CN103342217A - Automated material conveying system and material conveying method - Google Patents
Automated material conveying system and material conveying method Download PDFInfo
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- CN103342217A CN103342217A CN2013102777212A CN201310277721A CN103342217A CN 103342217 A CN103342217 A CN 103342217A CN 2013102777212 A CN2013102777212 A CN 2013102777212A CN 201310277721 A CN201310277721 A CN 201310277721A CN 103342217 A CN103342217 A CN 103342217A
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Abstract
The invention provides an automated material conveying system. According to the system, the tail end of the top of a storage frame is provided with a retractable support, the bottom of the retractable support is provided with a sealed guide rail, the head portion and the tail portion of the guide rail are connected, at least one part of the guide rail is aligned to the central axis of the retractable support in the stretching and retracting direction, the guide rail is provided with a plurality of retractable grasping devices in a hanging mode from front to back, and the retractable grasping devices can move along the guide rail in a circulating mode. A first control unit is used for controlling the speeds of circulating moving of the retractable grasping devices along the guide rail and the stopping positions of the retractable grasping devices, or used for controlling the retractable grasping devices to stretch, retract and grasp materials located on the storage frame. A conveying table is arranged on the outer side of the storage frame in a matched mode. According to the material conveying method, the retractable grasping devices move along the guide rail in different circulating modes. Therefore, picking up or placing of the materials is achieved in a circulating mode, unnecessary waste of time during conveying is reduced, and accordingly conveying efficiency is improved.
Description
Technical field
The present invention relates to the material transmission field, be specifically related to a kind of automated material delivery system and material transfer approach.
Background technology
Along with development of semiconductor, the silicon chip that the silicon chip of 300mm has replaced 200mm becomes main flow, and each container weight that has loaded silicon chip has become about 9 kilograms by original about 4 kilograms.Therefore, if come to transmit between each manufacturing module by means of manpower, can cause efficient lower, simultaneously the danger that also may cause personnel to be injured.And owing to can effectively improve the production cycle of factory building degree of utilization, shortening product, automated material delivery system (Automated Material Handling Systems, hereinafter to be referred as: AMHS) with respect to the material transmission of manpowerization, become the main tie of in 300mm silicon chip manufacturing process, carrying silicon chip between each manufacturing module.
Fig. 1 is the structural representation at the automated material delivery system of a certain concrete manufacturing block configuration in the prior art.As shown in Figure 1, this automated material delivery system mainly comprises: memory cell STOCKER801 and elevator subsystem 102.Wherein, memory cell STOCKER101 is provided with at least one input port 111, at least one delivery port 121, be placed with box type container 103 among the memory cell STOCKER801, deposited material (Work In Product is hereinafter to be referred as WIP) as silicon chip at box type container 103.Elevator subsystem 102 comprises the overhead track 112 that is arranged on memory cell STOCKER801 periphery, and the waggon 122 that can travel in overhead track 112.Each waggon 122 also is connected with a manipulator 132, picks up or unload box type container 103 by this manipulator 132, controls waggon 122 again and travels along overhead track 112, thereby make silicon chip transmission automatically between each manufacturing module of fabrication region.Travel in overhead track 112 such as the waggon 122 that has picked up a box type container 103, and be parked in the position that its box type container that picks up 103 can be unloaded to its stop position place input port 111, perhaps can pick up the position of a box type container 103 from delivery port 121, and finally finish box type container 103 to the unloading of memory cell STOCKER101 or pack into.After this waggon 122 was finished unloading or packed into, another rested in overhead track 112 waggons 122 again by 121 unloadings of its stop position place input port 111 or delivery port or other the box type container 103 of packing into.
Unloading or box type container 103 containers of packing into are to finish by the manipulator 132 that is connected with waggon 122, for this reason, this manipulator 132 need arrange 3 or more axis of movement usually, thereby the material WIP among the STOCKER101 is pushed to delivery port 111 or the WIP in the waggon 122 is pushed to input port 121.Yet 3 or more axis of movement make that the motion process of manipulator 132 is comparatively complicated, have increased from memory cell STOCKER101 and have picked up the minimum time amount of namely packing into or unloading box type container 103, thereby caused transmission efficiency lower.
Owing to be subjected to the restriction of manipulator 132 quantity, and the overhead track restriction of arranging, under the situation that can only allow a waggon 122 to unload at every turn or pack into since exist pack into, during stagnant in the uninstall process, conveyance efficient can't be improved effectively.
And, because the layout of overhead track, manipulator 132 is to adopt the mode of upwards extracting box type container 103, in lifting process, need overcome the weight that material brings in the box type container 103, and the process that promotes also needs the regular hour, therefore, because the upwards extracting mode of manipulator 132, and the arranging of overhead track, not only consumed more energy, and increased haulage time, this has increased unnecessary cost virtually; In addition, if the material in the box type container 103 is overweight, manipulator upwards extracts the danger that exists box type container 103 to fall in the process of box type container 103.
Summary of the invention
In order to overcome the problems referred to above, the present invention aims to provide a kind of automated material delivery system and material transfer approach, improves the type of transmission of material, thereby the power consumption in reducing to transmit improves transmission efficiency, cost-cutting.
The invention provides a kind of automated material delivery system, have magazine and in the transfer station of described magazine outside, comprising:
End at the magazine top is provided with telescoping shoring column;
The bottom of described telescoping shoring column is provided with end to end closed guide rail, and described guide rail has at least a part to align with the central axis of described telescoping shoring column along flexible direction;
Be hung with some scalable grabbing devices on the described guide rail from front to back, described scalable grabbing device can be mobile along described guide rail circulation;
First control unit is used for the described scalable grabbing device of control along the mobile speed of described guide rail circulation and the position that stops, or controls described scalable grabbing device and stretch and grasp the material that is positioned on the described magazine.
Preferably, described guide rail and described telescoping shoring column are separate, are connected with described telescoping shoring column by rivet or bolt.
Preferably, described guide rail is the part of described telescoping shoring column.
Preferably, described automated material delivery system also comprises second control unit, is used for the flexible of the described telescoping shoring column of control.
