Sheet conveying mechanism and sheet conveying system
Through the coordinated action of the bracket assembly and the connecting rod assembly, precise and stable direction adjustment of the solar cell during transportation is achieved, solving the problems of insufficient control accuracy and stability in the prior art and reducing costs.
Patent Information
- Application Number
- CN202422704673.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-06
- Publication Date
- 2025-09-23
- Estimated Expiration
- 2034-11-06
AI Technical Summary
In the prior art, the control accuracy and stability of the direction adjustment of solar cells during transportation are relatively poor.
A sheet material handling mechanism is adopted, which realizes the rotation and rotation of the grabbing assembly through the coordinated action of the bracket assembly and the connecting rod assembly, adjusts the placement direction of the sheet material, and avoids the dependence on the active drive rotation device.
The adjustment accuracy and stability of the sheet placement direction are improved, the cost is reduced, and the wear problem that may be caused by long-term use of the drive motor is avoided.
Smart Images
Figure CN223372190U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the fields of semiconductor and photovoltaic technology, and in particular to a sheet material transport mechanism and a sheet material transmission system. Background Art
[0002] With the development of photovoltaic technology, solar cells are widely used in various fields. When processing solar cells in different processes, especially laser grooving and printing, different requirements are placed on the placement direction of the processed solar cells, which requires adjustment.
[0003] To adjust the orientation of the solar cells being processed, an active rotation device is installed on the robotic arm that handles the solar cells. This allows for adjustment during the handling process. The rotation device, for example, uses a motor to drive a rotating shaft or a motor to drive a synchronous pulley to adjust the orientation of one or more solar cells. However, the active rotation device installed on the robotic arm has poor accuracy and stability in adjusting the orientation of the solar cells. Utility Model Content
[0004] In view of this, embodiments of the present disclosure provide a sheet transport mechanism and a sheet transmission system to solve the problem of poor control accuracy and stability when adjusting the direction of solar cells being transported in the related art.
[0005] In the first aspect, an embodiment of the present disclosure provides a sheet material transporting mechanism, which is configured to transport sheets between different workstations, and the sheet material transporting mechanism includes: a base; a bracket assembly, which is rotatably connected to a first mounting point of the base; a grabbing assembly, which includes at least one grabbing group, which is rotatably connected to an end of the bracket assembly away from the base, and is driven by the bracket assembly to rotate around the first mounting point as the center, so as to drive the grabbing assembly to move to any workstation to pick up and place sheets; a connecting rod assembly, which includes at least one connecting rod group, one end of each connecting rod group is rotatably connected to a second mounting point of the base, and the other end is connected to a third mounting point of a grabbing group; wherein, when the bracket assembly drives the grabbing assembly to rotate synchronously around the first mounting point as the center, the connecting rod group rotates around the second mounting point as the center, and can drive the grabbing group to rotate around the third mounting point as the center to adjust the placement direction of the sheet material on the grabbing assembly.
[0006] In some embodiments, the rotation direction of the bracket assembly around the first mounting point is the same as the rotation direction of the grabbing group around the third mounting point; the angle at which the bracket assembly drives the grabbing assembly to rotate around the first mounting point is a first angle, and the angle at which the connecting rod assembly drives the grabbing group to rotate around the third mounting point is a second angle, and the first angle and the second angle are the same.
[0007] In some embodiments, the base is rotatably provided with a drive shaft at a first mounting point, and the straight-line distances between two or more working positions and the first mounting point are equal; the base is fixedly connected to a fixed shaft at a second mounting point, and the straight-line distances between two adjacent working positions and the second mounting point are different.
[0008] In some embodiments, each connecting rod group includes: a connecting rod, one end of which is fixedly connected to the rotating shaft of the grabbing group provided at the third mounting point; a hinge shaft, the other end of which is rotatably connected to the hinge shaft; and a push rod, one end of which is fixedly connected to the hinge shaft, and the other end of which is rotatably connected to the fixed shaft; the center distance between the driving shaft and the fixed shaft is equal to the center distance between the rotating shaft and the hinge shaft.
[0009] In some embodiments, the connecting rod assembly includes more than two connecting rod groups. When the sheet material conveying mechanism is in a first working state, the extension direction of the connecting rods in the two connecting rod groups at the same working position is perpendicular to the arrangement direction of the two or more grabbing groups at the working position; when the driving shaft drives the bracket assembly to rotate in the horizontal plane to the second working state of the sheet material conveying mechanism, the extension direction of the connecting rods in the two connecting rod groups at the same working position is parallel to the arrangement direction of the two or more grabbing groups at the working position, a first angle is formed between the connecting rod and the push rod in one connecting rod group, and a second angle is formed between the connecting rod and the push rod in the other connecting rod group, and the first angle and the second angle are complementary angles to each other.
[0010] In some embodiments, the bracket assembly includes a first bracket, each grabbing group is provided with a rotating shaft at the third mounting point, and is rotatably connected to the first bracket through the rotating shaft, and one end of each connecting rod group is fixedly connected to a rotating shaft; or the bracket assembly includes a first bracket and a second bracket, and the central axis of the first bracket and the central axis of the second bracket have a 90° angle in the horizontal plane; each grabbing group is provided with a rotating shaft at the third mounting point, and two or more grabbing groups are respectively rotatably connected to the first bracket and the second bracket through the rotating shaft; one end of the two or more connecting rod groups is jointly rotatably connected to the second mounting point, and the other end thereof is respectively fixedly connected to the two or more rotating shafts.
