Substrate grabbing and feeding device
By designing a clamping device for grabbing a substrate with a wave-shaped continuous up and down concave concave and convex structure, the problem of the prior art being difficult to effectively clamp such a substrate is solved, and stable clamping and deformation prevention of the substrate are achieved.
Patent Information
- Application Number
- CN202420874537.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-25
- Publication Date
- 2025-06-06
- Estimated Expiration
- 2034-04-25
AI Technical Summary
The existing suction cups and jaws are difficult to effectively grasp the substrate with a continuous up and down concave structure similar to the wave shape, which easily leads to deformation of the substrate structure.
A substrate grabbing and feeding device is designed, including a clamping mechanism, the clamping mechanism consists of at least one clamping part, and the clamping part includes two clamping parts, which are distributed on both sides of the substrate along the width direction of the substrate, and the moving tracks are parallel. The clamping structure formed by the inclined surface on the clamping part is abutted and engaged with the two long sides of the substrate to achieve clamping.
The problem of bending and deformation of the substrate during clamping is effectively avoided, and the substrate is securely clamped.
Smart Images
Figure CN222947612U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a grabbing device for loading and unloading plates, in particular to a base plate grabbing and loading device. Background Art
[0002] In an automated production line, the loading and unloading process of parts is a crucial link. This process is mainly divided into two steps: grabbing parts and transferring parts. The grabbing method is different for different substrates. Usually, the grabbing step is achieved by a suction cup or a clamp. Among them, the suction cup is suitable for substrates with smooth surfaces, while the clamp is suitable for substrates with a certain thickness and rigidity.
[0003] However, in practical applications, when faced with some substrates with special structures, the existing suction cups and clamps are difficult to use effectively. Figure 1 and Figure 5 The substrate shown in the figure has a continuous up-and-down concave-convex structure similar to a wave shape when observed in the cross section formed along the width direction and the thickness direction of the substrate. This design makes it so that when the substrate is placed on the carrier, only part of the structure protruding downward on the bottom surface of the substrate is in contact with the plane. In this case, using a suction cup to press down and suck up the substrate will cause the substrate to bear a large downward pressure, which is easy to cause deformation of the substrate structure.
[0004] On the other hand, there are some limitations in using a clamp to clamp such a substrate. The clamping direction of the clamp is in the same direction as the width direction of the substrate. During the clamping process, the substrate may bend and deform due to excessive force when the clamp contracts and grasps. This is caused by the wavy concave-convex structure of the substrate. Therefore, it is necessary to propose a substrate grasping and loading device to solve the above problems. Utility Model Content
[0005] The utility model aims to provide a substrate grabbing and loading device which is suitable for clamping and transferring a substrate having a continuous upper and lower concave-convex structure similar to a wave shape when observed in a cross section composed of a width direction and a thickness direction, so as to avoid deformation and damage of the substrate during the clamping process.
[0006] The technical solution adopted by the utility model to solve the above-mentioned problem is: a substrate grasping and loading device, including a clamping mechanism, the clamping mechanism includes at least one clamping part, each of the clamping parts includes at least two clamping members, and the two clamping members are configured as follows: when grasping the substrate, the two clamping members are distributed on both sides of the substrate along the width direction of the substrate, and the moving trajectories of the two clamping members are configured to be parallel, and each of the clamping members moves in a controlled manner.
[0007] Each of the clamping members has a first plane, each of the first planes is configured with a first protrusion, each of the first protrusions has an inclined surface, each of the inclined surfaces forms a first preset angle a with the first plane on each of the clamping members having the corresponding inclined surface, and each of the first preset angles a is at least greater than 90°.
[0008] The two clamping members in the same clamping portion and distributed on both sides of the substrate along the width direction of the substrate are configured as follows: when grabbing the substrate, the two clamping members move relative to each other to a preset distance d, the first planes on the two clamping members are parallel to the top surface of the substrate and are both set toward the substrate, the preset angles on the two clamping members are both toward the substrate, and the inclined surfaces on the two clamping members are respectively in contact with the two long side edges of the substrate.
[0009] Preferably, each of the first planes is configured with a second protrusion, and each of the second protrusions has an abutting surface.
