Transport system
By introducing a combination of inclined slide rail and power guide rail into the slide rail device, three-axis digital control is achieved, which solves the problem that traditional equipment cannot adapt to changes in the height of items, and improves the flexibility of items to pick up and place items and conveys efficiency.
Patent Information
- Application Number
- CN202422668045.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-01
- Publication Date
- 2025-08-22
- Estimated Expiration
- 2034-11-01
AI Technical Summary
Traditional transportation equipment cannot adapt to the height changes of the dynamic stack of items, and can only be picked up and placed in the horizontal direction, resulting in inefficient transportation.
The first slide rail and the second slide rail are arranged inclined to form a dual-track slide rail device, and the sliding device is driven to connect with the power guide rail device to realize three-axis digital control, which can adapt to the changes in the height of the item and pick up and place items at an angle different from the horizontal.
It realizes adaptive pick-up and placement to the height changes of items, improves the transfer efficiency, simplifies the multi-axis control components, and improves the flexibility and efficiency of pick-up and placement of items.
Smart Images
Figure CN223254302U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of conveying technology, and in particular to a conveying system for conveying electronic components. Background Art
[0002] General electronic products, such as semiconductor products, often use automated systems to transport electronic components (for example, wafers, glass substrates, etc.) to different process stations during the manufacturing process. Traditional transport equipment often uses robotic arms to pick up and place and transport items such as wafers and glass substrates along a single track. However, the robotic arms of traditional transport equipment can only pick up and place objects at a single fixed height, and it is difficult to adapt to the height changes of the dynamic stacking of items. This not only limits the flexibility of the height at which items can be stacked, but also affects the efficiency of transportation. Secondly, the pick-up and placement angles of the single track that provides the transport path can only be limited to the horizontal direction, and it is impossible to place items at angles other than the horizontal, which makes it inconvenient to retrieve materials in subsequent processes and affects product production efficiency. Utility Model Content
[0003] The purpose of the present application is to provide a conveying system that can adapt to the height changes of dynamic stacking of items to extract items, place items at angles different from the horizontal, and improve conveying efficiency.
[0004] In order to achieve the above-mentioned purpose, the present application provides a conveying system for automatically extracting objects from a picking position and transporting them to a placement position, wherein the conveying system includes a slide rail device, a power guide rail device, a sliding device and a picking device. The slide rail device includes a first slide rail and a second slide rail spaced apart in a longitudinal direction. The power guide rail device is arranged below the slide rail device and includes a drive belt, and the drive belt is configured to rotate around an axis. The sliding device includes a sliding block, a linkage rod and a linkage module, the sliding block is pivotally connected to the first slide rail and the second slide rail, one end of the linkage rod is movably connected to the sliding block, and the other end is pivotally connected to the linkage module, and the linkage module is movably connected to the drive belt and linked according to the rotation of the drive belt. The picking device is arranged at the other end of the linkage rod and is used to extract the object.
[0005] Optionally, the sliding block includes a first pivotal member and a second pivotal member, one end of the first pivotal member is pivotally connected to the first slide rail, and one end of the second pivotal member is pivotally connected to the second slide rail.
[0006] Optionally, the sliding block includes a third slide rail, the third slide rail is arranged between the first pivot member and the second pivot member, and the end portion of the connecting rod is movably connected to the third slide rail.
[0007] Optionally, in response to the rotation of the driving belt, the linkage rod of the linkage module is correspondingly linked and drives the sliding block to pivot relative to the first pivot member and the second pivot member.
[0008] Optionally, the slide rail device defines a first positioning end and a second positioning end, a first spacing is provided between the first slide rail and the second slide rail relative to the first positioning end, a second spacing is provided between the first slide rail and the second slide rail relative to the second positioning end, and the first spacing is smaller than the second spacing.
[0009] Optionally, the second slide rail is arranged along a horizontal direction, the first slide rail is arranged obliquely relative to the second slide rail, and the first positioning end is located directly above the object-picking position.
[0010] Optionally, the driving belt of the power guide rail device includes a longitudinal section and a slope section, the longitudinal section is located directly above the picking position, and the slope section is close to the placement position.