[0011] In some embodiments, the connecting rod assembly also includes: a claw-shaped bracket, rotatably connected to the second mounting point of the base, the claw-shaped bracket includes at least one mounting end, one end of each connecting rod group is fixedly connected to a mounting end; the angle between the central axes of two adjacent mounting ends is the same.
[0012] In some embodiments, each grabbing group includes: a fixed seat, which is provided with a rotating shaft at the third mounting point, and the rotating shaft is rotatably connected to the bracket assembly; an adsorption member, connected to the fixed seat, and the adsorption member is used to adsorb the sheet material; a leveling member, connected between the fixed seat and the adsorption member, and the leveling member is used to adjust the adsorption member so that the surface of the adsorption member adsorbing the sheet material is parallel to the horizontal plane.
[0013] In some embodiments, a rotating assembly is installed on the base, and the rotating assembly includes: a drive shaft, which is rotatably mounted to a first mounting point of the base, and the drive shaft is located at the center of the base; and a driving member, which is arranged on the base, the driving member is connected to the drive shaft, and the driving member is used to drive the drive shaft to rotate in a horizontal plane.
[0014] On the second aspect, the embodiment of the present disclosure also provides a sheet material transmission system, comprising two or more workstations, with adjacent workstations having a non-zero angle in the horizontal plane; the sheet material transporting mechanism described above is arranged on one side of the workstation, and the sheet material transporting mechanism is configured to transport sheets between different workstations.
[0015] The disclosed embodiments provide a sheet material handling mechanism and sheet material transmission system, which utilizes a rotatable bracket assembly to drive a grabbing assembly to rotate between different workstations with a first mounting point as the center, thereby causing the grabbing assembly to move to the corresponding workstation to pick up and place the sheet material. At the same time, the connecting rod assembly can rotate with a second mounting point as the center, and drive the grabbing assembly to rotate with a third mounting point as the center, so that while the bracket assembly drives the grabbing assembly to rotate to different workstations, the connecting rod assembly drives the grabbing assembly to rotate to adjust the placement direction of the sheet material. The setting of the connecting rod assembly links the rotation angle of the grabbing assembly with the rotation angle of the bracket assembly, which is conducive to more stable and accurate adjustment of the sheet material placement direction.
[0016] In addition, the connecting rod assembly can be provided to drive the grabbing assembly to rotate as the bracket assembly rotates, without the need to install an active rotation-driving mechanism, thereby reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The above and other purposes, features, and advantages of the present disclosure will become more apparent through a more detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and are not intended to limit the present disclosure. In the drawings, the same reference numerals generally represent the same components or steps.
[0018] Figure 1 Shown is a schematic diagram of a sheet material transport mechanism in a sheet material transmission system provided by an embodiment of the present disclosure.
[0019] Figure 2 Shown is a schematic diagram of a sheet material transporting mechanism provided by an embodiment of the present disclosure in a first working state.
[0020] Figure 3 Shown is a schematic diagram of a sheet material transporting mechanism provided by an embodiment of the present disclosure in a second working state.
[0021] Figure 4Shown is a top view of a sheet material transporting mechanism provided by an embodiment of the present disclosure in a first working state.
[0022] Figure 5 Shown is a top view of the sheet material transporting mechanism provided by one embodiment of the present disclosure in the second working state.
[0023] Figure 6 Shown is a top view of a sheet material transporting mechanism provided by another embodiment of the present disclosure in a first working state.
[0024] Figure 7 Shown is a top view of a sheet material transporting mechanism provided by another embodiment of the present disclosure in a second working state.
[0025] Figure 8 Shown is a side view of a sheet material transporting mechanism provided in accordance with an embodiment of the present disclosure.
[0026] Reference numerals:
[0027] 10. Sheet transport system; 1. Sheet handling mechanism; 1a. First mounting point; 1b. Second mounting point; 1c. Third mounting point; 11. Base; 111. Fixed shaft; 12. Rotating assembly; 121. Drive shaft; 122. Drive element; 13. Bracket assembly; 131. First bracket; 132. Second bracket; 133. Counterweight; 14. Grabbing assembly; 14a. Grabbing group; 141a. Fixed seat; 142a, suction element; 143a, leveling element; 14b, rotating shaft; 141, first gripping group; 1411, first rotating shaft; 142, second gripping group; 1421, second rotating shaft; 143, third gripping group; 1431, third rotating shaft; 144, fourth gripping group; 1441, fourth rotating shaft; 15, connecting rod assembly; 15a, connecting rod assembly; 151a, connecting rod; 152a, hinge shaft; 153a, push rod assembly Rod; 151, first connecting rod group; 1511, first connecting rod; 1512, first hinge axis; 1513, first push rod; 152, second connecting rod group; 1521, second connecting rod; 1522, second hinge axis; 1523, second push rod; 153, third connecting rod group; 1531, third connecting rod; 1532, third hinge axis; 1533, third push rod; 154, fourth connecting rod group; 1541, fourth connecting rod ; 1542, fourth hinge axis; 1543, fourth push rod; 155, claw-shaped bracket; 155a, mounting end; 2, input mechanism; 21, first working position; 3, laser slotting mechanism; 31, second working position; 4, output mechanism; 41, third working position; 5, substrate; 51, first end; X, first direction; Y, second direction; a, first angle; b, second angle; P, first angle; w, second angle. DETAILED DESCRIPTION
[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.
[0029] Figure 1 FIG2 is a schematic diagram of a sheet material transport mechanism in a sheet material transmission system according to an embodiment of the present disclosure, wherein the direction indicated by arrow X is a first direction, and the direction indicated by arrow Y is a second direction. The first direction X and the second direction Y are perpendicular to each other and will not be described in detail later.