Preferably, the bottom level of described magazine is provided with the belt mobile unit, and described belt mobile unit is back-shaped rolling, and does intermittent the movement, and described material along continuous straight runs is moved to the below, position that described scalable grabbing device stops.
Preferably, described scalable grabbing device and the described material that is delivered to its below stop simultaneously.
Preferably, the moving velocity of described scalable grabbing device is identical with the moving velocity of described belt mobile unit.
Preferably, described belt mobile unit is provided with holding device, is used for the described material of clamping.
Preferably, described automated material delivery system also comprises the 3rd control unit, is used for the moving velocity of the described belt mobile unit of control.
The present invention also provides and has adopted above-mentioned any described automated material delivery system to carry out the method that material transmits, and comprises that material is sent process to and material is sent process, wherein,
Material is sent process, comprising:
Step S01: power-on, belt mobile unit begin mobile, and described belt mobile unit moves to the first scalable grabbing device below that is positioned at primary importance with first material, and described belt mobile unit stops mobile;
Step S02: first control unit is controlled described first and is scalablely caught device to stretch out downwards and grasp described first material;
Step S03: the described first scalable grabbing device moves up, and second control unit control telescoping shoring column stretches out forward, and drives the described first scalable grabbing device and move forward; Simultaneously, described belt mobile unit begins mobile;
Step S04: the described first scalable grabbing device moves to the second place of the top of transfer station, described telescoping shoring column stops action, the second scalable grabbing device stops at described primary importance, at this moment, described belt mobile unit moves to the below of primary importance with second material, and described belt mobile unit stops mobile;
Step S05: described first control unit is controlled the described first scalable grabbing device and is moved down and described first material is placed on the described transfer station; Simultaneously, the described second scalable grabbing device moves down and grasps described second material;
Step S06: the described first scalable grabbing device upwards shrinks, and simultaneously, the described second scalable grabbing device moves up;
Step S07: under the control of the 3rd control unit, described belt mobile unit moves; Simultaneously, under the control of described first control unit, each route of guide rail begins circular flow;
Step S08: along with the circular flow of each route of described guide rail, each described scalable grabbing device moves to described primary importance, carries out the extraction of material; Or move to the described second place, carry out the placement of material.
Material is sent process to, comprising:
Step S11: when described transfer station with mass transport during to described second place below, described first control unit control telescoping shoring column stretches out forward, makes the described first scalable grabbing device be positioned at the described second place;
Step S12: under described first control unit control, the described first scalable grabbing device moves down and grasps first material, moves up;
Step S13: the described first scalable grabbing device returns along the return route of guide rail, and at this moment, the described second scalable grabbing device moves forward along the advance route of described guide rail;
Step S14: when the described first scalable grabbing device moves to described primary importance, move down, described first material is placed on the described belt mobile unit; At this moment, the described second scalable grabbing device moves to the described second place, moves down, and grasps second material, moves up;
Step S15: the described second scalable grabbing device returns along described return route, and at this moment, other described scalable grabbing device is along the direction operation of described guide rail operation;
Step S16: along with the circular flow of each route of described guide rail, each described scalable grabbing device moves to the described second place, carries out the extraction of material; Or move to described primary importance, carry out the placement of material.
Preferably, described step S08 comprises:
Step S21: the described first scalable grabbing device moves along the return route of described guide rail, and the described second scalable grabbing device moves along the advance route of described guide rail;
Step S22: the described second scalable grabbing device moves to described transfer station top, the described first scalable grabbing device that returns moves to the primary importance top, at this moment, described belt mobile unit moves to described primary importance with 3 material, and described belt mobile unit stops mobile;
Step S23: the described second scalable grabbing device moves down described second material is placed on the described transfer station, and the described first scalable grabbing device that returns moves down and grasps described 3 material;
Step S24: the described second scalable grabbing device moves along the return route of described guide rail, and the described first scalable grabbing device moves along the advance route of described guide rail;
Step S25: the described first scalable grabbing device moves to described transfer station top, the described second scalable grabbing device that returns moves to the primary importance top, at this moment, described belt mobile unit moves to described primary importance with 4 materials, and described belt mobile unit stops mobile;
Step S26: the described first scalable grabbing device moves down described 3 material is placed on the described transfer station, and the described second scalable grabbing device that returns moves down and grasps described 4 materials;
Step S27: the described step S21-S26 of repetitive cycling, carrying out material is that circulation is carried.
Preferably, the speed of the return route of described guide rail is greater than the speed of described advance route.
Preferably, the material spacing distance on the described belt mobile unit equates that described scalable grabbing device moves to the time of the described second place from described primary importance identical with the time that described material moves to the adjacent position.
Preferably, described step S08 comprises:
Step S31: the described first scalable grabbing device moves along the return route of described guide rail, the described second scalable grabbing device moves along the advance route of described guide rail, and the 3rd scalable grabbing device that is positioned on the described guide rail moves along the service direction of described guide rail;
Step S32: the described second scalable grabbing device moves to the described second place, the 3rd scalable grabbing device moves to primary importance, at this moment, described belt mobile unit moves to the below of described primary importance with 3 material, and described belt mobile unit stops mobile;
Step S33: the described second scalable grabbing device moves down described second material is placed on the described transfer station, and the described the 3rd scalable grabbing device moves down and grasps described 3 material;
Step S34: the described second scalable grabbing device moves along the return route of described guide rail, the described the 3rd scalable grabbing device moves along the advance route of described guide rail, and the first scalable grabbing device that is positioned on the described guide rail moves along the service direction of described guide rail;
Step S35: the described the 3rd scalable grabbing device moves to the described second place, the described first scalable grabbing device moves to described primary importance, at this moment, described belt mobile unit moves to the below of described primary importance with 4 materials, and described belt mobile unit stops mobile;
Step S36: the described the 3rd scalable grabbing device moves down described 3 material is placed on the described transfer station, and the described first scalable grabbing device moves down and grasps described 4 materials;
Step S37: the described the 3rd scalable grabbing device moves along the return route of described guide rail, the described first scalable grabbing device moves along the advance route of described guide rail, and the second scalable grabbing device that is positioned on the described guide rail moves along the service direction of described guide rail;
Step S38: the described first scalable grabbing device moves to the described second place, the described second scalable grabbing device moves to primary importance, at this moment, described belt mobile unit moves to the top of described primary importance with the 5th material, and described belt mobile unit stops mobile;
Step 39: the described first scalable grabbing device moves down described 4 materials is placed on the described transfer station, and the described second scalable grabbing device moves down and grasps described the 5th material;
Step S40: the described step S31-S39 of repetitive cycling, carry out the circulation of material is carried.