[0011] Optionally, the drive belt is a continuous drive belt, which is a timing belt or a chain belt, and the linkage module includes a plurality of guide wheels, which are rotatably connected to opposite sides of the drive belt.
[0012] Optionally, the conveying system further includes a storage table and a stand, wherein the stand is tilted relative to the table surface of the storage table so that the objects can be placed at an angle.
[0013] Optionally, the object-retrieving device includes at least one vacuum suction cup for adsorbing the object.
[0014] The conveying system of the present application utilizes an inclined first slide rail and a second slide rail to form a double-track slide rail device. The sliding device is driven by a power guide rail device to link and slide and pivot on the slide rail device, thereby achieving three-axis digital control with one-axis digital control. This not only simplifies the components required for multi-axis control, but also can adapt to the height changes of dynamic stacking of items to extract items, and can place items at angles different from the horizontal, greatly improving conveying efficiency.
[0015] In order to make the above contents of the present invention more clearly understood, preferred embodiments are given below and described in detail with reference to the accompanying drawings: BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.
[0017] Figure 1 Schematic diagram of the structure of the conveying system according to an embodiment of the present application.
[0018] Figure 2 This is a structural schematic diagram of the sliding device of an embodiment of the present application located at the first positioning end.
[0019] Figure 3 for Figure 2 Schematic diagram of the lateral structure of the conveying system.
[0020] Figure 4A Schematic diagram of the structure of the linkage module according to an embodiment of the present application.
[0021] Figure 4B It is a schematic diagram of the three-dimensional structure of the linkage module.
[0022] Figure 4C It is a schematic diagram of the three-dimensional structure of the linkage module connected to a driving belt.
[0023] Figure 5 Schematic diagram of an operation of the conveying system according to an embodiment of the present application.
[0024] Figure 6 This is another operation schematic diagram of the conveying system according to an embodiment of the present application.
[0025] Figure 7 This is a schematic diagram of a picking process of the conveying system according to an embodiment of the present application.
[0026] Figure 8 This is another schematic diagram of the object-retrieving process of the conveying system according to an embodiment of the present application.
[0027] Figure 9 This is another schematic diagram of the object-retrieving process of the conveying system according to an embodiment of the present application. DETAILED DESCRIPTION
[0028] To facilitate understanding of the technical features, contents, advantages, and effects achievable by the present invention, the present invention is hereby described in detail below in conjunction with the accompanying drawings and in the form of embodiments. The drawings used therein are for illustration and auxiliary explanation purposes only and may not reflect the actual proportions and precise configurations of the present invention after implementation. Therefore, the proportions and configurations of the attached drawings should not be interpreted as limiting the scope of rights of the present invention in actual implementation.
[0029] The following descriptions of the various embodiments refer to the accompanying drawings to illustrate specific embodiments in which the present invention may be implemented. Directional terms used in this invention, such as "up," "down," "front," "back," "left," "right," "top," "bottom," "horizontal," and "vertical," refer only to the directions in the accompanying drawings. Therefore, these directional terms are intended to illustrate and facilitate understanding of the present invention and are not intended to limit the present invention.
[0030] Unless otherwise specified, the ordinal adjectives "first," "second," and "third," etc. used herein to describe general objects merely indicate different instances of similar objects being mentioned and are not intended to imply that the objects so described must be ordered in time, space, arrangement, or in any other manner.
[0031] In order to make this application fully understandable, the following description provides detailed steps and structures. Obviously, the implementation of this application is not limited to the specific details known to those skilled in the art. In addition, known structures and steps are not described in detail to avoid unnecessarily limiting this application. It should be noted that in the description of this application, the functions or steps mentioned herein may appear in an order different from the order marked in the accompanying drawings. For example, depending on the functions or steps involved, two icons displayed in succession may actually be executed substantially simultaneously or may sometimes be executed in the opposite order.
[0032] An embodiment of the present application provides a conveying system for extracting and placing objects along a track path, and can dynamically adjust the height of the objects to adapt to the stacking height of the objects, and can pre-plan the picking and placing angles in different planes, wherein the objects can be substrates, such as silicon wafers, glass substrates or other electronic components.