[0030] The present disclosure provides a sheet material transport mechanism. Figure 1 The sheet material transport mechanism 1 is applied to a sheet material transmission system 10 , which has two or more working stations. The sheet material transport mechanism 1 is configured to transport sheets between different working stations.
[0031] Optionally, the sheet material may be a solar cell. In the embodiment of the present disclosure, for ease of description, the solar cell is set to be rectangular, and the rectangular solar cell is referred to as a "substrate" without specific limitation.
[0032] The sheet material transport system 10 can be used for processes such as laser grooving and printing that require the placement direction of the substrate 5. For ease of understanding, the embodiment of the present disclosure is described in detail using the sheet material transport system 10 used for laser grooving as an example.
[0033] The sheet material transport system 10 includes an input mechanism 2, an output mechanism 4, a laser slotting mechanism 3, and a sheet material handling mechanism 1. The input mechanism 2, the laser slotting mechanism 3, and the output mechanism 4 are arranged in a U-shaped configuration around the sheet material handling mechanism 1. The input mechanism 2 has a first working station 21, the laser slotting mechanism 3 has a second working station 31, and the output mechanism 4 has a third working station 41. The input mechanism 2 and the output mechanism 4 are symmetrically arranged on either side of the sheet material handling mechanism 1 along a first direction X, while the laser slotting mechanism 3 is arranged on one side of the sheet material handling mechanism 1 along a second direction Y. The sheet material handling mechanism 1 is configured to transport substrates 5 from the first working station 21 to the second working station 31 of the laser slotting mechanism 3 for processing such as imaging and laser slotting. Furthermore, the sheet material handling mechanism 1 is configured to transport substrates 5 that have been laser slotted at the second working station 31 to the third working station 41. The substrates 5 at the first working station 21 are placed in the same orientation as the substrates 5 at the third working station 41. For example, the first end 51 of the substrate 5 placed at the first workstation 21 is located on the side facing the second workstation 31 in the first direction X. When the substrate 5 is transported from the first workstation 21 and the second workstation 31 to the third workstation 41 through the sheet transporting mechanism 1, the first end 51 of the substrate 5 located at the third workstation 41 is also facing the second workstation 31 in the first direction X, which means that the substrate 5 is placed in the same direction in the first workstation 21 and the third workstation 41.
[0034] In some optional embodiments, the substrate 5 to be transported by the sheet transport system 10 can be a whole substrate 5 or two half-sheets. The input mechanism 2, the output mechanism 4, the sheet transport mechanism 1, and the laser slotting mechanism 3 can be adaptively adjusted according to actual needs, and no further details are given. For ease of understanding, the present disclosure uses a whole substrate 5 as an example for description.
[0035] Figure 2 Shown is a schematic diagram of a sheet material transporting mechanism provided by an embodiment of the present disclosure in a first working state. Figure 3 Shown is a schematic diagram of a sheet material transporting mechanism provided by an embodiment of the present disclosure in a second working state. Figure 4 Shown is a top view of a sheet material transporting mechanism provided by an embodiment of the present disclosure in a first working state. Figure 5 FIG2 is a top view of a sheet material transport mechanism provided by an embodiment of the present disclosure in a second working state. It is understood that for ease of description, Figure 4 The state of the sheet material conveying mechanism 1 when the grabbing assembly 14 is located above the second working position 31 is regarded as the first working state. Figure 5The state of the sheet conveying mechanism 1 when the grabbing component 14 is located above the third working position 41 is taken as the second working state. In other examples, the first working state may also be the state of the sheet conveying mechanism 1 when the grabbing component 14 is located above the first working position 21, and the second working state may also be the state of the sheet conveying mechanism 1 when the grabbing component 14 is located above the second working position 31, etc., without specific limitation.
[0036] The following describes the specific structure of the sheet conveying mechanism 1 when the sheet conveying mechanism 1 is in the first operating state.
[0037] like Figure 2 and Figure 3 The sheet transport mechanism 1 includes a base 11, a bracket assembly 13, a grabbing assembly 14 and a connecting rod assembly 15. The bracket assembly 13 is rotatably connected to the first mounting point 1a of the base 11. The grabbing assembly 14 includes at least one grabbing group 14a. The grabbing group 14a is rotatably connected to the end of the bracket assembly 13 away from the base 11 and is driven by the bracket assembly 13 to rotate around the first mounting point 1a as the center, so as to drive the grabbing assembly 14 to move to any working position to pick up and place the substrate 5; the connecting rod assembly 15 includes at least one connecting rod group 15a. One end of each connecting rod group 15a is rotatably connected to the second mounting point 1b of the base 11, and the other end is connected to the third mounting point 1c of a grabbing group 14a; wherein, when the bracket assembly 13 drives the grabbing assembly 14 to rotate synchronously around the first mounting point 1a as the center, the connecting rod group 15a rotates around the second mounting point 1b as the center, and can drive the grabbing group 14a to rotate around the third mounting point 1c as the center to adjust the placement direction of the substrate 5 on the grabbing assembly 14.
[0038] The rotatable support assembly 13 is used to drive the gripping assembly 14 to rotate between the first working position 21, the second working position 31, and the third working position 41, with the first mounting point 1a as the center. This allows the gripping assembly 14 to move to the corresponding working position to pick up and place the substrate 5. Simultaneously, the connecting rod assembly 15a can rotate with the second mounting point 1b as the center, driving the gripping assembly 14a to rotate with the third mounting point 1c as the center. As the support assembly 13 drives the gripping assembly 14 to rotate to different working positions, the connecting rod assembly 15 drives the gripping assembly 14a to rotate to adjust the placement direction of the substrate 5. The provision of the connecting rod assembly 15 links the rotation angle of the gripping assembly 14a with the rotation angle of the support assembly 13, facilitating more stable and accurate adjustment of the placement direction of the substrate 5.