[0010] Each of the abutting surfaces is configured such that, after the substrate is grasped, each of the abutting surfaces abuts against the top surface of the substrate.
[0011] Preferably, the abutting surface and the first plane on each of the clamping members having the corresponding abutting surface form a second preset angle c.
[0012] Preferably, the second preset angle c is configured such that: when the substrate is grasped, the second preset angle c faces the substrate, and the second preset angle c is greater than 150° and less than 180°.
[0013] Preferably, the first preset angle a is greater than 120° and less than 150°.
[0014] Preferably, each of the clamping mechanisms further comprises:
[0015] The frame has a first horizontal mounting surface.
[0016] A displacement part, the displacement part includes a first linear moving component and a second linear moving component, and the first linear moving component and the second linear moving component both include a linear guide and a controlled moving component assembled on the corresponding linear guide, the linear guide in the first linear moving component is installed on the first horizontal installation surface, and the moving component in the first linear moving component is configured to move in a horizontal direction, the linear guide in the second linear moving component is fixedly connected to the moving component in the first linear moving component, and the moving component in the second linear moving component is configured to move in a direction perpendicular to the horizontal plane, a mounting frame is provided on the moving component in the second linear moving component, each of the clamping parts is provided on the mounting frame, and each of the clamping parts in the clamping parts is configured to move in a horizontal direction.
[0017] In particular, a substrate grabbing and loading device is characterized by further comprising:
[0018] The mounting seat has a second horizontal mounting surface, a plurality of mounting grooves are arranged on the second horizontal mounting surface, and the frame is fixedly connected to the second horizontal mounting surface.
[0019] The positioning mechanism comprises a plurality of lateral positioning rods, one end of each of the lateral positioning rods being detachably connected to each of the mounting grooves in a one-to-one correspondence, so as to form a positioning space for limiting the horizontal movement of the substrate through the side combination of the plurality of lateral positioning rods.
[0020] A lifting plate having a storage surface, the lifting plate is arranged in the positioning space, and the posture of the lifting plate is configured as follows: after the lifting plate is placed on the second horizontal mounting surface, the storage surface is parallel to the horizontal plane.
[0021] The driving mechanism comprises a movable part connected to the lifting plate and a driving part arranged below the mounting seat, wherein the driving part is transmission-connected with the movable part to drive the movable part to move vertically, thereby pushing the lifting plate to move vertically.
[0022] Preferably, the driving part comprises a driving motor and a screw rod disposed below the mounting seat, the screw rod is configured to rotate in situ, and the driving motor is transmission-connected to the screw rod to drive the screw rod to rotate.
[0023] The movable part includes an internal nut threadedly connected to the screw rod and a movable plate arranged on the outside of the internal nut, at least two guide rods are arranged on the top of the movable plate, the other end of each guide rod passes through the mounting seat and extends to the top of the mounting seat, and one end of each guide rod located above the mounting seat is connected to the bottom of the lifting plate to control the lifting and lowering of the lifting plate.
[0024] Preferably, a plurality of guide grooves are constructed on the mounting seat, and each of the guide rods is inserted into each of the guide grooves in a one-to-one correspondence, and an outer circumference of each of the guide rods fits with an inner circumference of each of the guide grooves.
[0025] Preferably, a first material detection sensor is provided on the lifting plate.
[0026] The substrate grabbing and loading device controls two clamping members in the same clamping portion and distributed on both sides of the substrate along the width direction of the substrate to move to a preset spacing d, so that the spacing range of the two inclined surfaces on the two clamping members conforms to the width of the substrate of corresponding specifications, and when the two clamping members with a distance of the preset spacing d clamp the substrate, the clamping structure formed by the two inclined surfaces on the two clamping members abuts and engages with the two long side edges of the substrate to achieve clamping of the substrate, thereby solving the problem that the substrate may bend and deform when clamping a substrate with a continuous upper and lower concave-convex structure in the cross section. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1 It is a structural schematic diagram of the clamping part in the embodiment of the utility model.
[0028] Figure 2 This utility model Figure 1 Enlarged view of point A in the middle.