[0033] Reference Figure 1 , Figure 1 Schematic diagram of the structure of the conveying system 1 of the embodiment of the present application. The conveying system 1 of the present application includes a slide rail device 10, a power rail device 20, a sliding device 30 and a picking device 40. It should be noted that the embodiments of the present application only illustrate the main structure of the slide rail device 10, the power rail device 20, the sliding device 30 and the picking device 40, and the detailed structure thereof is not described in detail. Figure 1 As shown, the transport system 1 is used to transport an object 7 from a pick-up position L1 to a placement position L2. Specifically, the object 7 may be, but is not limited to, an electronic component such as a wafer or glass substrate. In some embodiments, the pick-up position L1 is where the object 7 is pre-placed for transport to the placement position L2 (i.e., the next processing station) for subsequent processing. In some embodiments, the transport system 1 can also transport the object 7 from the placement position L2 to the pick-up position L1.
[0034] Reference Figure 2 and cooperate with Figure 1 , Figure 2 This is a structural diagram of the sliding device 30 of the embodiment of the present application located at the first positioning end P1, wherein Figure 2 For the sake of clarity, the object-retrieving device 40 is not shown, and only the linkage module 32 is shown for illustrative purposes (as described in detail later). Figure 2 As shown, the slide rail device 10 includes a first slide rail 11 and a second slide rail 12 spaced apart in a longitudinal direction. Preferably, the first slide rail 11 and the second slide rail 12 are respectively linear slide rails, and the first slide rail 11 and the second slide rail 12 are arranged in an up-down manner on a fixed plate 301. In this embodiment, the slide rail device 10 is defined with a first positioning end P1 and a second positioning end P2, and the first positioning end P1 is located directly above the object picking position L1. Specifically, the second slide rail 12 is arranged along a horizontal direction, the first slide rail 11 is inclined relative to the second slide rail 12, and the first slide rail 11 is inclined relative to the second slide rail 12 in the direction of the first positioning end P1. In this embodiment, there is a first interval H1 between the first slide rail 11 and the second slide rail 12 relative to the first positioning end P1, and there is a second interval H2 between the first slide rail 11 and the second slide rail 12 relative to the second positioning end P2, and the first interval H1 is smaller than the second interval H2.
[0035] like Figure 2 As shown, the power rail device 20 is disposed below the slide rail device 10 and includes a drive belt 21. Preferably, the drive belt 21 is a continuous drive belt, such as a timing belt or a chain belt, which can be driven by a driving device (not shown) to rotate continuously, wherein the driving device can be, for example, a servo motor. Specifically, the drive belt 21 defines a circular track path that continuously extends and surrounds an axis of the power rail device 20, and the profile of the circular track path is determined according to the distance between the pickup position L1 and the placement position L2. In this embodiment, as shown in FIG. Figure 2 As shown, the drive belt 21 includes a longitudinal section 211 and a slope section 212. Specifically, the longitudinal section 211 is located just above the object-taking position L1 and below the first positioning end P1, and the slope section 212 is located below the second positioning end P2 and close to the placement position L2 (as shown in FIG. Figure 1 Preferably, as shown Figure 1 As shown, the longitudinal section 211 has an orthographic projection area relative to a horizontal surface, and the orthographic projection area falls entirely within the range of the object-taking position L1.
[0036] Reference Figure 3 and cooperate with Figure 1 and Figure 2 , Figure 3 for Figure 2 The side structure diagram of the conveying system 1 is shown. Figure 2As shown, the sliding device 30 includes a sliding block 31, a linkage rod 33 and a linkage module 32. The sliding block 31 is pivotally connected to the first slide rail 11 and the second slide rail 12. One end of the linkage rod 33 is movably connected to the sliding block 31, and the other end is pivotally connected to the linkage module 32. The linkage module 32 is movably connected to the drive belt 21 and is linked according to the rotation of the drive belt 21. Specifically, Figure 2 and Figure 3 As shown, in some embodiments, the sliding block 31 includes a first pivot member 311 and a second pivot member 312 spaced apart from each other, with one end of the first pivot member 311 pivotally connected to the first slide rail 11, and one end of the second pivot member 312 pivotally connected to the second slide rail 12. The sliding block 31 is connected to the slide rail device 10 via the first pivot member 311 and the second pivot member 312. The sliding block 31 also includes a third slide rail 313 disposed between the first pivot member 311 and the second pivot member 312, and the end of the connecting rod 33 is movably connected to the third slide rail 313. Through the above structure, the connecting rod 33 can reciprocate along the third slide rail 313.