[0039] In addition, the movement of the connecting rod assembly 15 depends on the rotation of the bracket assembly 13. It is a passive adjustment component and does not require the installation of additional drive motors or other structures that require active drive, thereby saving costs. There is no need to consider the wear or damage of the drive motor over a long period of use, which may cause the control adjustment of the substrate 5 to have low placement accuracy and poor stability.
[0040] It is understandable that the base 11 can be configured as a hollow box structure, and the interior of the box can be used to arrange electronic devices such as a power supply. A rotating assembly 12 is mounted on the base 11, and the rotating assembly 12 includes a drive shaft 121 and a drive member 122. The drive member 122 can be specifically arranged inside the box. The drive shaft 121 is rotatably mounted at the first mounting point 1a of the base 11, and the output end of the drive member 122 is connected to the drive shaft 121. The drive member 122 can drive the drive shaft 121 to move so that the drive shaft 121 can rotate in the horizontal plane. Among them, the straight-line distances between the two or more working positions and the first mounting point 1a are equal. For example, the linear distance between the center of the first working station 21 and the first mounting point 1a is L1, the linear distance between the center of the second working station 31 and the first mounting point 1a is L2, and L1 is equal to L2. Furthermore, the linear distance between the center of the third working station 41 and the first mounting point 1a is L3, and L1 is equal to L3. This allows the gripping assembly 14 to rotate between the three working stations with the drive shaft 121 at the first mounting point 1a as the center, thereby transporting the substrate 5 to the corresponding working station. Optionally, the driving member 122 can be a motor, which is not specifically limited.
[0041] In some embodiments, as Figure 4 and Figure 5The rotation direction of the support assembly 13 about the first mounting point 1a is the same as the rotation direction of the gripping assembly 14a about the third mounting point 1c. The angle of rotation of the gripping assembly 14 about the first mounting point 1a driven by the support assembly 13 is a first angle a, and the angle of rotation of the gripping assembly 14 about the third mounting point 1c driven by the connecting rod assembly 15a is a second angle b. The first angle a and the second angle b are the same. Specifically, in the first working state, the gripping assembly 14 is in the second working position 31 to pick up and place the substrate 5. At this time, the first end 51 of the substrate 5 is facing the sheet transport mechanism 1 in the second direction Y. After the driving member 122 drives the bracket assembly 13 to rotate clockwise by a first angle a of 90° about the first mounting point 1a, the gripping assembly 14 rotates to be located above the third working position 41. Furthermore, during the rotation from the second working position 31 to the third working position 41, the connecting rod assembly 15a rotates about the second mounting point 1b, causing the gripping assembly 14a to rotate clockwise by a second angle b of 90° about the third mounting point 1c, so that the first end 51 of the substrate 5 on the third working position 41 is located along the first direction X at the end facing the laser slotting mechanism 3. It will be understood that the first angle a and the second angle b may vary depending on the angle between adjacent working positions and are not specifically limited thereto.
[0042] It is understood that the gripping assembly 14 rotatably connected to the support assembly 13 may include one gripping group 14a, and one gripping group 14a may be used to pick up and place the substrate 5 on the corresponding work position, or the gripping assembly 14 rotatably connected to the support assembly 13 may include two or more gripping groups 14a, without specific limitation. Figure 4 In the embodiment of the present disclosure, the grabbing assembly 14 rotatably connected to the bracket assembly 13 includes two grabbing groups 14a, so as to realize the simultaneous transportation of multiple substrates 5 and improve the transportation efficiency. In the first working state, the two grabbing groups 14a are arranged at intervals along the first direction X, and the bracket assembly 13 includes a first bracket 131. Each grabbing group 14a is provided with a rotating shaft 14b at the third mounting point 1c and is rotatably connected to the first bracket 131 through the rotating shaft 14b. One end of each connecting rod group 15a is fixedly connected to a rotating shaft 14b. The first bracket 131 is configured as a T-shaped bracket, that is, it includes a first rod and a second rod arranged perpendicular to each other, the first rod is parallel to the first direction X, and the second rod is parallel to the second direction Y. The two grabbing groups 14a are respectively connected to the second rod symmetrically with respect to the first rod through the rotating shaft 14b provided at the third mounting point 1c, and the first rod is fixedly connected to the driving shaft 121.
[0043] It is understandable that the first rod and the second rod of the first bracket 131 can be set as an integrally formed T-shaped structure, and the second rod can be integrally formed or welded with the driving shaft 121 to improve the strength of the structure.
[0044] In some embodiments, the second mounting point 1b of the base 11 is fixedly connected to a fixed shaft 111, and the straight-line distances between the second mounting point 1b and two adjacent workstations are different. It is understandable that the number of connecting rod groups 15a can be the same as the number of grabbing groups 14a. In the embodiment of the present disclosure, two connecting rod groups 15a can also be provided, and both connecting rod groups 15a are connected to the fixed shaft 111. For example, the straight-line distance from the center of one adjacent workstation to the second mounting point 1b is L4, and the straight-line distance from the center of another workstation to the second mounting point 1b is L5, and L4 is not equal to L5, so that when the connecting rod group 15a rotates around the second mounting point 1b, it can drive the grabbing group 14a to rotate around the third mounting point 1c.