Preferably, the running velocity of all routes of described guide rail is identical.
Preferably, the material spacing distance on the described belt mobile unit equates that described scalable grabbing device moves to the time of the described second place from described primary importance identical with the time that described material moves to the adjacent position.
Automated material delivery system of the present invention and material transfer approach thereof, by the top in magazine telescoping shoring column is set, and the closed guide rail with circulation route is set in telescoping shoring column, and at guide rail several scalable grabbing devices are set, utilize the circular flow of each route of guide rail, make that scalable grabbing device can be along the guide rail movement that moves in circles between above-mentioned primary importance and the second place above the transfer station, simultaneously, belt mobile unit bottom magazine is transported to material the primary importance below the scalable grabbing device, like this, realized the below that is transported to primary importance internally of material in the magazine, and carry out from the circulation that material is transported on the transfer station, overcome the situation that at every turn can only allow a waggon 122 to unload or pack in the prior art, reduce waste of time unnecessary in the transportation, thereby improved transport efficiency.
Description of drawings
Fig. 1 is the structural representation at the automated material delivery system of a certain concrete manufacturing block configuration in the prior art
Fig. 2 is the structural representation of the automated material delivery system of a preferred embodiment of the present invention
Fig. 3 is the cross section structure scheme drawing of the magazine of a preferred embodiment of the present invention
Fig. 4 is the top of magazine of a preferred embodiment of the present invention and the fit structure scheme drawing of telescoping shoring column
Fig. 5 sends the schematic flow sheet of process for the material of the method for the automated material delivery system transmission material of a preferred embodiment of the present invention
Fig. 6-11 sends the corresponding cross section structure scheme drawing of each step of process for the material of a preferred embodiment of the present invention
Figure 12 sends the schematic flow sheet of process to for the material of the method for the automated material delivery system transmission material of a preferred embodiment of the present invention
Figure 13 is the schematic flow sheet of circulation convey materials of the scalable grabbing device of a preferred embodiment of the present invention
Figure 14 is the schematic flow sheet of circulation convey materials of the scalable grabbing device of another preferred embodiment of the present invention
Figure 15 is that the grabbing device of a preferred embodiment of the present invention is along the scheme drawing of the circulation route of guide rail
Figure 16 is that the grabbing device of another preferred embodiment of the present invention is along the circulation route scheme drawing of guide rail
Figure 17 is that the grabbing device of another preferred embodiment more of the present invention is along the circulation route scheme drawing of guide rail
The specific embodiment
The embodiment that embodies feature of the present invention and advantage will be described in detail in the explanation of back segment.Be understood that the present invention can have various variations in different examples, its neither departing from the scope of the present invention, and explanation wherein and be shown in the usefulness that ought explain in essence, but not in order to limit the present invention.
Below in conjunction with accompanying drawing 2-4, by specific embodiment automated material delivery system of the present invention is described in further detail.It should be noted that accompanying drawing all adopts form, the non-ratio of simplifying very much accurately of use, and only in order to reach the purpose of the aid illustration embodiment of the invention conveniently, lucidly.
See also Fig. 2 and 3, Fig. 2 is the structural representation of the automated material delivery system of a preferred embodiment of the present invention, Fig. 3 is the cross section structure scheme drawing of the magazine of a preferred embodiment of the present invention, magazine of the present invention can be multilayer or individual layer magazine, for the ease of explaining the present invention, in the automated material delivery system of present embodiment of the present invention, the magazine of employing is horizontal magazine 200, other is not given unnecessary details one by one, and this is not used in and limits the scope of the invention.
The structure of the individual layer magazine 200 of present embodiment comprises:
Telescoping shoring column 204 is positioned at the end at magazine top 209; Telescoping shoring column 204 can carry out slippage forward or backward with respect to magazine top 209, as shown in Figure 3;
The bottom of telescoping shoring column is provided with end to end closed guide rail, and guide rail has at least a part to align with the central axis of telescoping shoring column along flexible direction;
Here, see also Fig. 4, Fig. 4 moves along the chute structure for the spacer structure of a preferred embodiment of the present invention, magazine top 209 is the chute structure, the top card of telescoping shoring column 204 moves in the chute structure and along the chute structure, as shown in the figure, telescoping shoring column 204 is I-shaped structure, the top of I-shaped structure can be stuck in the chute structure and proceed slippage, and the lower end of chute structure has certain gravity load-carrying capacity, be unlikely to be loaded with under the situation of weight at I-shaped structure, I-shaped structure is broken away from from the chute structure.
Closed guide rail is arranged on the bottom of the chute structure of telescoping shoring column 204, in the present embodiment of the present invention, guide rail and telescoping shoring column are separate, can guide rail be fixed on the telescoping shoring column by fixed parts, for example, can adopt connection modes such as rivet or bolt that guide rail is fixed on the telescoping shoring column;
In another embodiment of the present invention, guide rail is the part of telescoping shoring column, for example, can just design guide rail in preparation telescoping shoring column model, when moulding, will have the telescoping shoring column moulding together of guide rail, such as the mode that can adopt casting.
Continue to introduce automated material delivery system of the present invention below, see also Fig. 3:
Be hung with some scalable grabbing devices 205 on the guide rail from front to back, scalable grabbing device 205 can be mobile along the guide rail circulation;
Here, in the present embodiment, scalable grabbing device 205 is contraction state under mode of operation not, be convenient to like this material depositing and mobile; When in running order, scalable grabbing device 205 stretches out downwards, and can extend to horizontal direction, for example, scalable grabbing device is manipulator, when not working, manipulator is contraction state, when work, manipulator stretches out downwards, and extend to horizontal direction, like this, can and grasp the material parcel.
