一的预定角度和位置被准确传送到与转换平台的输出端对接的检测设备上，不需要人工操作，且由于通过升降机构进行了自动对位，对将待传输物料传输至第一传输机构上的操作精度要求降低，因而，能够降低人力和设计成本。
根据第二方面，本发明实施例提供了一种物料传输装置，包括：上料控制模块，用于控制待传输物料传输至第一传输机构的传送面上；第一升降控制模块，用于控制升降机构带动待传输物料沿第一方向运动，以使得待传输物料脱离传送面；等待判断模块，用于判断第一挡板处是否有物料；其中，第一挡板设置于第一传输机构的出料位置处；第二升降控制模块，用于控制升降机构沿第二方向运动，以使得待传输物料落至传送面上；其中，第一方向与第二方向相反；物料传输模块，用于控制第一传输机构将待传输物料传输至第一挡板处。
根据第三方面，本发明实施例提供了一种物料传输系统，包括：上料机构，用于将待传输物料传输至第一传输机构的传送面上；升降机构，用于沿第一方向运动时使待传输物料脱离传送面，或者沿第二方向运动时使待传输物料落至传送面上；其中，第一方向与第二方向相反；第一挡板， 设置于第一传输机构的出料位置处；存储器和处理器，存储器中存储有计算机指令，处理器通过执行计算机指令，从而执行第一方面所述的物料传输方法。
结合第三方面，在第三方面第一实施方式中，物料传输系统还包括：第二传输机构，用于传输通过了第一挡板的物料；第二挡板，设置于第二传输机构的出料位置处；第三传输机构，用于传输通过了第二挡板的物料；处理器通过执行计算机指令，从而执行第一方面或者第一方面任意一种实施方式所述的物料传输方法。
根据第四方面，本发明实施例提供了一种计算机可读存储介质，计算机可读存储介质存储有计算机指令，计算机指令用于使计算机执行第一方面或者第一方面的任意一种实施方式所述的物料传输方法。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1A为本发明实施例的应用场景示意图；
图1B为图1中的转换平台和检测设备的俯视图；
图1C为图1中的转换平台和检测设备的右视图；
图1D为使待传输物料落在传送面上的升降机构的结构示意图；
图1E为使待传输物料脱离传送面的升降机构的结构示意图；
图1F为第一挡板的结构示意图；
图1G为图1C中部位A的放大图；
图1H为第三挡板的结构示意图；
图2为本发明实施例提供的物料传输方法的一种方法流程图；
图3为本发明实施例提供的物料传输方法的另一种方法流程图；
图4为图2中步骤S201或者图3中步骤S301的一种具体实施方式流程图；
图5为本发明实施例提供的物料传输装置的原理框图；
图6为本发明实施例提供的物料传输系统的硬件结构示意图；
附图标记说明：
1-转换平台；11-第一输入平台；12-第二输入平台；13-上料机构；14-升降机构；141-传送带；142-升降单元；15-第一传输机构；151-传送辊；152-第一间隔；16-第一挡板；161-第一板体；162-第一驱动单元；17-传输机架；
2-检测设备；21-第二挡板；211-第二板体；212-第二驱动单元；22-第三挡板；221-第三板体；222-第三驱动单元；223-旋转轴；23-检测装置；
3-上游检测设备。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“第一”、“第二”、“第三”仅用 于描述目的，而不能理解为指示或暗示相对重要性。
图1A-图1H示出了本发明实施例的一个应用场景示意图，其中示有一转换平台1、一与转换平台1的输出端对接的检测设备2(即下游检测设备)。
如图1B-图1C所示，转换平台1包括：第一输入平台11、第二输入平台12、上料机构13、升降机构14、第一传输机构15和第一挡板16，其中，升降机构14包括对位单元和与之连接的升降单元142，对位单元包括对待传输物料执行对位操作的至少一组移动组件，至少一组移动组件的移动方向与第一传输机构15的传输方向不同。具体地，上料机构13用于将第一输入平台11或者第二输入平台12上的待传输物料运输到第一传输机构15的传送面上，升降单元142用于驱动对位单元沿第一方向运动，以使得第一传输机构15的传送面上的待传输物料脱离传送面，待传输物料进入第一传输机构15无法传输的等待状态，或者驱动对位单元沿第二方向运动，以使得待传输物料落至传送面上，待传输物料进入能够被第一传输机构15传输的传输状态。在这里，升降机构14中的对位单元在传输物料进入等待状态的整个过程中(即待传输物料脱离传送面到再次落至传送面上的整个过程中)，均在执行对位操作。
