Object conveyance system

Abstract

The invention provides an object conveying system. The object conveying system comprises an object conveying device and a carrying table. The object conveying device comprises a walking part, a trolley part and a transfer machine part. A rail extending in the lateral direction is disposed between the object conveying device and the mounting table. The transverse moving mechanism of the trolley part moves back and forth along the track. The rails comprise a first rail and a second rail which are different in horizontal height in the vertical direction and extend in the transverse direction. When the transverse moving mechanism moves in the direction away from the object conveying device in the transverse direction, the first wheel of the transverse moving mechanism moves along the first track, and the second wheel of the transverse moving mechanism moves along the second track.

Description

Technical Field

[0001] The present invention relates to an object conveying system, and in particular to an object conveying system which improves the tilting problem of a lateral moving mechanism during movement. Background Art

[0002] In existing object handling systems, an object handling device moves between different docking points to transport objects. When the object handling device docks at a docking point, the object handling device's trolley portion is moved to a laterally positioned loading platform to perform the picking up and placing of objects. However, when the trolley portion approaches the loading platform, the wheels of the trolley portion's lateral movement mechanism (the wheels laterally closer to the loading platform) enter along the connecting portion of the track, causing impact and vibration. To suppress this vibration, the track is lowered to a lower position than its original position, causing the trolley portion to tilt after fully entering the loading platform. Summary of the Invention

[0003] The present invention provides an object conveying system, which can ensure that a trolley part stably enters a track and mitigate the impact when entering the track.

[0004] The object transport system of the present invention includes an object transport device and a loading platform adjacent to the object transport device. The object transport device includes a walking portion, a trolley portion, and a transfer machine portion. The walking portion is arranged on a walking track to move along the walking direction. The trolley portion is arranged below the walking portion and includes a lateral moving mechanism that moves along the lateral direction and a lifting mechanism that moves along the up-down direction. The transfer machine portion is arranged below the lifting mechanism. A track extending along the lateral direction is arranged between the object transport device and the loading platform. The lateral moving mechanism moves back and forth between the object transport device and the loading platform along the track in the lateral direction. The lateral moving mechanism is provided with a first wheel on one side in the lateral direction and a second wheel on the other side. The track includes a first track and a second track that have different horizontal heights in the up-down direction and extend along the lateral direction. When the lateral moving mechanism moves in the lateral direction away from the object transport device, the first wheel moves along the first track and the second wheel moves along the second track.

[0005] In an embodiment of the present invention, the first wheel and the second wheel are adjacently arranged in the traveling direction when viewed in the lateral direction, and the first track and the second track are adjacently arranged in the traveling direction when viewed in the up-down direction.

[0006] In an embodiment of the present invention, the first track and the second track are formed in a stepped shape with a step difference when viewed in a horizontal direction.

[0007] In an embodiment of the present invention, when viewed from a horizontal perspective, the first and second wheels are positioned in the same direction of travel, and when viewed from a vertical perspective, the second track is formed within an overlapping range with the first track. When the lateral movement mechanism moves in a horizontal direction to the loading platform, the first and second wheels are positioned between the first and second tracks.

[0008] Based on the above, in the object transport device of the object transport system of the present invention, the first and second rails are at different horizontal heights, and in the lateral movement mechanism of the trolley portion, the first wheel moves along the first rail, while the second wheel moves along the second rail. This allows the lateral movement mechanism to maintain its original tilted position while being supported by the first rail via the first wheel as it approaches the loading platform, without abrupt changes in angle or height. Consequently, the object transport system of the present invention can maintain the stability of the trolley portion as it enters the rails, mitigating impacts during entry. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1A as well as Figure 1B Schematic diagram of the object transport system of the present invention in different operating states.

[0010] Figure 2 1 is a top view of the lateral moving mechanism of the object conveying device in one embodiment of the present invention before entering the track.

[0011] Figure 3 yes Figure 2 A three-dimensional schematic diagram of the horizontal movement mechanism after it is activated and enters the track.

[0012] Figure 4 It is a top view of the lateral moving mechanism of the object conveying device in another embodiment of the present invention before entering the track.

[0013] Figure 5A as well as Figure 5B yes Figure 4 A side view schematic diagram of the process of the lateral movement mechanism being actuated to enter the track.