[0029] Figure 3 It is a schematic diagram of the structure of the clamping member in the embodiment of the utility model.
[0030] Figure 4 It is a structural schematic diagram of the clamping mechanism in the embodiment of the utility model.
[0031] Figure 5 It is a schematic structural diagram of a substrate clamped by a clamping part in an embodiment of the utility model.
[0032] Figure 6 It is a structural schematic diagram of the driving mechanism in the embodiment of the utility model.
[0033] Figure 7 It is a structural schematic diagram of the positioning mechanism in the embodiment of the utility model.
[0034] Figure 8 It is a structural schematic diagram of an embodiment of the utility model.
[0035] Wherein: 100, clamping mechanism; 110, frame; 111, first horizontal mounting surface; 112, side plate; 113, connecting plate; 120, clamping part; 121, clamping member; 1211, first plane; 1212, first protrusion; 1213, inclined surface; 1214, second protrusion; 1215, abutment surface; 130, displacement part; 131, first linear moving component; 132, second linear moving component; 133, linear guide member; 134, moving member; 135, mounting frame; 1351, third horizontal mounting surface; 200, mounting seat; 210, second horizontal mounting surface; 220, guide groove; 300, substrate ;400, positioning mechanism;410, lateral positioning rod;420, positioning space;500, lifting plate;510, storage surface;520, mounting groove;600, driving mechanism;610, movable part;611, inner nut;612, moving plate;613, guide rod;620, driving part;621, driving motor;622, screw rod;700, first material sensor;800, second material sensor;900, driving unit;910, movable end;1000, buffer mechanism;1010, fixing plate;1020, first rod;1030, second rod;1040, buffer spring;1050, limiting member. DETAILED DESCRIPTION
[0036] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0037] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description created by the present application, unless otherwise specified, "multiple" means two or more.
[0038] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.
[0039] See also Figure 1-3 and Figure 5 The present application provides a preferred embodiment, a substrate 300 grasping and loading device, including a clamping mechanism 100, wherein the clamping mechanism 100 includes at least one clamping portion 120, each of the clamping portions 120 includes at least two clamping members 121, and the two clamping members 121 are configured as follows: when grasping the substrate 300, the two clamping members 121 are distributed on both sides of the substrate 300 along the width direction of the substrate 300, and the moving trajectories of the two clamping members 121 are configured to be parallel, and each of the clamping members 121 moves in a controlled manner. Each of the clamping members 121 has a first plane 1211, each of the first planes 1211 is configured with a first protrusion 1212, each of the first protrusions 1212 has an inclined surface 1213, each of the inclined surfaces 1213 forms a first preset angle a with each of the first planes 1211 on the clamping members 121 having the corresponding inclined surfaces 1213, each of the first preset angles a is at least greater than 90°, and the same clamping portion 120 has a first angle along the width of the substrate 300. The two clamping members 121 distributed on both sides of the substrate 300 are configured as follows: when grasping the substrate 300, the two clamping members 121 move relative to each other to a preset distance d, the first planes 1211 on the two clamping members 121 are parallel to the top surface of the substrate 300 and are both set toward the substrate 300, the preset angles a on the two clamping members 121 are both toward the substrate 300, and the inclined surfaces 1213 on the two clamping members 121 are respectively in contact with the two long sides b of the substrate 300. The substrate 300 grabbing and loading device controls two clamping members 121 in the same clamping portion 120 and distributed on both sides of the substrate 300 along the width direction of the substrate 300 to move to a preset spacing d, so that the spacing range of the two inclined surfaces 1213 on the two clamping members 121 meets the width of the corresponding specification substrate 300, and when the two clamping members 121 with a distance of the preset spacing d clamp the substrate 300, the clamping structure formed by the two inclined surfaces 1213 on the two clamping members 121 abuts and engages with the two long side edges of the substrate 300 to achieve clamping of the substrate 300, thereby solving the problem that the substrate 300 may bend and deform when clamping a substrate 300 with a continuous upper and lower concave-convex structure in cross section.