在这里，如图1A所示，转换平台1的第一输入平台11和第二输入平台12均与一上游检测设备3的出料口进行对接。并且，需要说明的是，虽然体1A-图1C均以输入平台为两个(第一输入平台11和第二输入平台12)为例进行示出，但是，应当可以理解，也可在第一传输机构15除了出料位置处以外的三个侧面分别设置输入平台，并对应设置上料机构13，以使上料机构13能够将三个输入平台中的任一个上的待传输物料传输至第一传输 机构15上。
图1D和图1E中以至少一组移动组件的移动方向与第一传输机构15的传输方向垂直为例进行了示出，如图1D和图1E所示，第一传输机构15为若干组传送辊151，第一传输机构15的传输方向垂直于传送辊151的轴线(如图1D和图1E中的Y轴正方向)；对位单元中的移动组件为传送带141，传送带141的运动方向平行于传送辊151的轴线(如图1D和图1E中的X轴正方向或者反方向，以传送带141的运动方向为图1D和图1E中的X轴正方向为例，待传输物料经过传送带141对位后，均会到达贴近右侧传输机架17的位置)。具体地，相邻的两传送辊151之间设有允许传送带141进入的第一间隔152，相邻的两传送带141之间设有允许传送辊151进入的第二间隔；当对位单元的传送带141在被升降单元142驱动沿第一方向运动，传送带141进入相邻的两传送辊151之间的第一间隔152，并当传送带141高于传送辊151上输送待传输物料的传送面时，待传输物料脱离传送辊151；当对位单元的传送带141在被升降单元142驱动沿第二方向运动，传送带141低于传送辊151上输送物料的传送面时，待传输物料下落至传送辊151上。在这里，传送带141在沿第一方向或者第二方向运动过程中不与相邻两侧的传送辊151发生干涉。
如图1B和图1C所示，第一挡板16设置于第一传输机构15的出料位置处，如图1F所示，第一挡板16包括第一板体161和与第一板体161连接的第一驱动单元162，其中，第一驱动单元162(图1F中以气缸为例进行示出)用于驱动第一板体161沿第三方向或者第五方向运动，当第一板体161被第一驱动单元162驱动沿三方向运动至第一板体161的上边缘低 于第一传输机构15的传送面时，解除对第一挡板16处的物料的阻挡状态；当第一板体161被第一驱动单元162驱动沿五方向运动至第一板体161的上边缘高于第一传输机构15的传送面时，恢复对第一挡板16处的物料的阻挡状态。第一挡板16处还设置有用于检测第一挡板16处是否有物料的传感器(图中未示出)。
如图1B和图1C所示，检测设备2包括第二传输机构(图中未示出)、第二挡板21、第三传输机构(图中未示出)和第三挡板22。在这里，图1B和图1C以检测设备22为外观检测设备2为例进行示出，检测设备22的预定检测处设置有用以对物料进行外观检测的至少一个外观检测装置23。
如图1B和图1C所示，第二挡板21设置于第二传输机构的出料位置处，如图1G所示，第二挡板21包括第二板体211和与第二板体211连接的第二驱动单元212，其中，第二驱动单元212(图1G中以气缸为例进行示出)用于驱动第二板体211沿第四方向或者第六方向运动，当第二板体211被第二驱动单元212驱动沿四方向运动至第二板体211的下边缘与第二传输机构的传送面之间的距离达到指定高度时，解除对第二挡板21处的物料的阻挡状态；当第二板体211被第二驱动单元212驱动沿第六方向运动至第二板体211的下边缘与第二传输机构的传送面之间的距离小于指定高度时，恢复对第二挡板21处的物料的阻挡状态，在这里，指定高度是指第二挡板21处的物料能够通行的高度，即指定高度略大于物料的厚度。第二挡板21处还设置有用于检测第二挡板21处是否有物料的传感器(图中未示出)。
如图1B和图1C所示，第三挡板22设置于第三传输机构的出料位置处，在这里，需要说明的是，第三传输机构和第二传输机构可以为同一传输机 构，仅是为了方便描述，将该传输机构中第一挡板16到第二挡板21的部分命名为第二传输机构，将该传输机构中第二挡板21到第三挡板22的部分命名为第三传输机构。