[0014] Description of Reference Numerals

[0015] 10: Object transport system

[0016] 100, 100': Object transport device

[0017] 110: Walking Department

[0018] 120, 120': Trolley

[0019] 122, 122': Horizontal movement mechanism

[0020] 124: Lifting mechanism

[0021] 130: Transfer machine department

[0022] 200: loading platform

[0023] HD: Landscape orientation

[0024] O: Object

[0025] R, R': orbit

[0026] RR: Reach

[0027] R1, R1': first track

[0028] R2, R2': Second track

[0029] TD: walking direction

[0030] TR: Walking Track

[0031] UD: Up and down direction

[0032] W1, W1': First round

[0033] W2, W2': Second round DETAILED DESCRIPTION

[0034] Figure 1A as well as Figure 1B Schematic diagram of the object transport system of the present invention in different operating states. Figure 2 1 is a top view of the lateral moving mechanism of the object conveying device in one embodiment of the present invention before entering the track. Figure 3 yes Figure 2 A three-dimensional schematic diagram of the object after the lateral moving mechanism is activated and enters the track. In this embodiment, the object transporting system 10 is, for example, used to transport objects O (such as chips, etc.) to various docking points in a semiconductor factory to improve overall production efficiency. However, in other embodiments not shown, the object transporting system 10 can also be used in other work areas suitable for transporting objects, and the present invention is not limited to the above situation. The object transporting system 10 includes an object transporting device 100, and a loading platform 200 adjacent to the object transporting device 100. Furthermore, the object transporting device 100 is, for example, on a walking track TR connecting each docking point along a walking direction TD (such as Figure 1A as well as Figure 1B vertical direction of the image) and stops in the horizontal direction HD (such as Figure 1A as well as Figure 1BThe object transport system 100 is positioned between two loading platforms 200 (in the left-right direction of the drawing). Therefore, when the object transport device 100 is at this stop, the loading platform 200 is positioned adjacent to the object transport device 100. That is, in the object transport system 10, the object transport device 100 is movable while the loading platform 200 is stationary. However, in other embodiments (not shown), only one loading platform 200 may be provided as needed, and the present invention is not limited thereto. The following further describes the structure and operation of the object transport system 10.

[0035] Please refer to Figure 1A as well as Figure 1B In this embodiment, the object transporting device 100 includes a walking portion 110, a trolley portion 120, and a transfer machine portion 130. The walking track TR is provided in the up-down direction UD (eg, Figure 1A as well as Figure 1B The traveling portion 110 is arranged above the traveling portion 110 in the up-down direction TD, and the traveling portion 110 is arranged on the traveling track TR to move along the traveling direction TD, for example, the movement on the traveling track TR is achieved by a driving device not shown. The trolley portion 120 is arranged below the traveling portion 110 in the up-down direction UD, and includes a lateral moving mechanism 122 that moves along the lateral direction HD, and a lifting mechanism 124 that moves along the up-down direction UD. The transfer machine portion 130 is arranged below the lifting mechanism 124, and is used to load or put down the object O as the lifting mechanism 124 moves to the bottom. Therefore, when the object conveying device 100 stops at the side of the loading platform 200 through the movement of the traveling portion 110, the trolley portion 120 moves along the lateral direction HD through the movement of the lateral moving mechanism 122 and the movement of the lifting mechanism 124 along the up-down direction UD, so that the transfer machine portion 130 is close to the loading platform 200. In addition, as Figure 1A as well as Figure 1B As shown, the trolley portion 120 is covered by a shell, and the transverse moving mechanism 122 , the lifting mechanism 124 , the transfer machine portion 130 and the object O all enter and exit from the interior of the shell, but the present invention is not limited thereto.

[0036] Furthermore, in this embodiment, a rail R extending along the transverse direction HD is disposed between the object conveying device 100 and the mounting platform 200. Figure 1A and Figure 1B The state changes between the two, the lateral movement mechanism 122 of the carriage portion 120 moves along the track R in the lateral direction HD between the object conveying device 100 and the loading platform 200 on one side of the lateral direction HD (ie, Figure 1A and Figure 1BIn other embodiments not shown, the lateral movement mechanism 122 of the trolley portion 120 may also move back and forth between the object conveying device 100 and the loading platform 200 on the other side of the lateral direction HD (i.e., Figure 1A and Figure 1B The present invention does not move back and forth between Figure 1A as well as Figure 1B That is, the subsequent description of the relative position and movement between the object transport device 100 and the loading platform 200, although using the loading platform 200 on one side in the transverse direction HD as an example, is also applicable to the loading platform 200 on the other side in the transverse direction HD (if any), and the movement direction and other aspects can be adjusted as needed (as described later).