[0040] In this embodiment, there are two clamping parts 120, and the two clamping parts 120 are arranged in a symmetrical manner. The number of clamping members 121 included in each clamping part 120 is even, and the clamping members 121 in the clamping part 120 are evenly divided into two groups. The two groups of clamping members 121 are arranged in a stacked manner. The two groups of clamping members 121 can move in relative directions or in opposite directions, and the inclined surfaces 1213 on the two groups of clamping members 121 are also in a relative state. When two symmetrically arranged clamping members 121 in the same clamping portion 120 move relative to each other to a distance of a preset distance d, the maximum distance between the inclined surfaces 1213 of the two clamping members 121 is greater than the width of the substrate 300, and the minimum distance between the inclined surfaces 1213 of the two clamping members 121 is less than the width of the substrate 300. Therefore, when the substrate 300 is located entirely below the two clamping members 121 and the two clamping members 121 are distributed on both sides of the substrate 300 along the width direction of the substrate 300, the clamping portions 120 are pressed downward at the same time, so that the two long sides of the substrate 300 can be respectively abutted against the inclined surfaces 1213 on the several groups of symmetrically arranged clamping members 121 that meet the above description, and as the downward distance of each clamping portion 120 increases, the substrate 300 is clamped more firmly. It should be noted that the downward distance of each clamping portion 120 should be set on the premise that the portion of the long side of the substrate 300 that contacts the inclined surface 1213 on the clamping member 121 will not be deformed or damaged after being clamped. The first preset angle a is greater than 120° and less than 150°, and in a preferred embodiment, the first preset angle a is 135°, which makes the smaller angle formed by the top surface of the substrate 300 and the inclined surface 1213 be 45°, so that the clamping members 121 on both sides of the substrate 300 can ensure that the substrate 300 has a good holding force.
[0041] See also Figure 3 In a certain embodiment, each of the first planes 1211 is constructed with a second protrusion 1214, and each of the second protrusions 1214 has a contact surface 1215, and each of the contact surfaces 1215 is configured as follows: after the substrate 300 is grasped, each of the contact surfaces 1215 contacts the top surface of the substrate 300, so as to apply a force directed toward the substrate 300 along the first plane 1211 to the top surface of the substrate 300, thereby preventing the substrate 300 from bending and deforming due to excessive lateral force when being clamped by the clamping members 121 located on both sides of the width direction thereof. Applying a force directed toward the substrate 300 along the first plane 1211 to the top surface of the substrate 300 can effectively suppress the substrate 300 from bending toward the first plane 1211.
[0042] Further, the abutting surface 1215 and the first plane 1211 on each of the clamping members 121 having the corresponding abutting surface 1215 form a second preset angle c, and the second preset angle c is configured such that when the substrate 300 is grasped, the second preset angle c faces the substrate 300, and the second preset angle c is greater than 150° and less than 180°, so as to reduce the contact area between the second protrusion 1214 and the top surface of the substrate 300. In some embodiments, the second preset angle c is 165°.
[0043] See also Figure 4 In order to enable the substrate 300 grabbing and loading device in the present application to work properly, each of the clamping mechanisms 100 further includes a frame 110 and a displacement unit 130. The frame 110 has a first horizontal mounting surface 111, and the displacement unit 130 includes a first linear moving component 131 and a second linear moving component 132, and the first linear moving component 131 and the second linear moving component 132 both include a linear guide 133 and a controlled moving component 134 mounted on the corresponding linear guide 133, the linear guide 133 in the first linear moving component 131 is mounted on the first horizontal mounting surface 111, and the moving component 134 in the first linear moving component 131 is configured as Moving in the horizontal direction, the linear guide 133 in the second linear moving component 132 is fixedly connected to the moving component 134 in the first linear moving component 131, and the moving component 134 in the second linear moving component 132 is configured to move in a direction perpendicular to the horizontal plane, a mounting frame 135 is provided on the moving component 134 in the second linear moving component 132, each of the clamping parts 120 is provided on the mounting frame 135, and each of the clamping parts 121 in the clamping parts 120 is configured to move in the horizontal direction.