如图1H所示，第三挡板22包括第三板体221和与第三板体221连接的第三驱动单元222，其中，第三驱动单元222(图1H中以气缸为例进行示出)用于驱动第三板体221沿旋转轴223顺时针或者逆时针旋转，当第三板体221被第三驱动单元222驱动沿旋转轴223顺时针旋转，第三板体221的下边缘与第三传输机构的传送面之间的距离达到预定高度时，解除对第三挡板22处的物料的阻挡状态；当第三板体221被第三驱动单元222驱动沿旋转轴223逆时针旋转，第三板体221的下边缘与第三传输机构的传送面之间的距离小于预定高度时，恢复对第三挡板22处的物料的阻挡状态，在这里，预定高度是指第三挡板22处的物料能够通行的高度，即指定高度略大于物料的厚度(预定高度和上述指定高度可以为同一高度)。第三挡板22处还设置有用于检测第三挡板22处是否有物料的传感器(图中未示出)。
实施例1
图2示出了本发明实施例的一种物料传输方法的流程图，该方法可以用于但不限于图1A-图1H所示的转换平台和与转换平台的输出端对接的检测设备。如图2所示，该物料传输方法包括如下步骤：
S201：控制待传输物料传输至第一传输机构的传送面上。
在这里，当应用于图1A-图1H所示的设备时，可以通过控制上料机构吸取待传输物料，并控制上料机构运动到第一输出机构上方后释放待传输 物料的方式，实现控制待传输物料传输至第一传输机构的传送面上。当然，本方法并不限于图1A-图1H所示的装置，例如，上料机构除了图1B-图1C所示的吸盘，还可以为机械手。
在这里，为了防止仅有一个输入平台作为上料平台时，该输入平台的全部待传输物料均被传输完毕，而没有新的待传输物料补充，与转换平台的输出端对接的检测设备的检测流程中断的问题的出现，进一步提高检测设备的物料检测效率，输入平台设置为如图1A-图1C所示的两个(当然，输入平台也可以为三个)，此时，步骤S201可以包括如下步骤：
步骤A：基于输入平台的序号依次判断至少两个输入平台上是否有待传输物料，并将其上有待传输物料的输入平台作为上料平台。
在这里，以转换平台包括如图1A-图1C所示的第一输入平台和第二输入平台两个输入平台为例，首先，判断第一输入平台上是否有待传输物料；当第一输入平台上有待传输物料时，则直接将第一输入平台作为上料平台(无需进行第二输入平台上是否有待传输物料的判断)；当第一输入平台上没有待传输物料时，则判断第二输入平台上是否有待传输物料；当第二输入平台上有待传输物料时，则将第二输入平台作为上料平台；当第二输入平台上也没有待传输物料时，则进入上料等待状态，并在预定时间间隔后，重新执行上述判断过程。
在这里，第一传输平台上和第二传输平台上分别设置有用于检测第一传输平台上和第二传输平台上是否有待传输物料的传感器。
在这里，当输入平台有三个时，可以参照上述两个输入平台的情况来理解，在此不再赘述。
步骤B：控制上料平台上的待传输物料传输至第一传输机构的传送面上。
S202：控制升降机构带动待传输物料沿第一方向运动，以使得待传输物料脱离传送面。
在这里，当应用于图1A-图1H所示的设备时，可以通过控制升降机构中的升降单元开始运行，从而驱动对位单元沿第一方向运动的方式，使得待传输物料脱离传送面，待传输物料进入第一传输机构无法传输的等待状态。当然，本方法并不限于图1A-图1H所示的装置，例如，当不需要执行对位操作时，对位单元上的至少一组移动组件可以替换为至少一组固定组件，如至少一组能够进入第一间隔的柱状部件或者带状部件。
S203：判断第一挡板处是否有物料。在这里，第一挡板设置于第一传输机构的出料位置处。在这里，当第一挡板处没有物料时，执行步骤S204，当第一挡板处有物料时，则控制升降机构持续处于使待传输物料脱离传送面的等待状态。
在这里，通过第一挡板处设置的传感器判断第一挡板处是否有物料。
S204：控制升降机构沿第二方向运动，以使得待传输物料落至传送面上。在这里，第一方向与第二方向相反。该步骤的具体内容可以参照步骤S202来理解，在此不再赘述。