[0045] For example, the third mounting point 1c of each grabbing group 14a includes a rotating shaft 14b, which is rotatably connected to the second rod, so that the two grabbing groups 14a are spaced apart in the first direction X. Each connecting rod group 15a includes a connecting rod 151a, a hinge shaft 152a, and a push rod 153a. One end of the connecting rod 151a is fixedly connected to the rotating shaft 14b located at the third mounting point 1c of the grabbing group 14a; the other end of the connecting rod 151a is rotatably connected to the hinge shaft 152a; one end of the push rod 153a is fixedly connected to the hinge shaft 152a, and the other end is rotatably connected to the fixed shaft 111. The center distance between the drive shaft 121 and the fixed shaft 111 is equal to the center distance between the rotating shaft 14b and the hinge shaft 152a. By setting the center distances between the axes to be equal, when the driving member 122 drives the drive shaft 121 to rotate, the grabbing groups 14a can rotate synchronously by the same angle.
[0046] In the first working state, the connecting rods 151a in the two connecting rod groups 15a at the same working position extend in a direction perpendicular to the arrangement direction of the two or more grabbing groups 14a at the same working position. When the drive shaft 121 drives the bracket assembly 13 to rotate horizontally to the second working state of the sheet material transporting mechanism 1, the connecting rods 151a in the two connecting rod groups 15a at the same working position extend in a direction parallel to the arrangement direction of the two or more grabbing groups 14a at the same working position. A first angle p is formed between the connecting rod 151a and the push rod 153a in one connecting rod group 15a, and a second angle w is formed between the connecting rod 151a and the push rod 153a in the other connecting rod group 15a. The first angle p and the second angle w are complementary angles. The two connecting rod groups 15a can simultaneously adjust the placement direction of the substrates 5 on the two grabbing groups 14a. While being able to simultaneously transport multiple substrates 5, the placement direction of the multiple substrates 5 being transported can be accurately and stably adjusted, and the adjusted placement directions are the same.
[0047] Figure 6 Shown is a top view of a sheet material transporting mechanism provided by another embodiment of the present disclosure in a first working state. Figure 7Shown is a top view of a sheet material transporting mechanism provided by another embodiment of the present disclosure in a second working state. Figure 8 Shown is a side view of a sheet material transporting mechanism provided in accordance with an embodiment of the present disclosure.
[0048] In some embodiments, the sheet material transport mechanism 1 includes the following Figure 4 and Figure 5 Based on the structure in FIG, the bracket assembly 13 may further include a second bracket 132, with the central axis of the first bracket 131 and the central axis of the second bracket 132 forming a 90° angle in the horizontal plane. Each grabbing group 14a is provided with a rotating shaft 14b at the third mounting point 1c. The two or more grabbing groups 14a are rotatably connected to the first bracket 131 and the second bracket 132 via the rotating shafts 14b, respectively. The two or more connecting rod groups 15a have one end rotatably connected to the second mounting point 1b, and the other end fixedly connected to the two or more rotating shafts 14b.
[0049] It is understood that the second bracket 132 can be configured as a T-shaped structure similar to the first bracket 131, and the first bracket 131 and the second bracket 132 can be configured as an integral L-shaped structure to improve support stability and strength. In addition, a counterweight 133 can be provided at the connection between the first bracket 131 and the second bracket 132 to further improve the stability and strength of the first bracket 131 and the second bracket 132 in supporting the grab assembly 14.
[0050] Specifically, the grabbing assembly 14 provided on the first bracket 131 includes a first grabbing group 141 and a second grabbing group 142. The first grabbing group 141 has a first rotating shaft 1411 at the third mounting point 1c, and the first rotating shaft 1411 is rotatably connected to the second rod; the second grabbing group 142 has a second rotating shaft 1421 at the third mounting point 1c, and the second rotating shaft 1421 is rotatably connected to the second rod, and the second grabbing group 142 is located on one side of the first grabbing group 141 in the first direction X; the connecting rod assembly 15 includes The first link group 151 and the second link group 152 have one end fixedly connected to the second rotating shaft 1411 and the other end rotatably connected to the fixed shaft 111; the second link group 152 has one end fixedly connected to the second rotating shaft 1421 and the other end rotatably connected to the fixed shaft 111. While the drive shaft 121 rotates the support assembly 13 in the horizontal plane, the first link group 151 and the second link group 152 can drive the first grabbing group 141 and the second grabbing group 142 to rotate synchronously. The first link group 151 and the second link group 152 can simultaneously adjust the placement direction of the substrates 5 on the two grabbing groups 14a, ensuring that multiple substrates 5 can be transported simultaneously while accurately and stably adjusting the placement direction of the multiple substrates 5 being transported, and the adjusted placement directions are the same.