[0037] Reference Figures 4A to 4C and cooperate with Figure 3 , Figure 4A and Figure 4B is a structural diagram of the linkage module 32, and Figure 4C FIG. 3 is a schematic diagram of the three-dimensional structure of the linkage module 32 connected to the drive belt 21. Figure 4A and 4C As shown, the linkage module 32 includes four guide wheels 321, and the four guide wheels 321 are rotatably connected to the opposite sides of the driving belt 21. Specifically, as Figure 4B As shown, every two guide wheels 321 can form a guide wheel set and can rotate relative to the same axis.
[0038] Reference Figure 1 The conveying system 1 further includes a platform 50 and a stand 51. In this embodiment, the stand 51 is tilted relative to a surface of the platform 50 to allow the object 7 to be placed obliquely. Figure 1 As shown, a retrieval device 40 is disposed at the other end of the linkage rod 33 and is used to retrieve the object 7. The retrieval device 40 includes a plurality of vacuum suction cups 41. The vacuum suction cups 41 utilize the vacuum suction force generated by a vacuum device (not shown) to hold the object 7. In other embodiments, the retrieval device 40 may also utilize a clamping mechanism to retrieve and place the object 7, which is not particularly limited in this application.
[0039] Reference Figure 5 and Figure 6 and cooperate with Figure 1 and Figure 2 , Figure 2 、 Figure 5 and Figure 6In response to the rotation of the driving belt 21, the linkage rod 33 of the linkage module 32 is linked and drives the sliding block 31 to pivot relative to the first pivot member 311 and the second pivot member 312. Figure 2 As shown, the sliding device 30 rotates and moves to the first positioning end P1 via the driving belt 21 of the power guide rail device 20. At this time, as shown in FIG. Figure 1 As shown, the linkage module 32 is located on the longitudinal section 211 and directly above the access position L1. Due to the arrangement of the longitudinal section 211, the linkage rod 33 can reciprocate vertically relative to the access position L1, thereby dynamically adjusting the height of the objects 7 to be accessed and placed. In some embodiments, the number of objects 7 stacked can be greater than two or only a single object. Depending on the height of the stacked objects 7, the sliding device 30 is driven by the drive belt 21 to slide along the longitudinal section 211 to reach the appropriate access position.
[0040] like Figure 5 As shown, the sliding device 30 is driven by the driving belt 21 to move from the first positioning end P1 to the second positioning end P2. At this time, the linkage rod 33 is correspondingly linked and drives the sliding block 31 to pivot relative to the first pivot member 311 and the second pivot member 312, and the linkage rod 33 slides within the third slide rail 313. It is particularly noted that the rotation angle of the sliding block 31 changes according to the inclination of the first slide rail 11 relative to the second slide rail 12. Figure 6 As shown, the sliding device 30 moves to the second positioning end P2, and the connecting rod 33 is located at the slope section 212 and is inclined. At this time, the sliding block 31 is located at the second interval H2 between the first slide rail 11 and the second slide rail 12, and the rotation angle of the sliding block 31 reaches the maximum, and the picking device 40 is in the placement position L2 (as shown in FIG. Figure 1 shown).