S205：控制第一传输机构将待传输物料传输至第一挡板处。在这里，当执行完步骤S204后，即可执行步骤S201控制下一待传输物料传输至第一传输机构的传送面上，也即一个流程中的步骤S205可以与下一流程中的步骤S201同步执行。
在本发明实施例中，通过在控制待传输物料传输至第一传输机构(转换平台的传输机构)的传送面上后，控制升降机构带动待传输物料沿第一方向运动，以使得待传输物料脱离传送面，升降机构上的待传输物料不会被第一传输机构传输，也即待传输物料进入等待状态；再通过判断第一挡板处是否有物料，并在第一挡板处没有物料时，控制升降机构沿第二方向运动，以使得待传输物料落至传送面上，待传输物料能够被第一传输机构传输到第一挡板处，使得第一挡板能够持续不断地缓存物料，实现缓存功能，从而使与转换平台的输出端(第一传输机构的输出端)对接的检测设备结束对待传输物料的上一个物料的检测，等待待传输物料被传输至检测位置处时，待检测物料的运行距离从该待传输物料被放置到第一传输机构上的位置处到检测位置处之间的距离，缩短为第一挡板处到检测位置处之间的距离，而由于第一挡板设置于第一传输机构的出料位置处，第一挡板处到检测位置处之间的距离可以认为是检测设备自身的传输距离，因而，能够解决现有技术中设置的用以实现两个设备之间转换的转换平台导致的PCB板的运行距离增加，检测效率下降的问题。
作为本发明实施例的一种可选实施方式，如图2所示，物料传输方法还包括：
S206：判断第一挡板处的物料的上一个物料的检测是否结束。在这里，当上述步骤S203中的判断结果为第一挡板处是没有物料时，执行该步骤。在这里，当第一挡板处的物料的上一个物料的检测结束时，执行步骤S207和步骤S208；当第一挡板处的物料的上一个物料的检测没有结束时，则等待第一挡板处的物料的上一个物料的检测结束，并在确定检测结束后执行 步骤S207和步骤S208。
在这里，可以通过判断第一挡板处的物料的上一个物料通过第一挡板后的时长是否达到第一预定时长的方式，判断第一挡板处的物料的上一个物料的检测是否结束，其中，第一预定时长是指物料从第一挡板处被传输到预定检测处所需的时长，以及预定检测处的检测装置(如外观检测装置)对一个物料进行检测所需的时长之和。
在这里，需要说明的是，当第一传输平台和第二传输平台上的待传输物料为不同的物料时，则当上料平台为第一传输平台时，第一预定时长为与第一传输平台上的待传输物料对应的第一时长，当上料平台为第二传输平台时，第一预定时长为与第二传输平台上的待传输物料对应的第二时长。
S207：控制第一挡板沿第三方向运动，以使得第一挡板解除对第一挡板处的物料的阻挡状态。
在这里，当应用于图1A-图1H所示的设备时，可以基于控制图1F中所示的第一驱动单元驱动第一板体沿第三方向运动，直至第一板体的上边缘低于第一传输机构的传送面的方式，实现控制第一挡板解除对第一挡板处的物料的阻挡状态。
S208：控制第一传输机构将第一挡板处的物料传输至第二传输机构上，并控制第二传输机构将第二传输机构上的物料传输至预定检测处。在这里，需要说明的是，第一传输机构的出料位置处与第二传输机构的入料位置处相对接，以使第一传输机构能够将第一传输机构上的待传输物料传输至第二传输机构上。
在这里，当第一挡板处的物料的全部通过第一挡板处时，即可控制控 制第一挡板沿第五方向运动，以使得第一挡板恢复对第一挡板处的物料的阻挡状态，同时恢复成第一挡板处没有物料的状态。
在这里，可以直接将预定检测处设置于第二传输机构的出料位置处，则第二传输机构可以直接将第二传输机构上的物料传输至预定检测处；此外，如图1B、图1C以及图1H所示，还可以在预定检测处靠近传输机构的一侧设置第三挡板，也即，在第二传输机构的出料位置处设置第三挡板，并将预定检测处设置于第三挡板远离第二传输机构的一侧，以使在第一挡板处的物料被传输至预定检测处的过程中，再增加一缓存处(第三挡板处)，进一步提高物料的检测效率，具体地，当第二传输机构的出料位置处设置有第三挡板时，上述步骤S206可以包括如下步骤：
步骤a：判断第三挡板处是否有物料。在这里，当第三挡板处有物料时，则执行步骤b(同时，保持第一挡板对第一挡板处的物料的阻挡状态)；当第三挡板处没有物料时，则执行步骤c和步骤d。
在这里，通过第三挡板处设置的传感器判断第三挡板处是否有物料。