First control unit is used for the scalable grabbing device of control along the mobile speed of guide rail circulation and the position that stops, or controls scalable grabbing device and stretch and grasp the material that is positioned on the magazine.
In the present embodiment of the present invention, also comprise second control unit, be used for the flexible of control telescoping shoring column.In the present embodiment, also the bottom level in magazine is provided with the belt mobile unit, and the belt mobile unit is back-shaped rolling, and does intermittent the movement, and the material along continuous straight runs is moved to the below, position that scalable grabbing device stops.For example, belt mobile unit 208 is belt conveyor, at the two ends of the upper surface of superstructure 210, that is to say the two ends of the bottom of every layer of magazine, is respectively arranged with the pulley (not shown), is used for driving belt conveyor around pulley rolling.
Concrete, in the present embodiment, when needs outwards transmitted material, second control unit was controlled scalable grabbing device 205 and is stretched out extracting material 206 downwards, and upwards shrinks, and then, first control unit is controlled stretching out forward of telescoping shoring column 204; When telescoping shoring column 204 reaches the top of transfer station 207, first control unit is controlled scalable grabbing device 205 and is moved down, material 206 is placed on the transfer station 207, and upwards shrink, then, first control unit is controlled scalable grabbing device and is returned movement along the return route of guide rail, simultaneously, another scalable grabbing device moves forward along the advance route of guide rail, that is to say, the running velocity of each the scalable grabbing device on first control unit control guide rail, and when scalable grabbing device moves to the material top, stop to move, begin to grasp material or prevent material.
When needs inwardly transmitted material, second control unit was controlled stretching out forward of telescoping shoring column 204, and then, first control unit is controlled scalable grabbing device 205 and stretched out the extracting material downwards, and upwards shrank; First control unit is controlled scalable grabbing device 205 and is returned movement along the return route of guide rail, material is placed on the mobile unit 208, and upwards shrinks.Simultaneously, another scalable grabbing device moves forward along the advance route of guide rail, that is to say, the running velocity of each the scalable grabbing device on first control unit control guide rail, and when scalable grabbing device moves to the material top, stop to move, begin to grasp material or prevent material.
In the present invention, material can stop at earlier on the corresponding position than scalable grabbing device, in the present embodiment, reach synchronously in order to make scalable grabbing device and the material that is transported to its below, scalable grabbing device stops simultaneously with the material that is transported to its below; Certainly, the moving velocity of scalable grabbing device can be identical with the moving velocity of belt mobile unit, guaranteeing scalable grabbing device and be transported to material below it and reach under the synchronous situation like this, circulation route and the stop position of scalable grabbing device are set, and the number of scalable grabbing device.
In present embodiment of the present invention, drop from mobile unit in order to prevent material, on mobile unit, holding device can be set, be used for the clamping material.Certainly, match for the speed of transmission of controlling mobile unit and with the circulation route of scalable grabbing device, in present embodiment of the present invention, also be provided with the 3rd control unit, be used for the moving velocity of control belt mobile unit.
In present embodiment of the present invention, in the automated material delivery system, the transfer station 207 in addition that matches with magazine 200, transfer station 207 can be that belt conveying is carried or passed to drum-type, material can be placed on the transfer station 207 like this, by transfer station 207 material be downloaded to other place;
For in the process of transported material, avoid landing or the movement of material, in present embodiment of the present invention, can holding device be set in transfer station 207, such as chuck etc., with firm being clamped on the transfer station of material, prevent material landing or movement.
Certainly, in another preferred embodiment of the present invention, in order to reduce to transmit the friction force in the material process, the track of transfer station 207 should be smooth curve, that is to say, transfer station 207 should be made as slick and sly structure rather than horn structure at corner location.
The setting of transfer station 207 is manipulators of hanging in prior art when grasping material along guide rail movement, the rocking of manipulator, or the material landing that causes; The 2nd, hang manipulator in the prior art material is risen to energy and the time that the process of guide rail position consumes from material outlet.Therefore, transfer station 207 in the present embodiment of the present invention has certain matching relationship with magazine 200, the transmission plane of transfer station 207 is positioned at or is higher than on the plane, upper surface place of superstructure 210 of spacer structure 201, and the bottom of transfer station 207 is positioned at or is higher than on the plane, place, bottom of spacer structure 201 superstructures 210.Preferably, the transmission plane of transfer station 207 is positioned on the plane, upper surface place of superstructure 210 of spacer structure 201, the bottom of transfer station 207 is positioned on the plane, place, bottom of superstructure 210 of spacer structure 201, like this, can make in the process of material on moving to transfer station, need not consume more energy, reduce the delivery time of this process; And, having under the situation of a plurality of transfer stations, a plurality of transfer stations can be worked simultaneously, when a certain transfer station is worked, do not influence other transfer station work.
In the present embodiment, the structure that transfer station 207 matches also has board, and board is provided with the liftable pedestal, and is positioned at the telescopic manipulator on the liftable pedestal, is used for the material that gripping never transports with transfer station; Transfer station can have multilayer, so, and correspondingly, on the liftable pedestal, a plurality of telescopic manipulators can be provided with, certainly, induction installation can also be comprised in the board, be used for the position of induction material, thereby can make board control the movement of liftable pedestal and telescopic manipulator or flexible accurately.
Consider accuracy and the continuity of the work of whole automated material delivery system, in present embodiment of the present invention, the automated material delivery system also comprises a layer induction installation, and layer induction installation is used for sending energizing signal to layer control unit.
Below in conjunction with accompanying drawing 5-17, be described in further detail by the method for specific embodiment to the transmission material of automated material delivery system of the present invention.It should be noted that accompanying drawing all adopts form, the non-ratio of simplifying very much accurately of use, and only in order to reach the purpose of the aid illustration embodiment of the invention conveniently, lucidly.