[0051] In some embodiments, the first link assembly 151 includes a first link 1511, a first hinge shaft 1512, and a first push rod 1513. One end of the first link 1511 is fixedly connected to the first rotating shaft 1411; the other end of the first link 1511 is rotatably connected to the first hinge shaft 1512; one end of the first push rod 1513 is fixedly connected to the first hinge shaft 1512, and the other end is rotatably connected to the fixed shaft 111. The second link assembly 152 includes a second link 1521, a second hinge shaft 1522, and a second push rod 1523. One end of the second link 1521 is fixedly connected to the second rotating shaft 1421; the other end of the second link 1521 is rotatably connected to the second hinge shaft 1522; one end of the second push rod 1523 is fixedly connected to the second hinge shaft 1522, and the other end is rotatably connected to the fixed shaft 111. In the first working state, the first connecting rod group 151 and the second connecting rod group 152 are symmetrically arranged relative to the first rod, the extension direction of the first connecting rod 1511 and the extension direction of the second connecting rod 1521 are both perpendicular to the first direction X, and the driving shaft 121 drives the bracket assembly 13 to rotate in the horizontal plane to the second working state. The extension direction of the first connecting rod 1511 and the extension direction of the second connecting rod 1521 are perpendicular to the first direction X, and the first angle p between the first connecting rod 1511 and the first push rod 1513 is different from the second angle w between the second connecting rod 1521 and the second push rod 1523. In the process of the rotation of the driving shaft 121 to drive the bracket assembly 13 to rotate from the second working position 31 to the third working position 41, the first push rod 1513 and the second push rod 1523 rotate relative to the fixed shaft 111 respectively, and driven by the first hinge shaft 1512 and the second hinge shaft 1522, the first connecting rod 1511 and the second connecting rod 1521 rotate around the third installation point 1 respectively, thereby driving the first grabbing group 141 to rotate around the first rotating shaft 1411 and the second grabbing group 142 to rotate around the second rotating shaft 1421. Therefore, in the process of the grabbing assembly 14 rotating to the corresponding working position, the substrate 5 grabbed on the grabbing assembly 14 is rotated to adjust the placement direction under the drive of the connecting rod assembly 15. This matching structure is simple, and the stability and control accuracy of the adjustment of the placement direction of the substrate 5 are high.
[0052] It can be understood that when the grabbing assembly 14 is only provided with one grabbing group 14a, the connecting rod assembly 15 also correspondingly includes only one connecting rod group 15a, that is, the corresponding number of connecting rod groups 15a is adaptively matched according to the number of grabbing groups 14a provided on a bracket assembly 13, without specific limitation.
[0053] In some embodiments, the gripping assembly 14 further includes a third gripping group 143 and a fourth gripping group 144, which are rotatably connected to the second bracket 132. Specifically, in a first operating state, the first bracket 131 positions the first and second gripping groups 141, 142 above the second workstation 31 to access and place substrates 5 therein. The second bracket 132 positions the third and fourth gripping groups 143, 144 above the first workstation 21 to access and place substrates 5 therein. The drive shaft 121 drives the first and second brackets 131, 132 to rotate simultaneously, allowing the third and fourth gripping groups 143, 144 to transfer substrates 5 captured at the first workstation 21 to the second workstation 31, and the first and second gripping groups 141, 142 to transfer substrates 5 captured at the second workstation 31 to the third workstation 41. This enables simultaneous transfer of multiple silicon wafers between different workstations, further improving transfer efficiency.
[0054] Specifically, the third mounting point 1c of the third grabbing group 143 has a third rotating shaft 1431, and the third rotating shaft 1431 is rotatably connected to the second bracket 132; the third mounting point 1c of the fourth grabbing group 144 has a fourth rotating shaft 1441, and the fourth rotating shaft 1441 is rotatably connected to the second bracket 132. In the first working state, the fourth grabbing group 144 is located on one side of the third grabbing group 143 in the second direction Y; the connecting rod assembly 15 also includes: a third connecting rod group 153 and a fourth connecting rod The third link group 153 has one end fixedly connected to the third rotating shaft 1431 and the other end rotatably connected to the fixed shaft 111. The fourth link group 154 has one end fixedly connected to the fourth rotating shaft 1441 and the other end rotatably connected to the fixed shaft 111. While the drive shaft 121 drives the first bracket 131 and the second bracket 132 to rotate in the horizontal plane, the third link group 153 and the fourth link group 154 can drive the third grabbing group 143 and the fourth grabbing group 144 to rotate synchronously. The third link group 153 and the fourth link group 154 can simultaneously adjust the placement direction of the substrates 5 on the two grabbing groups 14a to ensure that the placement direction of multiple substrates 5 is adjusted to be consistent.
[0055] More specifically, the third connecting rod group 153 includes a third connecting rod 1531, a third hinge shaft 1532 and a third push rod 1533, one end of the third connecting rod 1531 is fixedly connected to the third rotating shaft 1431; the other end of the third connecting rod 1531 is rotatably connected to the third hinge shaft 1532; one end of the third push rod 1533 is fixedly connected to the third hinge shaft 1532, and the other end is rotatably connected to the fixed shaft 111; the fourth connecting rod group 154 includes a fourth connecting rod 1541, a fourth hinge shaft 1542 and a fourth push rod 1543, one end of the fourth connecting rod 1541 is fixedly connected to the fourth rotating shaft 1441; the other end of the fourth connecting rod 1541 is rotatably connected to the fourth hinge shaft 1542; one end of the fourth push rod 1543 is fixedly connected to the fourth hinge shaft 1542, and the other end is rotatably connected to the fixed shaft 111. In the first working state, the extension direction of the third connecting rod 1531 and the extension direction of the fourth connecting rod 1541 are both perpendicular to the first direction X, the angle between the third connecting rod 1531 and the third push rod 1533 is different from the angle between the fourth connecting rod 1541 and the fourth push rod 1543, and they are complementary angles to each other, and the drive shaft 121 drives the bracket assembly 13 to rotate in the horizontal plane to the second working state, the third connecting rod group 153 and the fourth connecting rod group 154 are symmetrically arranged relative to the second bracket 132, and the extension direction of the third connecting rod 1531 and the extension direction of the fourth connecting rod 1541 are both perpendicular to the first direction X.
[0056] It is understandable that the structures of the third link group 153 and the fourth link group 154 can be set to be the same as the structures of the first link group 151 and the second link group 152 respectively, and no further details are given.