步骤b：判断第三挡板处的物料的上一个物料的检测是否结束。在这里，当第三挡板处的物料的上一个物料的检测结束时，则执行上述步骤e和步骤f；当第三挡板处的物料的上一个物料的检测没有结束时，则等待第三挡板处的物料的上一个物料的检测结束，并在确定检测结束后执行步骤e和步骤f。
步骤c：控制所述第一挡板沿第三方向运动，以使得第一挡板解除对第一挡板处的物料的阻挡状态。
步骤d：控制第一传输机构将第一挡板处的物料传输至第二传输机构 上，并控制第二传输机构将第二传输机构上的物料传输至第三挡板处。
步骤e：控制第三挡板沿旋转轴顺时针旋转，以使得第三挡板解除对第三挡板处的物料的阻挡状态。
步骤f：控制第二传输机构将第三挡板处的物料传输至预定检测处。在这里，当第三挡板处的物料的全部通过第三挡板处时，即可控制控制第三挡板沿旋转轴逆时针旋转，以使得第三挡板恢复对第三挡板处的物料的阻挡状态，同时恢复成第三挡板处没有物料的状态。
在本发明实施例中，通过在第一挡板处有物料时，判断第一挡板处的物料的上一个物料的检测是否结束，并在第一挡板处的物料的上一个物料的检测结束时，解除第一挡板对第一挡板处的物料的阻挡状态，使得第一挡板处的物料能够通行，从而使第一传输机构能够将第一挡板处的物料传输至第二传输机构上，进而使第二传输机构能够将第二传输机构上的物料传输至预定检测处进行检测，使物料被从第一挡板处传输到预定检测处并进行检测的流程能够持续不间断地进行。
图3示出了本发明实施例的另一种物料传输方法的流程图，该方法可以用于但不限于图1A-图1H所示的转换平台和与转换平台的输出端对接的检测设备。在本实施例中，第二传输机构的出料位置处设置有第二挡板，如图3所示，该方法包括如下步骤：
S301：控制待传输物料传输至第一传输机构的传送面上。该步骤的具体内容可以参照上述步骤S201来理解，在此不再赘述。
S302：控制升降机构带动待传输物料沿第一方向运动，以使得待传输物料脱离传送面。该步骤的具体内容可以参照上述步骤S202来理解，在此 不再赘述。
S303：判断第一挡板处是否有物料。在这里，当第一挡板处没有物料时，执行步骤S304；当第一挡板处有物料时，则控制升降机构持续处于使待传输物料脱离传送面的等待状态。
在这里，通过第一挡板处设置的传感器判断第一挡板处是否有物料。
S304：控制升降机构沿第二方向运动，以使得待传输物料落至传送面上。在这里，第一方向与第二方向相反。该步骤的具体内容可以参照上述步骤S202来理解，在此不再赘述。
S305：控制第一传输机构将待传输物料传输至第一挡板处。该步骤的具体内容可以参照上述步骤S205来理解，在此不再赘述。
S306：判断第二挡板处是否有物料。在这里，当第二挡板处没有物料时，执行步骤S307和步骤S308；当第二挡板处有物料时，则控制第一挡板维持对第一挡板处的物料的阻挡，使其处于等待状态，直至第二挡板处没有物料。
在这里，通过第二挡板处设置的传感器判断第二挡板处是否有物料。
S307：控制第一挡板沿第三方向运动，以使得第一挡板解除对第一挡板处的物料的阻挡状态。
在这里，当应用于图1A-图1H所示的设备时，可以控制图1F中所示第一驱动单元驱动第一板体沿第三方向运动，直至第一板体的上边缘低于第一传输机构的传送面的方式，实现控制第一挡板解除对第一挡板处的物料的阻挡状态。
S308：控制第一传输机构将第一挡板处的物料传输至第二传输机构上， 并控制第二传输机构将第二传输机构上的物料传输至第二挡板处。
在这里，当第一挡板处的物料的全部通过第一挡板处时，即可控制控制第一挡板沿第五方向运动，以使得第一挡板恢复对第一挡板处的物料的阻挡状态，同时恢复成第一挡板处没有物料的状态。
在本发明实施例中，通过在第二传输机构的出料位置处设置同样能够实现缓存功能的第二挡板，使与转换平台的输出端(第一传输机构的输出端)对接的检测设备结束对一个物料的检测，等待该物料的下一个物料被传输至检测位置处时，下一个物料的运行距离从该下一个物料被放置到第一传输机构上的位置处到检测位置处之间的距离，缩短为第二挡板处到检测位置处之间的距离，从而能够进一步提高与转换平台的输出端对接的检测设备的物料检测效率。
作为本发明实施例的一种可选实施方式，如图3所示，物料传输方法还包括：