In the method for the transmission material of present embodiment of the present invention, adopting above-mentioned automated material delivery system to carry out material transmits, comprising that material is sent with material sends two processes to, material is sent process and material and is sent process to and can carry out simultaneously or hocket, and separately two processes is described below:
See also Fig. 5-12, wherein, Fig. 5 sends the schematic flow sheet of process for the material of the method for the automated material delivery system transmission material of a preferred embodiment of the present invention, Fig. 6-11 sends the corresponding cross section structure scheme drawing of each step of process for the material of a preferred embodiment of the present invention, and the material that Figure 12 transmits the method for material for the automated material delivery system of a preferred embodiment of the present invention is sent the schematic flow sheet of process to.
See also Fig. 5, the material of present embodiment of the present invention is sent process, comprising:
Step S01: see also Fig. 6, power-on, belt mobile unit 208 begins mobile, and belt mobile unit 205 moves to the first scalable grabbing device 205a below that is positioned at primary importance with the first material 206a, and belt mobile unit 205 stops mobile;
Step S02: see also Fig. 7, first control unit is controlled first and is scalablely caught device 205a to stretch out downwards and grasp the first material 206a;
Step S03: see also Fig. 8, the first scalable grabbing device 205a moves up; See also Fig. 8, second control unit control telescoping shoring column 204 stretches out forward, and drives the first scalable grabbing device 205a and move forward; Simultaneously, the second scalable grabbing device 205b stretches out downwards, and belt mobile unit 208 begins mobile;
Step S04: see also Fig. 9, the first scalable grabbing device 205a moves to the second place of the top of transfer station 207, telescoping shoring column 204 stops action, the second scalable grabbing device 205b stops at primary importance, at this moment, belt mobile unit 208 moves to the below of primary importance with the second material 206b, and belt mobile unit 208 stops mobile;
Step S05: see also Figure 10, first control unit is controlled the first scalable grabbing device 205a and is moved down and the first material 206a is placed on the transfer station 207; Simultaneously, the second scalable grabbing device 205b moves down and grasps the second material 206b;
Step S06: see also Figure 11, the first scalable grabbing device 205a upwards shrinks, and simultaneously, the second scalable grabbing device 205b moves up;
Step S07: under the control of the 3rd control unit, belt mobile unit 108 moves; Simultaneously, under the control of first control unit, each route of guide rail begins circular flow;
Step S08: along with the circular flow of each route of guide rail, each scalable grabbing device moves to primary importance, carries out the extraction of material; Or move to the second place, carry out the placement of material.
In present embodiment of the present invention, after transfer station 207 is carried material 206a or 206b, also comprise: at first, before transfer station 207 is sent to board with material 206a or 206b, liftable pedestal on the board carries out upper and lower movement, makes telescopic manipulator be greater than or equal to the height of transfer station; Then, telescopic manipulator grasps material 206 and puts it on the board.
Here need to prove, because transfer station can be multilayer, pick up for the ease of the material that each transfer station is carried, in board, can be provided with induction installation, the position that is used for the induction material, thereby make board control the movement of liftable pedestal and telescopic manipulator exactly, make telescopic manipulator aim at material, and material is placed on the relevant position of board, for example, on the board a plurality of placement locations can be arranged, telescopic manipulator is placed on the material that grasps respectively on the corresponding placement location.
See also Figure 12, the material of present embodiment of the present invention is sent process to, comprising:
Step S11: when transfer station with mass transport to second place when below, first control unit control telescoping shoring column stretches out forward, makes the first scalable grabbing device be positioned at the described second place;
Concrete, in the present embodiment, at first, the telescopic manipulator on the board grasps material from board; Then, the liftable pedestal on the board carries out upper and lower movement, makes telescopic manipulator be greater than or equal to the height of transfer station, and telescopic manipulator is positioned over material on the transfer station; Then, transfer station is sent to the corresponding position of layer material inlet with material.
Here need to prove, because transfer station can also be multilayer, for the ease of to each transfer station convey materials, in board, can be provided with induction installation, the position that is used for the induction material, thereby make board control the movement of liftable pedestal and telescopic manipulator exactly, make telescopic manipulator aim at material, and material is picked up from the relevant position of board, be placed on the transfer station then, for example, a plurality of placement locations are arranged on the board, each telescopic manipulator grasps material from corresponding placement location respectively and is placed on the transfer station.
Step S12: under the control of first control unit, the first scalable grabbing device moves down and grasps first material, moves up;
Step S13: the first scalable grabbing device returns along the return route of guide rail, and at this moment, the second scalable grabbing device moves forward along the advance route of guide rail;
Step S14: when the first scalable grabbing device moves to primary importance, move down, first material is placed on the belt mobile unit; At this moment, the second scalable grabbing device moves to the second place, moves down, and grasps second material, moves up;
Step S15: the second scalable grabbing device returns along return route, and at this moment, other scalable grabbing device is along the direction operation of described guide rail operation;
Step S16: along with the circular flow of each route of guide rail, each scalable grabbing device moves to the second place, carries out the extraction of material; Or move to primary importance, carry out the placement of material.
Here, concrete, in the present embodiment, set different circulation routes according to the relation of the spacing distance of the speed of the speed of the number of scalable grabbing device and scalable grabbing device and belt mobile unit, material.
Need to prove that in an automated material delivery system, for same circulation route, it is identical that material is sent the cycle mode that process and material send process to.
Circulation embodiment one
See also Figure 13, Figure 13 is the schematic flow sheet of circulation convey materials of the scalable grabbing device of a preferred embodiment of the present invention.