[0057] In some optional embodiments, the connecting rod assembly 15 further includes a claw bracket 155, which is rotatably connected to the second mounting point 1b of the base, i.e., rotatably connected to the fixed shaft 111. The claw bracket 155 includes at least one mounting end 155a. One end of each connecting rod assembly 15a is fixedly connected to one mounting end 155a, and the angle between the central axes of two adjacent mounting ends 155a is the same. Specifically, one end of the first push rod 1513, the second push rod 1523, the third push rod 1533, and the fourth push rod 1543 are respectively fixedly connected to the mounting end 155a of the claw bracket 155, so that the angles between adjacent push rods are the same. Optionally, the claw bracket 155 can be integrally formed with the first push rod 1513, the second push rod 1523, the third push rod 1533, and the fourth push rod 1543 to improve the control accuracy of the connecting rod assembly 15 in adjusting the placement direction of the substrate 5 on the gripping assembly 14.
[0058] like Figure 8Each gripping assembly 14a includes a fixed base 141a, a leveling member 143a, and a suction member 142a. The fixed base 141a is provided with a rotating shaft 14b at the third mounting point 1c. The rotating shaft 14b is rotatably connected to the bracket assembly 13. The suction member 142a is connected to the fixed base 141a and is used to suck the substrate 5. The leveling member 143a is connected between the fixed base 141a and the suction member 142a. The leveling member 143a is used to adjust the suction member 142a so that the surface of the suction member 142a sucking the substrate 5 is parallel to the horizontal plane. The leveling member 143a can be used to adjust the suction member 142a to ensure that the suction member 142a can better suck the substrate 5 in the working position and avoid collision with the substrate 5.
[0059] Optionally, the adsorption member 142a may be a suction cup, for example, which can be used to conveniently and quickly take and place the substrate 5, and the adsorption of the substrate 5 by the suction cup makes the substrate 5 more stable during transportation, thereby preventing the substrate 5 from falling off.
[0060] Optionally, the leveling member 143a may be, for example, a plurality of adjusting bolts provided on 141a, and the plurality of adjusting bolts are respectively connected to the suction cups, so that the surface of the suction cups is parallel to the horizontal plane through adjustment of the plurality of adjusting bolts.
[0061] Specifically, the first grabbing group 141 includes a first fixed seat, a first leveling member and a first adsorption member. The first fixed seat is fixedly connected to the first rotating shaft 1411; the first adsorption member is connected to the first fixed seat, and the first adsorption member is used to adsorb the substrate 5; the first leveling member is connected between the first fixed seat and the first adsorption member, and the first leveling member is used to adjust the first adsorption member so that the surface of the substrate 5 adsorbed by the first adsorption member is parallel to the horizontal plane.
[0062] In some optional embodiments, when the grabbing assembly 14 also includes a second grabbing group 142, the second grabbing group 142 may include a second fixed seat, a second leveling member and a second adsorption member, the second fixed seat is fixedly connected to the second rotating shaft 1421; the second adsorption member is connected to the second fixed seat, and the second adsorption member is used to adsorb the substrate 5; the second leveling member is connected between the second fixed seat and the second adsorption member, and the second leveling member is used to adjust the second adsorption member so that the surface of the second adsorption member adsorbing the substrate 5 is parallel to the horizontal plane.
[0063] In some optional embodiments, when the grabbing assembly 14 also includes a third grabbing group 143, the third grabbing group 143 may include a third fixed seat, a third leveling member and a third adsorption member, the third fixed seat is fixedly connected to the third rotating shaft 1431; the third adsorption member is connected to the third fixed seat, and the third adsorption member is used to adsorb the substrate 5; the third leveling member is connected between the third fixed seat and the third adsorption member, and the third leveling member is used to adjust the third adsorption member so that the surface of the substrate 5 adsorbed by the third adsorption member is parallel to the horizontal plane.
[0064] In some optional embodiments, when the grabbing assembly 14 also includes a fourth grabbing group 144, the fourth grabbing group 144 may include a fourth fixed seat, a fourth leveling member and a fourth adsorption member, the fourth fixed seat is fixedly connected to the fourth rotating shaft 1441; the fourth adsorption member is connected to the fourth fixed seat, and the fourth adsorption member is used to adsorb the substrate 5; the fourth leveling member is connected between the fourth fixed seat and the fourth adsorption member, and the fourth leveling member is used to adjust the fourth adsorption member so that the surface of the fourth adsorption member adsorbing the substrate 5 is parallel to the horizontal plane.
[0065] It can be understood that the structures of the second grabbing group 142, the third grabbing group 143 and the fourth grabbing group 144 can be the same as the structure of the first grabbing group 141, or can be set to be different. The number of grabbing groups can be increased or decreased according to actual conditions. In the embodiment of the present disclosure, the grabbing groups are set to four, and the structure of each grabbing group is set to the same structure.
[0066] An embodiment of the present disclosure also provides a sheet material transport system, comprising two or more workstations, with adjacent workstations having a non-zero angle in the horizontal plane, and a sheet material transporting mechanism 1 being arranged on one side of the workstation, and the sheet material transporting mechanism 1 being configured to transport sheets between different workstations. The sheet material transporting mechanism 1 can refer to the relevant descriptions in the above embodiments and will not be repeated here.
[0067] It is understandable that the sheet material transport system 10 can be used for processes such as laser grooving and printing that require the placement direction of the substrate 5, without any specific limitation.
[0068] In the various embodiments of the present disclosure, unless otherwise specified, the connection may be in the form of bolts and nuts, screws, snaps, magnets, etc. For some connections, if there is no particular requirement for a detachable connection, a non-detachable connection may be achieved by welding, bonding, etc.