S309：判断第二挡板处的物料的上一个物料的检测是否结束。在这里，当步骤S306的判断结果为第二挡板处有物料时执行该步骤。在这里，当第二挡板处的物料的上一个物料的检测结束时，执行步骤S310和步骤S311；当第二挡板处的物料的上一个物料的检测没有结束，则等待第二挡板处的物料的上一个物料的检测结束，并在确定检测结束后执行步骤S310和步骤S311。
S310：控制第二挡板沿第四方向运动，以使得第二挡板解除对第二挡板处的物料的阻挡状态。
在这里，当应用于图1A-图1H所示的设备时，可以基于控制图1G中 所示的第二驱动单元驱动第二板体沿第四方向运动，直至第二板体下边缘与第二传输机构的传送面之间的距离达到指定高度的方式，实现控制第二挡板解除对第二挡板处的物料的阻挡状态。
S311：控制第二传输机构将第二挡板处的物料传输至第三传输机构上，并控制第三传输机构将第三传输机构上的物料传输至预定检测处。在这里，第二传输机构和第三传输机构可以为同一传输机构，也可以为不同的传输机构，具体地，当第二传输机构和第三传输机构为不同的传输机构时，第二传输机构的出料位置处与第三传输机构的入料位置处相对接，以使第二传输机构能够将第二传输机构上的料传输至第三传输机构上。
在这里，可以直接将预定检测处设置于第三传输机构的出料位置处，则第三传输机构可以直接将第三传输机构上的物料传输至预定检测处；此外，如图所示1B、图1C以及图1H所示，还可以在预定检测处靠近传输机构的一侧设置第三挡板，也即，在第三传输机构的出料位置处设置第三挡板，并将预定检测处设置于第三挡板远离第三传输机构的一侧，以使在第二挡板处的物料被传输至预定检测处的过程中，再增加一缓存处(第三挡板处)，进一步提高检测设备的物料检测效率。在这里，当第三传输机构的出料位置处设置有第三挡板时，上述步骤S309的具体实施流程可以参照上述步骤a-步骤f来理解，在此不再赘述。
作为本发明实施例中的一种可选的实施方式，如图1D和图1E所示，以升降机构包括对位单元和与之连接的升降单元，对位单元包括对待传输物料执行对位操作的至少一组移动组件为例来描述本发明，则如图4所示，步骤S201以及步骤S301可以包括：
S401：控制升降单元驱动对位单元沿第一方向运动，对位单元带动待传输物料沿第一方向运动，以使得待传输物料脱离传送面。在这里，至少一组移动组件的移动方向与第一传输机构的传输方向不同，图1D和图1E以至少一组移动组件的移动方向与第一传输机构的传输方向垂直为例进行示出。
S402：控制至少一组移动组件对待传输物料执行对位操作。在这里，待传输物料被至少一组移动组件移动至贴近平行于第一传输装置的传输方向的两个侧边中的一个时，完成对位操作，具体地，以传送带的运动方向为图1D和图1E中的X轴正方向为例，待传输物料经过对位单元对位后，均会到达贴近右侧传输机架的位置。
通过在控制升降单元驱动对位单元沿第一方向运动，使与升降单元连接的对位单元将待传输物料带动脱离传送面，待传输物料进入等待状态之后，控制对位单位中的至少一组移动组件对待传输物料执行自动对位，能够使经过对位后的待传输物料以统一的预定角度和位置被准确传送到与转换平台的输出端对接的检测设备上，不需要人工操作，且由于通过升降机构进行了自动对位，对将待传输物料传输至第一传输机构上的操作精度要求降低，因而，能够降低人力和设计成本。
实施例3
图5示出了本发明实施例的物料传输装置的原理框图，该装置可以用于实现实施例1或者其任意可选实施方式所述的物料传输方法。如图5所示，该装置包括：上料控制模块10、第一升降控制模块20、等待判断模块30、第二升降控制模块40和物料传输模块50。
上料控制模块10用于控制待传输物料传输至第一传输机构的传送面上。
第一升降控制模块20用于控制升降机构带动待传输物料沿第一方向运动，以使得待传输物料脱离传送面。
等待判断模块30用于判断第一挡板处是否有物料。在这里，第一挡板设置于第一传输机构的出料位置处。
第二升降控制模块40用于控制升降机构沿第二方向运动，以使得待传输物料落至传送面上。在这里，第一方向与第二方向相反。
物料传输模块50用于控制第一传输机构将待传输物料传输至第一挡板处。