In the present embodiment, can adopt the circulation route with two scalable grabbing devices, need to prove, send process and material is sent in the process at material, but the circulation route of grabbing device is identical, in the present embodiment of the present invention, only sending process with material is that example describes circulation route, and this is not used in and limits the scope of the invention.The concrete process of above-mentioned steps S08 comprises:
Step S21: the first scalable grabbing device moves along the return route of guide rail, and the second scalable grabbing device moves along the advance route of guide rail;
Step S22: the second scalable grabbing device moves to the transfer station top, and the first scalable grabbing device that returns moves to the primary importance top, and at this moment, the belt mobile unit moves to primary importance with 3 material, and the belt mobile unit stops mobile;
Step S23: the second scalable grabbing device moves down second material is placed on the transfer station, and the first scalable grabbing device that returns moves down and grasps described 3 material;
Step S24: the second scalable grabbing device moves along the return route of guide rail, and the first scalable grabbing device moves along the advance route of guide rail;
Step S25: the first scalable grabbing device moves to the transfer station top, and the second scalable grabbing device that returns moves to the primary importance top, and at this moment, the belt mobile unit moves to primary importance with 4 materials, and the belt mobile unit stops mobile;
Step S26: the first scalable grabbing device moves down 3 material is placed on the transfer station, and the second scalable grabbing device that returns moves down and grasps 4 materials;
Step S27: the described step S21-S26 of repetitive cycling, carrying out material is that circulation is carried.
In the present embodiment, the speed of the return route of guide rail is greater than the speed of advance route, can guarantee like this mobile unit move material below the primary importance in, corresponding scalable grabbing device moves to primary importance; And, the material spacing distance that can also arrange on the belt mobile unit equates, scalable grabbing device moves to the time of the second place from primary importance identical with the time that material moves to the adjacent position, therefore, guaranteed the synchronous of next scalable grabbing device and next material.
Here the circulation route of this process can be consulted Figure 15, and Figure 15 is that the grabbing device of a preferred embodiment of the present invention is along the scheme drawing of the circulation route of guide rail.
Need to prove that at first primary importance and the second place are respectively scalable grabbing device and carry out material take-off location and material placement location.
Circulation route is accumbency " 8 " font, and circulation route center route is straight line, this be in order to ensure scalable grabbing device when mobile with the paralleling of following belt mobile unit; Scalable grabbing device a and scalable grabbing device b stop at primary importance and the second place of center route respectively, at this moment, scalable grabbing device a moves down the extracting material and moves up, and scalable grabbing device b moves down and places material also upwards withdrawal on transfer station; Guide rail circular flow, scalable grabbing device b returns movement along return route, scalable grabbing device a is along the advance route movement of advancing, when scalable grabbing device a arrives the second place, when scalable grabbing device b arrives primary importance, stop to move, scalable grabbing device a places material downwards on transfer station, and scalable grabbing device b grasps material downwards; Then, continue circulation and carry out above-mentioned material transmission course.
Circulation embodiment two
See also Figure 14, Figure 14 is the schematic flow sheet of circulation convey materials of the scalable grabbing device of another preferred embodiment of the present invention.
In another embodiment of the present invention, can adopt the circulation route with three or above scalable grabbing device, need to prove, send process and material is sent in the process at material, but the circulation route of grabbing device is identical, in the present embodiment of the present invention, only sending process with material is that example describes circulation route, and this is not used in and limits the scope of the invention.The concrete process of above-mentioned steps S08 comprises:
Step S31: the first scalable grabbing device moves along the return route of guide rail, the second scalable grabbing device moves along the advance route of guide rail, and the 3rd scalable grabbing device that is positioned on the guide rail moves along the service direction of guide rail;
Step S32: the second scalable grabbing device moves to the second place, and the 3rd scalable grabbing device moves to primary importance, and at this moment, the belt mobile unit moves to the below of primary importance with 3 material, and the belt mobile unit stops mobile;
Step S33: the second scalable grabbing device moves down second material is placed on the transfer station, and the 3rd scalable grabbing device moves down and grasps 3 material;
Step S34: the second scalable grabbing device moves along the return route of guide rail, the 3rd scalable grabbing device moves along the advance route of guide rail, and the first scalable grabbing device that is positioned on the guide rail moves along the service direction of guide rail;
Step S35: the 3rd scalable grabbing device moves to the described second place, and the first scalable grabbing device moves to described primary importance, and at this moment, the belt mobile unit moves to the below of primary importance with 4 materials, and the belt mobile unit stops mobile;
Step S36: the 3rd scalable grabbing device moves down 3 material is placed on the transfer station, and the first scalable grabbing device moves down and grasps 4 materials;
Step S37: the 3rd scalable grabbing device moves along the return route of guide rail, the first scalable grabbing device moves along the advance route of guide rail, and the second scalable grabbing device that is positioned on the guide rail moves along the service direction of guide rail;
Step S38: the first scalable grabbing device moves to the second place, and the second scalable grabbing device moves to primary importance, and at this moment, the belt mobile unit moves to the top of primary importance with the 5th material, and the belt mobile unit stops mobile;
Step 39: the first scalable grabbing device moves down 4 materials is placed on the transfer station, and the second scalable grabbing device moves down and grasps the 5th material;
Step S40: repetitive cycling step S31-S39, carry out the circulation of material is carried.
In the present embodiment of the present invention, material spacing distance on the belt mobile unit equates, scalable grabbing device moves to the time of the second place from primary importance identical with the time that material moves to the adjacent position, and the running velocity of all routes that guide rail can also be set is identical; Can guarantee like this mobile unit move material below the primary importance in, corresponding scalable grabbing device moves to primary importance, and guaranteed next scalable grabbing device and next material synchronously.
Circulation route for having three scalable grabbing devices sees also Figure 16, and Figure 16 is that the grabbing device of another preferred embodiment of the present invention is along the circulation route scheme drawing of guide rail.
Need to prove that at first primary importance and the second place are respectively scalable grabbing device and carry out material take-off location and material placement location.
Circulation route is accumbency " 8 " font, and circulation route center route is straight line, this be in order to ensure scalable grabbing device when mobile with the paralleling of following belt mobile unit; Scalable grabbing device b and scalable grabbing device a stop at primary importance and the second place of center route respectively, at this moment, scalable grabbing device b moves down the extracting material and moves up, and scalable grabbing device a moves down and places material also upwards withdrawal on transfer station; Scalable grabbing device c stops on the midway location one, and the position that scalable grabbing device a, b and c stop is with the right half of trisection of circulation route; Guide rail circular flow, scalable grabbing device a returns movement along return route, scalable grabbing device b is along the advance route movement of advancing, scalable grabbing device c continues to return along return route, when scalable grabbing device a arrives midway location two, scalable grabbing device b arrives the second place, when scalable grabbing device c arrives primary importance, stop mobile, at this moment, scalable grabbing device a, the position that b and c stop is with the half of trisection in a circulation route left side, and scalable grabbing device b places material downwards on transfer station, and scalable grabbing device a grasps material downwards; Then, continue circulation and carry out above-mentioned material transmission course, scalable grabbing device a moves to primary importance, and scalable grabbing device c moves to the second place, scalable grabbing device b moves to midway location one, finishes respectively that corresponding material picks up or after material places action; Scalable grabbing device b moves to primary importance, and scalable grabbing device a moves to the second place, and scalable grabbing device c moves to midway location two; Then, continue circulation and carry out above-mentioned material transmission course.