[0044] Specifically, the frame 110 includes two parallel side plates 112 and a connecting plate 113 disposed between the two side plates 112 and used to connect the two side plates 112. The first horizontal mounting surface 111 is the top surface of the connecting plate 113, and the linear guide 133 of the first linear moving assembly 131 is mounted on the top surface of the connecting plate 113. In some embodiments, the first linear moving assembly 131 and the second linear moving assembly 132 are preferably electric slides, the linear guide 133 is a guide rail in the electric slide, and the moving member 134 is a slide seat that is slidably matched on the guide rail, and the slide seat is controlled by a driving module in the electric slide, so that the slide seat can move along the extension direction of the guide rail. The mounting frame 135 is mounted on the moving member 134 (slide seat) of the second linear moving assembly 132, and the mounting frame 135 has a third horizontal mounting surface 1351 for mounting the clamping portion 120. It should be noted that, in a certain embodiment, the driving unit 900 for controlling the movement of the clamping member 121 may be selected as a clamping cylinder, and the clamping cylinder has a movable end 910, and the moving trajectories of the two movable ends 910 are collinearly arranged. The two clamping members 121 in the same clamping portion 120, which are respectively arranged on both sides of the substrate 300, are respectively aligned with the two movable ends 910 of the same clamping cylinder. When the clamping cylinder is running, the two clamping members 121 can undergo synchronous coaxial movement.
[0045] See also Figure 1 , wherein the clamping member 121 is connected to the movable end 910 through a buffer mechanism 1000, the buffer mechanism 1000 includes a fixed plate 1010 fixedly connected to the movable end 910, a first rod 1020 and a second rod 1030 are arranged on the fixed plate 1010, the first rod 1020 and the second rod 1030 are arranged in parallel, and the axis of the first rod 1020 and the axis of the second rod 1030 are both perpendicular to the horizontal plane, the first rod 1020 and the second rod 1030 can both move relative to the fixed plate 1010, but both cannot be separated from the fixed plate 1010. One end of the first rod 1020 and one end of the second rod 1030 are fixedly connected to the clamping member 121 on the side away from the first plane 1211, and a buffer spring 1040 is sleeved on the outside of the first rod 1020, and the two ends of the buffer spring 1040 are respectively abutted against the fixed plate 1010 and the clamping member 121. It should be noted that the other end of the second rod 1030 extends to the outside of the fixed plate 1010, and a limiting member 1050 is provided at the other end of the second rod 1030 located on the fixed plate 1010, and the limiting member 1050 abuts against the fixed plate 1010 toward the side of the fixed plate 1010.
[0046] See also Figure 6-8In order to cooperate with the material picking of the clamping mechanism 100, the substrate 300 grabbing and loading device in the present application also includes a mounting seat 200, a positioning mechanism 400, a lifting plate 500 and a driving mechanism 600. The mounting seat 200 has a second horizontal mounting surface 210, and the frame 110 is fixedly connected to the second horizontal mounting surface 210, and a plurality of connecting grooves (not shown in the figure) are provided on the second horizontal mounting surface 210. The positioning mechanism 400 includes a plurality of lateral positioning rods 410, and one end of the plurality of lateral positioning rods 410 is detachably connected to the plurality of connecting grooves in a one-to-one correspondence manner, so as to form a positioning space 420 for limiting the horizontal movement of the substrate 300 through the side combination of the plurality of lateral positioning rods 410, and the positioning space 420 is provided directly below the clamping portion 120. The lifting plate 500 has a storage surface 510, and the lifting plate 500 is arranged in the positioning space 420, and the posture of the lifting plate 500 is configured such that after the lifting plate 500 is placed on the second horizontal mounting surface 210, the storage surface 510 is parallel to the horizontal plane. The driving mechanism 600 includes a movable part 610 connected to the lifting plate 500 and a driving part 620 arranged below the mounting seat 200, and the driving part 620 is transmission-connected with the movable part 610 to drive the movable part 610 to move vertically, thereby pushing the lifting plate 500 to move vertically.