本发明实施例还提供了一种物料传输系统，如图6所示，该物料传输系统可以包括上料机构、升降机构、第一挡板、第一传输机构、处理器61和存储器62，其中处理器61、存储器62、上料机构、升降机构、第一挡板和第一传输机构可以通过总线或者其他方式连接，图6中以通过总线连接为例。在一些实施例中，物料传输系统还包括：第二传输机构，用于传输通过了第一挡板的物料；第二挡板，设置于第二传输机构的出料位置处；第三传输机构，用于传输通过了第二挡板的物料。
关于上料机构、升降机构、第一挡板、第一传输机构、第二传输机构、第二挡板和第三传输机构的具体描述请参见实施例1之前关于应用场景的描述。
处理器61可以为中央处理器(Central Processing Unit，CPU)。处理器61还可以为其他通用处理器、数字信号处理器(Digital Signal Processor， DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑控制器(Programmable Logic Controller)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等芯片，或者上述各类芯片的组合。
存储器62作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态计算机可执行程序以及模块，如本发明实施例1中的物料传输方法对应的程序指令/模块(例如，图5所示的上料控制模块10、第一升降控制模块20、等待判断模块30、第二升降控制模块40和物料传输模块50)。处理器61通过运行存储在存储器62中的非暂态软件程序、指令以及模块，从而执行处理器的各种功能应用以及数据处理，即实现上述方法实施例1中的物料传输方法。
存储器62可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储处理器61所创建的数据等。此外，存储器62可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器62可选包括相对于处理器61远程设置的存储器，这些远程存储器可以通过网络连接至处理器61。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器62中，当被所述处理器61执行时，执行如图2-图4所示实施例中的物料传输方法。
上述物料传输系统具体细节可以对应参阅图1-图4所示的实施例中对 应的相关描述和效果进行理解，此处不再赘述。
本领域技术人员可以理解，实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)、随机存储记忆体(Random Access Memory，RAM)、快闪存储器(Flash Memory)、硬盘(Hard Disk Drive，缩写：HDD)或固态硬盘(Solid-State Drive，SSD)等；所述存储介质还可以包括上述种类的存储器的组合。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。

Claims (11)

  1. 一种物料传输方法，其特征在于，包括：
    控制待传输物料传输至第一传输机构的传送面上；
    控制升降机构带动所述待传输物料沿第一方向运动，以使得所述待传输物料脱离所述传送面；
    判断第一挡板处是否有物料；其中，所述第一挡板设置于所述第一传输机构的出料位置处；
    当所述第一挡板处没有物料时，控制所述升降机构沿第二方向运动，以使得所述待传输物料落至所述传送面上；其中，所述第一方向与所述第二方向相反；
    控制所述第一传输机构将所述待传输物料传输至所述第一挡板处。
  2. 根据权利要求1所述的物料传输方法，其特征在于，还包括：
    当所述第一挡板处有物料时，判断所述第一挡板处的物料的上一个物料的检测是否结束；
    当所述第一挡板处的物料的上一个物料的检测结束时，控制所述第一挡板沿第三方向运动，以使得所述第一挡板解除对所述第一挡板处的物料的阻挡状态；
    控制所述第一传输机构将所述第一挡板处的物料传输至第二传输机构上，并控制所述第二传输机构将所述第二传输机构上的物料传输至预定检测处。