Circulation route for having four scalable grabbing devices sees also Figure 17, and Figure 17 is that the grabbing device of another preferred embodiment more of the present invention is along the circulation route scheme drawing of guide rail.
Need to prove that at first primary importance and the second place are respectively scalable grabbing device and carry out material take-off location and material placement location.
Circulation route is accumbency " 8 " font, and circulation route center route is straight line, this be in order to ensure scalable grabbing device when mobile with the paralleling of following belt mobile unit; Scalable grabbing device a and scalable grabbing device d stop at primary importance and the second place of center route respectively, at this moment, scalable grabbing device a moves down the extracting material and moves up, and scalable grabbing device d moves down and places material also upwards withdrawal on transfer station; Scalable grabbing device c stops on first quartile, and scalable grabbing device b stops on the 3rd quartile, and the position that scalable grabbing device a, b, c and d stop is with on the right half of quarter of circulation route or the left half of quarter position; Guide rail circular flow, scalable grabbing device d returns movement along return route, scalable grabbing device a is along the advance route movement of advancing, scalable grabbing device c and d continue to return along return route, when scalable grabbing device c arrives second quartile and scalable grabbing device d and arrives the 4th quartile, scalable grabbing device b arrives primary importance, scalable grabbing device a arrives the second place, stop mobile, at this moment, scalable grabbing device a places material downwards on transfer station, and scalable grabbing device b grasps material downwards; Then, continue circulation and carry out above-mentioned material transmission course, scalable grabbing device c moves to primary importance, scalable grabbing device b moves to the second place, scalable grabbing device a moves to first quartile, scalable grabbing device d moves to the 3rd quartile, finishes respectively that corresponding material picks up or after material places action; Scalable grabbing device d moves to primary importance, and scalable grabbing device c moves to the second place, and scalable grabbing device a moves to second quartile, and scalable grabbing device b moves to the 4th quartile; Then, continue circulation and carry out above-mentioned material transmission course.
To sum up, automated material delivery system of the present invention and material transfer approach, by the top in magazine telescoping shoring column is set, and the closed guide rail with circulation route is set in telescoping shoring column, and at guide rail several scalable grabbing devices are set, utilize the circular flow of each route of guide rail, make that scalable grabbing device can be along the guide rail movement that moves in circles between above-mentioned primary importance and the second place above the transfer station, simultaneously, belt mobile unit bottom magazine is transported to material the primary importance below the scalable grabbing device, like this, realized the below that is transported to primary importance internally of material in the magazine, and carry out from the circulation that material is transported on the transfer station, overcome the situation that at every turn can only allow a waggon 122 to unload or pack in the prior art, reduce waste of time unnecessary in the transportation, thereby improved transport efficiency.
Above-described only is embodiments of the invention; described embodiment is not in order to limit scope of patent protection of the present invention; therefore the equivalent structure done of every utilization specification sheets of the present invention and accompanying drawing content changes, and in like manner all should be included in protection scope of the present invention.
Claims (16)
1. automated material delivery system has magazine and in the transfer station of described magazine outside, it is characterized in that:
End at the magazine top is provided with telescoping shoring column;
The bottom of described telescoping shoring column is provided with end to end closed guide rail, and described guide rail has at least a part to align with the central axis of described telescoping shoring column along flexible direction;
Be hung with some scalable grabbing devices on the described guide rail from front to back, described scalable grabbing device can be mobile along described guide rail circulation;
First control unit is used for the described scalable grabbing device of control along the mobile speed of described guide rail circulation and the position that stops, or controls described scalable grabbing device and stretch and grasp the material that is positioned on the described magazine.
2. automated material delivery system according to claim 1 is characterized in that, described guide rail and described telescoping shoring column are separate, is connected with described telescoping shoring column by rivet or bolt.
3. automated material delivery system according to claim 1 is characterized in that, described guide rail is the part of described telescoping shoring column.
4. automated material delivery system according to claim 1 is characterized in that, described automated material delivery system also comprises second control unit, is used for the flexible of the described telescoping shoring column of control.
5. automated material delivery system according to claim 1, it is characterized in that, the bottom level of described magazine is provided with the belt mobile unit, described belt mobile unit is back-shaped rolling, and do intermittent the movement, described material along continuous straight runs is moved to the below, position that described scalable grabbing device stops.
6. automated material delivery system according to claim 5 is characterized in that, described scalable grabbing device and the described material that is delivered to its below stop simultaneously.
7. automated material delivery system according to claim 5 is characterized in that, the moving velocity of described scalable grabbing device is identical with the moving velocity of described belt mobile unit.
8. automated material delivery system according to claim 5 is characterized in that, described belt mobile unit is provided with holding device, is used for the described material of clamping.
9. automated material delivery system according to claim 5 is characterized in that, described automated material delivery system also comprises the 3rd control unit, is used for the moving velocity of the described belt mobile unit of control.