[0047] Specifically, the bottom of the rack 110 is fixedly connected to the second horizontal mounting surface 210, and the connection methods of the two include fastener connection, welding and integral molding. At this time, the third horizontal mounting surface 1351 is arranged parallel to the second horizontal mounting surface 210. After each lateral positioning rod 410 is installed on the second horizontal mounting surface 210, each lateral positioning rod 410 is perpendicular to the second horizontal mounting surface 210. When the substrate 300 is placed in the positioning space 420, the side of each lateral positioning rod 410 close to the substrate 300 is in contact with the corresponding side of the substrate 300. It should be noted that several lateral positioning rods 410 are distributed on the four sides of the substrate 300, namely, the two long sides and the two short sides of the substrate 300. When the substrate 300 is placed in the positioning space 420, several substrates 300 will be placed on the top of the lifting plate 500 in a stacked manner. The driving part 620 includes a driving motor 621 and a screw rod 622 disposed below the mounting seat 200. The screw rod 622 is configured to rotate in situ. The driving motor 621 is transmission-connected to the screw rod 622 to drive the screw rod 622 to rotate in situ. The movable part 610 includes an inner nut 611 threadedly connected to the screw rod 622 and a moving plate 612 disposed outside the inner nut 611. At least two guide rods 613 are fixedly connected to the top of the moving plate 612. The other end of each guide rod 613 passes through the mounting seat 200 and extends to the top of the mounting seat 200. In addition, one end of each guide rod 613 located above the mounting seat 200 is connected to the bottom of the lifting plate 500 to control the lifting and lowering of the lifting plate 500. It should be noted that a plurality of guide grooves 220 are constructed on the mounting seat 200, each guide groove 220 is perpendicular to the second horizontal mounting surface 210, each guide rod 613 is movably inserted into each guide groove 220 in a one-to-one corresponding manner, and the outer peripheral side of each guide rod 613 is in contact with the inner peripheral side of each guide groove 220.
[0048] It should be noted that the top of the lifting plate 500 is configured with a mounting groove 520, in which a first material sensor 700 is disposed to detect whether a substrate 300 is placed in the positioning space 420. Two lateral positioning rods 410 disposed oppositely along the length direction or width direction of the substrate 300 are provided with a second material sensor 800 at one end of the principle mounting seat 200 to detect whether the uppermost substrate 300 in the positioning space 420 has moved up to a preset position. The first material sensor 700 and the second material sensor 800 are preferably both opposite-beam photoelectric sensors.
[0049] Specifically, during implementation, the driving motor 621 drives the screw rod 622 to rotate, and the moving plate 612 moves along the axial direction of the screw rod 622 under the cooperation of the inner nut 611, the guide rod 613 and the guide groove 220. When the moving plate 612 rises, the lifting plate 500 moves up synchronously under the action of the guide rod 613 until the uppermost substrate 300 on the lifting plate 500 triggers the second material sensor 800, and the second material sensor 800 sends a model to the controller (not shown in the figure). The controller controls the driving motor 621 to stop running, and the controller also sends a signal to the displacement part 130 to control the clamping part 120 to move downward until the inclined surfaces 1213 on at least two clamping members 121 on both sides of the width direction of the uppermost substrate 300 are simultaneously abutted and engaged with the two long side edges of the uppermost substrate 300, and finally, the displacement part 130 controls the clamping part 120 to move to move the clamped substrate 300 to the next workstation.
[0050] The above contents described in this specification are merely examples of the present utility model. Those skilled in the art of the present utility model may make various modifications or additions to the specific embodiments described, or replace them in similar ways, as long as they do not deviate from the contents of the present utility model specification or exceed the scope defined in the claims, they shall all fall within the protection scope of the present utility model.
Claims
1. A substrate grabbing and loading device, comprising a clamping mechanism, wherein the clamping mechanism comprises at least one clamping portion, each of the clamping portions comprises at least two clamping members, and the two clamping members are configured such that: when grabbing a substrate, the two clamping members are distributed on both sides of the substrate along the width direction of the substrate, and the movement trajectories of the two clamping members are configured to be parallel, and each of the clamping members moves in a controlled manner; Features: Each of the clamping members has a first plane, each of the first planes is configured with a first protrusion, each of the first protrusions has an inclined surface, each of the inclined surfaces forms a first preset angle a with each of the first planes on the clamping members having the corresponding inclined surfaces, and each of the first preset angles a is at least greater than 90°; The two clamping members in the same clamping portion and distributed on both sides of the substrate along the width direction of the substrate are configured as follows: when grabbing the substrate, the two clamping members move relative to each other to a preset distance d, the first planes on the two clamping members are parallel to the top surface of the substrate and are both set toward the substrate, the preset angles on the two clamping members are both toward the substrate, and the inclined surfaces on the two clamping members are respectively in contact with the two long side edges of the substrate.