[0041] Reference Figures 7 to 9 and cooperate with Figure 2 、 Figure 5 and Figure 6 , Figures 7 to 9 They are schematic diagrams of the picking process of the conveying system 1. Figure 7 As shown, the sliding block 31 is driven by the driving belt 21 to be located at the first positioning end P1, and the object 7 is picked up by the vacuum suction cup 41 of the picking device 40. Figure 8 As shown, the sliding block 31 moves along the first and second rails 11 and 12 of the rail device 10 toward the second positioning end P2, and the sliding block 31 pivots relative to the first and second pivots 311 and 312, and the object-picking device 40 continues to pick up the object 7. Figure 9As shown, the sliding block 31 reaches the second positioning end P2, and the sliding block 31 further pivots relative to the first pivot member 311 and the second pivot member 312. At this time, the object-taking device 40 continues to take out the object 7 and prepares to place the object 7. Figure 1 As shown, after the retrieval device 40 reaches the placement position L2, it releases its grip on the object 7 and places the object 7 at a desired angle on the stand 51. The conveying system 1 completes the retrieval and placement of the object 7 through the above process. Similarly, the sliding device 30 can be moved from the second positioning end P2 to the first positioning end P1 simply by being driven by the drive belt 21.
[0042] In summary, the conveying system of the present application utilizes an inclined first slide rail and a second slide rail to form a double-track slide rail device. The sliding device is driven by a power guide rail device to link and slide and pivot on the slide rail device, thereby realizing three-axis digital control with one-axis digital control. This not only simplifies the components required for multi-axis control, but also can adapt to the height changes of the dynamic stacking of items to extract items, and can place items at angles different from the horizontal, thereby greatly improving the conveying efficiency of the conveying system.
[0043] The above description is to illustrate the features of the present invention through embodiments. Its purpose is to enable those familiar with the technology to understand the content of the present invention and implement it accordingly, rather than to limit the patent scope of the present invention. Therefore, any other equivalent modifications or amendments that do not depart from the technical ideas disclosed by the present invention should still be included in the scope of the patent application described below.
Claims
1. A conveying system for automatically picking up items from a pickup location and transporting them to a placement location, characterized in that: The conveying system includes: The slide rail device includes a first slide rail and a second slide rail spaced apart in a longitudinal direction; a powered guide rail device disposed below the slide rail device and comprising a drive belt configured to rotate about an axis; a sliding device comprising a sliding block, a linkage rod, and a linkage module, wherein the sliding block is pivotally connected to the first slide rail and the second slide rail, one end of the linkage rod is movably connected to the sliding block, and the other end is pivotally connected to the linkage module, and the linkage module is movably connected to the drive belt and is linked according to the rotation of the drive belt; and The object-retrieving device is arranged at the other end of the linkage rod and is used for retrieving the object.
2. The conveying system according to claim 1, wherein: The sliding block includes a first pivotal member and a second pivotal member. One end of the first pivotal member is pivotally connected to the first slide rail, and one end of the second pivotal member is pivotally connected to the second slide rail.
3. The conveying system according to claim 2, wherein: The sliding block includes a third sliding rail, the third sliding rail is arranged between the first pivot member and the second pivot member, and the end portion of the connecting rod is movably connected to the third sliding rail.
4. The conveying system according to claim 2, wherein: In response to the rotation of the driving belt, the linkage rod of the linkage module is correspondingly linked and drives the sliding block to pivot relative to the first pivot member and the second pivot member.
5. The conveying system according to claim 1, wherein: The slide rail device is defined with a first positioning end and a second positioning end, a first spacing is formed between the first slide rail and the second slide rail relative to the first positioning end, a second spacing is formed between the first slide rail and the second slide rail relative to the second positioning end, and the first spacing is smaller than the second spacing.
6. The conveying system according to claim 5, wherein: The second slide rail is arranged along a horizontal direction, the first slide rail is arranged obliquely relative to the second slide rail, and the first positioning end is located directly above the object-taking position.
7. The conveying system according to claim 1, wherein: The driving belt of the power guide rail device includes a longitudinal section and a slope section, the longitudinal section is located directly above the object-taking position, and the slope section is close to the placement position.
8. The conveying system according to claim 1, wherein: The driving belt is a continuous driving belt, which is a timing belt or a chain belt. The linkage module includes a plurality of guide wheels, which are rotatably connected to opposite sides of the driving belt.
9. The conveying system according to claim 1, further comprising a storage table and a stand, wherein the stand is inclined relative to the table surface of the storage table so as to allow the objects to be placed at an angle.
10. The conveying system according to claim 1, wherein: The object-picking device includes at least one vacuum suction cup for sucking the object.