[0037] Please refer to Figures 1A to 2 In this embodiment, the transverse moving mechanism 122 is provided with a first wheel W1 on one side in the transverse direction HD (the transverse moving mechanism 122 is closer to the left side in the figure), and a second wheel W2 is provided on the other side in the transverse direction HD (the transverse moving mechanism 122 is closer to the right side in the figure). The second wheel W2 is provided to prevent the central portion of the transverse moving mechanism 122 from bending due to the weight when only the first wheel W1 or the object transporting device 100 supports the transverse moving mechanism 122, thereby requiring the second wheel W2 to provide auxiliary support. In other embodiments not shown, only the first wheel W1 may be provided as needed, but the present invention is not limited to this.

[0038] Furthermore, if Figure 2 as well as Figure 3As shown, the track R includes a first track R1 and a second track R2, which extend along the transverse direction HD and have different levels in the vertical direction UD. Furthermore, when the transverse moving mechanism 122 moves in the transverse direction HD away from the object handling device 100, the first wheel W1 moves along the first track R1, and the second wheel W2 moves along the second track R2. In other embodiments not shown, the second wheel W2 may be suspended in the air without contacting the second track R2, but the present invention is not limited to this. In other words, the first track R1 and the second track R2 are not on the same horizontal plane. That is, the horizontal position of the first wheel W1 in contact with the first track R1 is different from the horizontal position of the second wheel W2 in contact with the second track R2. Thus, when the transverse moving mechanism 122 moves in the transverse direction HD away from the object handling device 100, even if one end of the transverse moving mechanism 122 in the transverse direction HD drops further due to gravity, causing the transverse moving mechanism 122 to tilt, this arrangement allows the transverse moving mechanism 122 to maintain its original tilted position as it enters the track R. In addition, as an example, the track R includes a connecting portion RR, which is arranged on a side close to the object transporting device 100 to reduce the height difference between the first wheel W1 and the second wheel W2 when entering the track R and reduce the impact, but the present invention does not limit the setting of the connecting portion RR.

[0039] It can be seen from this that in the object conveying device 100 of the object conveying system 10 of the present embodiment, the first rail R1 and the second rail R2 are at different horizontal heights, and in the transverse moving mechanism 122 of the trolley part 120, the first wheel W1 moves along the first rail R1, and the second wheel W2 moves along the second rail R2. In this way, in the process of the transverse moving mechanism 122 approaching the loading platform 200, the transverse moving mechanism 122 can move along the first rail R1 via the first wheel W1 in its original tilted posture and be supported by the first rail R1 without a sudden change in angle or height. Accordingly, the object conveying system 10 can keep the trolley part 120 stably entering the rail R and reduce the impact when entering the rail R. However, although in Figure 3 While the first and second rails R1 and R2 are shown as being completely horizontal except for the connecting portion RR, the present invention is not limited to the shapes of the first and second rails R1 and R2. For example, in other embodiments not shown, the first and second rails R1 and R2 may also be configured as inclined rails, such that the tilt angle of the carriage 120 is corrected as the first wheel W1 moves along the first rail R1, but the present invention is not limited to this.

[0040] Furthermore, in this embodiment, when the lateral moving mechanism 122 moves in the lateral direction HD away from the object conveying device 100, one of the first wheel W1 and the second wheel W2 that is relatively away from the object conveying device 100 (in Figure 2as well as Figure 3 In the embodiment of the present invention, the horizontal height of the first wheel W1 in the vertical direction UD is smaller than the other one of the first wheel W1 and the second wheel W2 that is relatively close to the object conveying device 100 (in the embodiment of the present invention). Figure 2 as well as Figure 3 In the embodiment, the horizontal height of the second wheel W2 in the vertical direction UD (because the one farther away from the object transporting device 100 before entering the track R is more affected by gravity and is located at a lower position). Furthermore, the first track R1 corresponds to the horizontal height of the first wheel W1, and the second track R2 corresponds to the horizontal height of the second wheel W2. That is, Figure 2 as well as Figure 3 In the embodiment, the horizontal height of the first track R1 in the vertical direction UD is lower than the horizontal height of the second track R2 in the vertical direction UD. In this way, the lateral movement mechanism 122 of this embodiment can directly enter the track R in a stable manner while maintaining an inclined posture.