10. adopt the described automated material delivery system of any claim of above-mentioned 1-9 to carry out the method that material transmits, comprise that material is sent process to and material is sent process, wherein,
Material is sent process, comprising:
Step S01: power-on, belt mobile unit begin mobile, and described belt mobile unit moves to the first scalable grabbing device below that is positioned at primary importance with first material, and described belt mobile unit stops mobile;
Step S02: first control unit is controlled described first and is scalablely caught device to stretch out downwards and grasp described first material;
Step S03: the described first scalable grabbing device moves up, and second control unit control telescoping shoring column stretches out forward, and drives the described first scalable grabbing device and move forward; Simultaneously, described belt mobile unit begins mobile;
Step S04: the described first scalable grabbing device moves to the second place of the top of transfer station, described telescoping shoring column stops action, the second scalable grabbing device stops at described primary importance, at this moment, described belt mobile unit moves to the below of primary importance with second material, and described belt mobile unit stops mobile;
Step S05: described first control unit is controlled the described first scalable grabbing device and is moved down and described first material is placed on the described transfer station; Simultaneously, the described second scalable grabbing device moves down and grasps described second material;
Step S06: the described first scalable grabbing device upwards shrinks, and simultaneously, the described second scalable grabbing device moves up;
Step S07: under the control of the 3rd control unit, described belt mobile unit moves; Simultaneously, under the control of described first control unit, each route of guide rail begins circular flow;
Step S08: along with the circular flow of each route of described guide rail, each described scalable grabbing device moves to described primary importance, carries out the extraction of material; Or move to the described second place, carry out the placement of material.
Material is sent process to, comprising:
Step S11: when described transfer station with mass transport during to described second place below, described first control unit control telescoping shoring column stretches out forward, makes the described first scalable grabbing device be positioned at the described second place;
Step S12: under described first control unit control, the described first scalable grabbing device moves down and grasps first material, moves up;
Step S13: the described first scalable grabbing device returns along the return route of guide rail, and at this moment, the described second scalable grabbing device moves forward along the advance route of described guide rail;
Step S14: when the described first scalable grabbing device moves to described primary importance, move down, described first material is placed on the described belt mobile unit; At this moment, the described second scalable grabbing device moves to the described second place, moves down, and grasps second material, moves up;
Step S15: the described second scalable grabbing device returns along described return route, and at this moment, other described scalable grabbing device is along the direction operation of described guide rail operation;
Step S16: along with the circular flow of each route of described guide rail, each described scalable grabbing device moves to the described second place, carries out the extraction of material; Or move to described primary importance, carry out the placement of material.
11. material transfer approach according to claim 10 is characterized in that, described step S08 comprises:
Step S21: the described first scalable grabbing device moves along the return route of described guide rail, and the described second scalable grabbing device moves along the advance route of described guide rail;
Step S22: the described second scalable grabbing device moves to described transfer station top, the described first scalable grabbing device that returns moves to the primary importance top, at this moment, described belt mobile unit moves to described primary importance with 3 material, and described belt mobile unit stops mobile;
Step S23: the described second scalable grabbing device moves down described second material is placed on the described transfer station, and the described first scalable grabbing device that returns moves down and grasps described 3 material;
Step S24: the described second scalable grabbing device moves along the return route of described guide rail, and the described first scalable grabbing device moves along the advance route of described guide rail;
Step S25: the described first scalable grabbing device moves to described transfer station top, the described second scalable grabbing device that returns moves to the primary importance top, at this moment, described belt mobile unit moves to described primary importance with 4 materials, and described belt mobile unit stops mobile;
Step S26: the described first scalable grabbing device moves down described 3 material is placed on the described transfer station, and the described second scalable grabbing device that returns moves down and grasps described 4 materials;
Step S27: the described step S21-S26 of repetitive cycling, carrying out material is that circulation is carried.
12. material transfer approach according to claim 11 is characterized in that the speed of the return route of described guide rail is greater than the speed of described advance route.
13. material transfer approach according to claim 11, it is characterized in that, material spacing distance on the described belt mobile unit equates that described scalable grabbing device moves to the time of the described second place from described primary importance identical with the time that described material moves to the adjacent position.
14. material transfer approach according to claim 10 is characterized in that, described step S08 comprises:
Step S31: the described first scalable grabbing device moves along the return route of described guide rail, the described second scalable grabbing device moves along the advance route of described guide rail, and the 3rd scalable grabbing device that is positioned on the described guide rail moves along the service direction of described guide rail;
Step S32: the described second scalable grabbing device moves to the described second place, the 3rd scalable grabbing device moves to primary importance, at this moment, described belt mobile unit moves to the below of described primary importance with 3 material, and described belt mobile unit stops mobile;
Step S33: the described second scalable grabbing device moves down described second material is placed on the described transfer station, and the described the 3rd scalable grabbing device moves down and grasps described 3 material;
Step S34: the described second scalable grabbing device moves along the return route of described guide rail, the described the 3rd scalable grabbing device moves along the advance route of described guide rail, and the first scalable grabbing device that is positioned on the described guide rail moves along the service direction of described guide rail;
Step S35: the described the 3rd scalable grabbing device moves to the described second place, the described first scalable grabbing device moves to described primary importance, at this moment, described belt mobile unit moves to the below of described primary importance with 4 materials, and described belt mobile unit stops mobile;
Step S36: the described the 3rd scalable grabbing device moves down described 3 material is placed on the described transfer station, and the described first scalable grabbing device moves down and grasps described 4 materials;
Step S37: the described the 3rd scalable grabbing device moves along the return route of described guide rail, the described first scalable grabbing device moves along the advance route of described guide rail, and the second scalable grabbing device that is positioned on the described guide rail moves along the service direction of described guide rail;
Step S38: the described first scalable grabbing device moves to the described second place, the described second scalable grabbing device moves to primary importance, at this moment, described belt mobile unit moves to the top of described primary importance with the 5th material, and described belt mobile unit stops mobile;
Step 39: the described first scalable grabbing device moves down described 4 materials is placed on the described transfer station, and the described second scalable grabbing device moves down and grasps described the 5th material;
Step S40: the described step S31-S39 of repetitive cycling, carry out the circulation of material is carried.
15. material transfer approach according to claim 14 is characterized in that the running velocity of all routes of described guide rail is identical.
16. material transfer approach according to claim 14, it is characterized in that, material spacing distance on the described belt mobile unit equates that described scalable grabbing device moves to the time of the described second place from described primary importance identical with the time that described material moves to the adjacent position.
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| CN103342217B (en) | 2018-08-10 |
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