  3. 根据权利要求2所述的物料传输方法，其特征在于，所述第二传输机构的出料位置处设置有第二挡板，所述判断所述第一挡板处的物料的上一 个物料的检测是否结束的步骤，包括：
    判断所述第二挡板处是否有物料；
    当所述第二挡板处没有物料时，控制所述第一挡板沿所述第三方向运动，以使得所述第一挡板解除对所述第一挡板处的物料的阻挡状态；
    控制所述第一传输机构将所述第一挡板处的物料传输至所述第二传输机构上，并控制所述第二传输机构将所述第二传输机构上的物料传输至所述第二挡板处。
  4. 根据权利要求3所述的物料传输方法，其特征在于，还包括：
    当所述第二挡板处有物料时，判断所述第二挡板处的物料的上一个物料的检测是否结束；
    当所述第二挡板处的物料的上一个物料的检测结束时，控制所述第二挡板沿第四方向运动，以使得所述第二挡板解除对所述第二挡板处的物料的阻挡状态；
    控制所述第二传输机构将所述第二挡板处的物料传输至第三传输机构上，并控制所述第三传输机构将所述第三传输机构上的物料传输至所述预定检测处。
  5. 根据权利要求4所述的物料传输方法，其特征在于，所述预定检测处为外观检测处，所述外观检测处设置有用以对所述物料进行外观检测的至少一个外观检测装置。
  6. 根据权利要求1-5任一项所述的物料传输方法，其特征在于，所述控制待传输物料传输至第一传输机构的传送面上的步骤，包括：
    基于输入平台的序号依次判断至少两个输入平台上是否有所述待传输 物料，并将其上有所述待传输物料的输入平台作为上料平台；
    控制所述上料平台上的待传输物料传输至所述第一传输机构的传送面上。
  7. 根据权利要求1-5任一项所述的物料传输方法，其特征在于，所述升降机构包括对位单元和与之连接的升降单元，所述对位单元包括对所述待传输物料执行对位操作的至少一组移动组件；其中，所述至少一组移动组件的移动方向与所述第一传输机构的传输方向不同；所述控制升降机构带动所述待传输物料沿第一方向运动，以使得所述待传输物料脱离所述传送面的步骤，包括：
    控制所述升降单元驱动所述对位单元沿所述第一方向运动，所述对位单元带动所述待传输物料沿所述第一方向运动，以使得所述待传输物料脱离所述传送面；
    控制所述至少一组移动组件对所述待传输物料执行对位操作。
  8. 一种物料传输装置，其特征在于，包括：
    上料控制模块，用于控制待传输物料传输至第一传输机构的传送面上；
    第一升降控制模块，用于控制升降机构带动所述待传输物料沿第一方向运动，以使得所述待传输物料脱离所述传送面；
    等待判断模块，用于判断第一挡板处是否有物料；其中，所述第一挡板设置于所述第一传输机构的出料位置处；
    第二升降控制模块，用于控制所述升降机构沿第二方向运动，以使得所述待传输物料落至所述传送面上；其中，所述第一方向与所述第二方向相反；
    物料传输模块，用于控制所述第一传输机构将所述待传输物料传输至所述第一挡板处。
  9. 一种物料传输系统，其特征在于，包括：
    上料机构，用于将待传输物料传输至第一传输机构的传送面上；
    升降机构，用于沿第一方向运动时使所述待传输物料脱离所述传送面，或者沿第二方向运动时使所述待传输物料落至所述传送面上；其中，所述第一方向与所述第二方向相反；
    第一挡板，设置于所述第一传输机构的出料位置处；
    存储器和处理器，所述存储器中存储有计算机指令，所述处理器通过执行所述计算机指令，从而执行权利要求1所述的物料传输方法。
  10. 根据权利要求9所述的物料传输系统，其特征在于，还包括：
    第二传输机构，用于传输通过了所述第一挡板的物料；
    第二挡板，设置于所述第二传输机构的出料位置处；
    第三传输机构，用于传输通过了所述第二挡板的物料；
    所述处理器通过执行所述计算机指令，从而执行权利要求1-7任一项所述的物料传输方法。
  11. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使所述计算机执行权利要求1-7任一项所述的物料传输方法。
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