[0069] The basic principles of the present disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this disclosure are merely illustrative and not restrictive, and should not be construed as necessarily possessed by each embodiment of the present disclosure. Furthermore, the specific details disclosed above are provided for illustrative purposes and to facilitate understanding, rather than as limitations. These details do not limit the present disclosure to necessarily being implemented using these specific details.
[0070] The block diagrams of the devices, devices, equipment, and systems involved in this disclosure are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.
[0071] It should also be noted that in the apparatus, device, and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.
[0072] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.
[0073] The above description has been provided for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.
Claims
1. A sheet material transport mechanism, configured to transport sheets between different workstations, characterized in that: The sheet material transport mechanism comprises: base; a bracket assembly rotatably connected to the first mounting point of the base; a gripping assembly, comprising at least one gripping group, wherein the gripping group is rotatably connected to an end of the support assembly away from the base and is driven by the support assembly to rotate around the first mounting point to drive the gripping assembly to move to any of the working positions to pick up and place the sheet; a connecting rod assembly comprising at least one connecting rod group, wherein one end of each connecting rod group is rotatably connected to the second mounting point of the base and the other end thereof is connected to a third mounting point of the grabbing group; Among them, when the bracket assembly drives the grabbing assembly to rotate synchronously with the first mounting point as the center, the connecting rod assembly rotates with the second mounting point as the center, and can drive the grabbing group to rotate with the third mounting point as the center to adjust the placement direction of the sheet on the grabbing assembly.
2. The sheet conveying mechanism according to claim 1, wherein: The rotation direction of the bracket assembly around the first mounting point is the same as the rotation direction of the gripping group around the third mounting point; The angle at which the bracket assembly drives the grabbing assembly to rotate around the first mounting point is a first angle, and the angle at which the connecting rod assembly drives the grabbing assembly to rotate around the third mounting point is a second angle, and the first angle and the second angle are the same.
3. The sheet conveying mechanism according to claim 1, wherein: The base is rotatably provided with a drive shaft at the first mounting point, and the straight-line distances between the two or more working positions and the first mounting point are equal; The base is fixedly connected to a fixed shaft at the second installation point, and the straight-line distances between two adjacent working positions and the second installation point are different.
4. The sheet conveying mechanism according to claim 3, wherein: Each of the connecting rod groups comprises: a connecting rod, one end of which is fixedly connected to the rotating shaft of the grabbing assembly at the third mounting point; an articulated shaft, to which the other end of the connecting rod is rotatably connected; and a push rod, one end of which is fixedly connected to the hinge shaft and the other end of which is rotatably connected to the fixed shaft; The center distance between the driving shaft and the fixed shaft is equal to the center distance between the rotating shaft and the hinge shaft.
5. The sheet material conveying mechanism according to claim 4, wherein: The connecting rod assembly includes two or more connecting rod groups. When the sheet material transporting mechanism is in the first working state, the extending direction of the connecting rods in the two connecting rod groups at the same working position is perpendicular to the arrangement direction of the two or more grabbing groups at the working position. When the driving shaft drives the bracket assembly to rotate in the horizontal plane to the second working state of the sheet material transporting mechanism, the extension direction of the connecting rod in the two connecting rod groups at the same working position is parallel to the arrangement direction of the two or more grabbing groups at the working position, a first angle is formed between the connecting rod and the push rod in one connecting rod group, and a second angle is formed between the connecting rod and the push rod in the other connecting rod group, and the first angle and the second angle are complementary angles to each other.
6. The sheet material conveying mechanism according to claim 1, wherein: The bracket assembly includes a first bracket, each of the grabbing groups is provided with a rotating shaft at the third mounting point and is rotatably connected to the first bracket via the rotating shaft, and one end of each of the connecting rod groups is fixedly connected to one of the rotating shafts; or The bracket assembly includes a first bracket and a second bracket, and the central axis of the first bracket and the central axis of the second bracket have a 90° angle in the horizontal plane; each of the grabbing groups is provided with a rotating shaft at the third mounting point, and two or more of the grabbing groups are rotatably connected to the first bracket and the second bracket respectively through the rotating shaft; one end of the two or more connecting rod groups is jointly rotatably connected to the second mounting point, and the other end thereof is fixedly connected to the two or more rotating shafts respectively.
7. The sheet material conveying mechanism according to claim 1, wherein: The connecting rod assembly further comprises: a claw-shaped bracket, rotatably connected to the second mounting point of the base, the claw-shaped bracket comprising at least one mounting end, one end of each of the connecting rod groups being fixedly connected to one of the mounting ends; The included angles between the central axes of two adjacent mounting ends are the same.
8. The sheet material conveying mechanism according to claim 1, wherein: Each of the grabbing groups comprises: a fixing base, wherein a rotating shaft is provided at the third mounting point, and the rotating shaft is rotatably connected to the bracket assembly; An adsorption member connected to the fixing seat, the adsorption member being used to adsorb the sheet material; A leveling member is connected between the fixing seat and the adsorption member, and is used to adjust the adsorption member so that the surface of the sheet adsorbed by the adsorption member is parallel to the horizontal plane.
9. The sheet material conveying mechanism according to any one of claims 1 to 8, characterized in that: A rotating assembly is mounted on the base, and the rotating assembly includes: a drive shaft rotatably mounted to the first mounting point of the base, with the drive shaft located at a central position of the base; and A driving member is provided on the base, the driving member is connected to the driving shaft, and the driving member is used to drive the driving shaft to rotate in a horizontal plane.
10. A sheet material transport system, characterized in that: include: Two or more working stations, with a non-zero angle between adjacent working stations in the horizontal plane; The sheet material conveying mechanism according to any one of claims 1 to 9 is provided on one side of the working station, and is configured to convey the sheet material between different working stations.