[0041] In addition, in this embodiment, when viewed from the horizontal direction HD, the first wheel W1 and the second wheel W2 are adjacently arranged in the traveling direction TD (eg, Figure 2 As shown by the dotted line, the first wheel W1 and the second wheel W2 are adjacent), and in the perspective of the up and down direction UD (ie Figure 2 ), the first rail R1 and the second rail R2 are arranged adjacent to each other in the traveling direction TD. That is, the first wheel W1 and the second wheel W2 are staggered from each other in the traveling direction TD and are located at different positions in the traveling direction TD, and the first rail R1 and the second rail R2 are staggered from each other in the traveling direction TD and are located at different positions in the traveling direction TD. Thus, when the lateral moving mechanism 122 moves in the lateral direction HD in the direction away from the object conveying device 100, the first wheel W1 enters the first rail R1, and the second wheel W2 enters the second rail R2. Moreover, from the perspective of viewing in the lateral direction HD, the first rail R1 and the second rail R2 are formed into a stepped shape with a step difference, corresponding to the inclined posture of the lateral moving mechanism 122 to receive the lateral moving mechanism 122. In this way, the lateral moving mechanism 122 of this embodiment can directly maintain an inclined posture and stably enter the rail R. As an example, the first wheel W1 is arranged on the inner side of the second wheel W2 in the traveling direction TD, and the first rail R1 is arranged on the inner side of the second rail R2 in the traveling direction TD (such as Figure 2In other embodiments not shown, the first rail R1 and the second rail R2 may also be formed into other appropriate shapes or have their relative positions changed. For example, when a second loading platform 200 is provided, the shape or horizontal height of the first rail R1 and the second rail R2 on the other side may be adjusted to correspond to the existing configuration of the first wheel W1 and the second wheel W2 of the lateral movement mechanism 122. This is sufficient as long as the lateral movement mechanism 122 can maintain its original posture and stably enter the rail R. The present invention is not limited to this.

[0042] Another embodiment of the present invention is described in detail below.

[0043] Figure 4 It is a top view of the lateral moving mechanism of the object conveying device in another embodiment of the present invention before entering the track. Figure 5A as well as Figure 5B yes Figure 4 The side view of the process of the lateral movement mechanism of the object conveying device 100' being actuated and entering the track. Figure 1A and Figure 1B The object conveying system 10 and the loading platform 200 shown. That is, the lateral moving mechanism 122' of the trolley part 120' is provided with a first wheel W1' on one side in the lateral direction HD (the lateral moving mechanism 122' is close to the left side in the figure), and a second wheel W2' is provided on the other side in the lateral direction HD (the lateral moving mechanism 122' is close to the right side in the figure). The track R' includes a first track R1' and a second track R2' which have different horizontal heights in the up and down directions UD and extend along the lateral direction HD. Moreover, when the lateral moving mechanism 122' moves in the direction away from the object conveying device 100' in the lateral direction HD, the first wheel W1' moves along the first track R1', and the second wheel W2' can move along the second track R2' or be suspended in the air without contacting the second track R2'. Among them, compared to Figure 2 as well as Figure 3 In the embodiment shown, the configurations of the first wheel W1' and the second wheel W2', the first track R1' and the second track R2' are different. For other structures not described, please refer to the description of the previous embodiment and will not be repeated here.

[0044] Please refer to Figures 4 to 5B In this embodiment, when viewed from the transverse direction HD, the first wheel W1' and the second wheel W2' are at the same position in the traveling direction TD, that is, the connecting line between the first wheel W1' and the second wheel W2' is parallel to the transverse direction HD (refer to Figure 4 ) and are located at the same position in the walking direction TD. Moreover, in the viewing angle of the up and down direction UD (i.e. Figure 4(from a perspective), the second track R2' is formed within an overlapping range with the first track R1'. That is, the first track R1' and the second track R2' correspond to each other in the vertical direction UD and are located at the same position in the travel direction TD. Specifically, the portion of the first track R1' near the object handling apparatus 100' overlaps with the second track R2', but the present invention is not limited to this.

[0045] Furthermore, in this embodiment, when the lateral moving mechanism 122' moves in the lateral direction HD away from the object conveying device 100', one of the first wheel W1' and the second wheel W2' that is relatively away from the object conveying device 100 (in Figures 4 to 5B In the embodiment of the present invention, the horizontal height of the first wheel W1') in the vertical direction UD is smaller than the other one of the first wheel W1' and the second wheel W2' that is relatively close to the object conveying device 100' (in Figures 4 to 5B In the embodiment, the height of the second wheel W2' in the vertical direction UD (because the one farther from the object transporting device 100 before entering the track R' is more affected by gravity and is located at a lower position). Furthermore, the height of the first track R1' in the vertical direction UD is lower than the height of the second track R2' in the vertical direction UD. As an example, the first track R1' is located below the first wheel W1', and the second track R2' is located above the second wheel W2'.