2. A substrate grabbing and loading device according to claim 1, characterized in that: A second protrusion is configured on each of the first planes, and each of the second protrusions has an abutting surface; Each of the abutting surfaces is configured such that, after the substrate is grasped, each of the abutting surfaces abuts against the top surface of the substrate.
3. A substrate grabbing and loading device according to claim 2, characterized in that: The abutting surface and the first plane on each of the clamping members having the corresponding abutting surface form a second preset angle c.
4. A substrate grabbing and loading device according to claim 3, characterized in that: The second preset angle c is configured such that: when the substrate is grasped, the second preset angle c faces the substrate, and the second preset angle c is greater than 150° and less than 180°.
5. A substrate grabbing and loading device according to claim 1 or 3, characterized in that: The first preset angle a is greater than 120° and less than 150°.
6. The substrate grabbing and loading device according to claim 1, characterized in that: Each of the clamping mechanisms further comprises: A frame having a first horizontal mounting surface; A displacement part, the displacement part includes a first linear moving component and a second linear moving component, and the first linear moving component and the second linear moving component both include a linear guide and a controlled moving component assembled on the corresponding linear guide, the linear guide in the first linear moving component is installed on the first horizontal installation surface, and the moving component in the first linear moving component is configured to move in a horizontal direction, the linear guide in the second linear moving component is fixedly connected to the moving component in the first linear moving component, and the moving component in the second linear moving component is configured to move in a direction perpendicular to the horizontal plane, a mounting frame is provided on the moving component in the second linear moving component, each of the clamping parts is provided on the mounting frame, and each of the clamping parts in the clamping parts is configured to move in a horizontal direction.
7. A substrate grabbing and loading device according to claim 6, characterized in that: Also includes: A mounting seat, the mounting seat having a second horizontal mounting surface, a plurality of mounting grooves being arranged on the second horizontal mounting surface, the frame being fixedly connected to the second horizontal mounting surface; A positioning mechanism, the positioning mechanism comprising a plurality of lateral positioning rods, one end of each of the plurality of lateral positioning rods being detachably connected to the plurality of mounting grooves in a one-to-one correspondence, so as to form a positioning space for limiting horizontal movement of the substrate through the side combination of the plurality of lateral positioning rods; A lifting plate, the lifting plate having a storage surface, the lifting plate being arranged in the positioning space, and the posture of the lifting plate being configured such that after the lifting plate is placed on the second horizontal mounting surface, the storage surface is parallel to the horizontal plane; The driving mechanism comprises a movable part connected to the lifting plate and a driving part arranged below the mounting seat, wherein the driving part is transmission-connected with the movable part to drive the movable part to move vertically, thereby pushing the lifting plate to move vertically.
8. The substrate grabbing and loading device according to claim 7, characterized in that: The driving part includes a driving motor and a screw rod disposed below the mounting seat, the screw rod is configured to rotate in situ, and the driving motor is transmission-connected to the screw rod to drive the screw rod to rotate; The movable part includes an internal nut threadedly connected to the screw rod and a movable plate arranged on the outside of the internal nut, at least two guide rods are arranged on the top of the movable plate, the other end of each guide rod passes through the mounting seat and extends to the top of the mounting seat, and one end of each guide rod located above the mounting seat is connected to the bottom of the lifting plate to control the lifting and lowering of the lifting plate.
9. A substrate grabbing and loading device according to claim 8, characterized in that: A plurality of guide grooves are constructed on the mounting seat, and each guide rod is inserted into each guide groove in a one-to-one correspondence manner, and the outer circumference of each guide rod is in contact with the inner circumference of each guide groove.
10. A substrate grabbing and loading device according to claim 7 or 8, characterized in that: The lifting plate is provided with a first material detection sensor.