[0046] With the above settings, Figure 5A As shown, when the lateral moving mechanism 122' moves in the lateral direction HD away from the object transporting device 100', the first wheel W1' first moves along the first track R1'. Figure 5BAs shown, after the lateral moving mechanism 122' enters the loading platform 200, the second wheel W2' moves along the second rail R2' (or may be suspended in mid-air without contacting the second rail R2'). That is, when the lateral moving mechanism 122' moves toward the loading platform 200 in the lateral direction HD away from the object transport device 100', the first wheel W1' and the second wheel W2' are located between the first rail R1' and the second rail R2'. Therefore, in the lateral moving mechanism 122' of this embodiment, the first wheel W1', which is located lower due to gravity, first moves along the lower first rail R1', and then the second wheel W2', which is located higher, moves along the upper second rail R2'. This allows the lateral moving mechanism 122' to be clamped between the first rail R1' and the second rail R2', maintaining a tilted posture and stable movement. That is to say, when the transverse moving mechanism 122' moves in the transverse direction HD away from the object transporting device 100', even if one end of the transverse moving mechanism 122' in the transverse direction HD drops further due to gravity, causing the transverse moving mechanism 122' to tilt, the above-mentioned arrangement can enable the transverse moving mechanism 122' to maintain its original tilted posture and enter the track R'.

[0047] It can be seen from this that in the object conveying device 100' of the object conveying system 10 of the present embodiment, when the lateral moving mechanism 122' approaches the loading platform 200', the lateral moving mechanism 122' can move along the first rail R1' via the first wheel W1' in its original tilted posture and be supported by the first rail R1' without suddenly changing the angle or height. Accordingly, the object conveying system 10 can keep the trolley part 120' stably entering the rail R' and reduce the impact when entering the rail R'. Preferably, the distance between the first rail R1' and the second rail R2' in the up and down direction UD is slightly larger than the size of the first wheel W1' (the size of the first wheel W1' is equal to the size of the second wheel W2'). In this way, during the movement of the lateral moving mechanism 122', the first wheel W1' does not contact the second rail R2', and the second wheel W2' does not contact the first rail R1'. Furthermore, after the transverse movement mechanism 122' moves to the loading platform 200, the first wheel W1' rests on the first track R1', and the second wheel W2' rests on the second track R2' (or may be suspended in the air without contacting the second track R2'). In other embodiments not shown, the first wheel W1' may move while simultaneously contacting both the first track R1' and the second track R2', with only the first wheel W1' moving along the first track R1'. The present invention is not limited to this.

[0048] In summary, in the object conveying device of the object conveying system of the present invention, the first track and the second track are at different horizontal heights, and in the transverse moving mechanism of the trolley part, the first wheel moves along the first track, and the second wheel can move along the second track or be suspended in the air without contacting the second track. Preferably, the first wheel and the second wheel on the transverse moving mechanism of the trolley part are in contact with the track at different horizontal heights, respectively. In this way, in the process of the transverse moving mechanism approaching the loading platform, the transverse moving mechanism can move along the first track via the first wheel in its original tilted posture and be supported by the first track without suddenly changing its angle or height. Accordingly, the object conveying system of the present invention can keep the trolley part stably entering the track and mitigate the impact when entering the track.

Claims

1. An object transport system, characterized in that: The object conveying device includes an object conveying device and a placing table arranged adjacent to the object conveying device, wherein the object conveying device includes: A walking portion, arranged on the walking track to move along a walking direction; a trolley portion, disposed below the walking portion, comprising a lateral movement mechanism for moving in a lateral direction and a lifting mechanism for moving in an up-down direction; and The transfer machine part is arranged below the lifting mechanism, wherein A track extending along the lateral direction is arranged between the object conveying device and the loading platform, and the lateral moving mechanism moves back and forth between the object conveying device and the loading platform along the track in the lateral direction. The lateral moving mechanism is provided with a first wheel on one side of the lateral direction and a second wheel on the other side. The track includes a first track and a second track having different levels in the vertical direction and extending along the horizontal direction. When the lateral moving mechanism moves in the lateral direction away from the object conveying device, the first wheel moves along the first track, and the second wheel moves along the second track.

2. The object transport system according to claim 1, wherein: In the transverse viewing angle, the first wheel and the second wheel are arranged adjacent to each other in the walking direction, and In the vertical viewing angle, the first track and the second track are arranged adjacent to each other in the traveling direction.

3. The object transport system according to claim 2, wherein: In the horizontal viewing angle, the first track and the second track are formed in a stepped shape with a step difference.

4. The object transport system according to claim 1, wherein: In the horizontal direction, the first wheel and the second wheel are at the same position in the walking direction, and In the vertical viewing angle, the second track is formed in a range overlapping with the first track. When the lateral movement mechanism moves to the mounting table along the lateral direction, the first wheel and the second wheel are located between the first rail and the second rail.

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