CN112239069A - Forked substrate conveying device and method thereof - Google Patents
Forked substrate conveying device and method thereof Download PDFInfo
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- CN112239069A CN112239069A CN201910656715.5A CN201910656715A CN112239069A CN 112239069 A CN112239069 A CN 112239069A CN 201910656715 A CN201910656715 A CN 201910656715A CN 112239069 A CN112239069 A CN 112239069A
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- fork
- lifting
- substrate
- bracket
- layer conveying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
Abstract
The invention provides a fork type substrate conveying device and a method thereof, which mainly comprise a lifting mechanism and a fork group, wherein the lifting mechanism comprises a lifting track embedded in one surface of the lifting mechanism and a lifting driver arranged at one end of the lifting mechanism, the fork group comprises a bracket provided with a first fork frame and a second fork frame, the middle section of the bracket is provided with a fork connecting part connected with the lifting mechanism, the joint of the bracket, the first fork frame and the second fork frame is provided with the fork driver capable of pivoting the fork frame, and after a substrate positioned at a lower layer is conveyed to an upper layer conveying mechanism by the fork group, the fork group is parallel to the lifting mechanism in a downward pivoting mode and then moves back to the lower layer conveying mechanism.
Description
Technical Field
The present invention relates to a fork type substrate transportation device and a method thereof, and more particularly, to a method for transporting a substrate by using a steerable transportation device, which can reduce a large amount of displacement time while transferring the substrate, and can also reduce the time for the transportation device to move circularly.
Background
Generally, a conventional substrate transport apparatus generally transfers a substrate to a transport structure composed of a plurality of transport rollers by a transport line, and then moves the substrate to a designated position by a robot arm disposed near the transport structure, or picks up the substrate by the robot arm and then carries the substrate to another group of transport structures, and although the robot arm can move the substrate horizontally or vertically, the robot arm needs to move the substrate step by step, and the size of the substrate is limited by moving the substrate, thereby limiting the size of the substrate during transport, and spending unnecessary time when the robot arm moves, which in turn affects the efficiency of substrate transport.
Therefore, it is an object of the present invention to provide a technique and a solution that can shorten the transportation time, solve the problem that the substrate cannot be transported to the positioning in a short time effectively during the transportation process, and transport the substrate to the positioning without size limitation.
Disclosure of Invention
The main purpose of the present invention is to solve the problem that the conventional embodiment cannot efficiently save the time for conveying the substrate and limit the transportation of the substrate in size.
The present invention provides a fork-type substrate transportation apparatus and method thereof, wherein a lifting mechanism and a fork set or a dual fork set are provided to reduce a large amount of displacement time during substrate transfer and reduce the time for the apparatus to move circularly.
To achieve the above object, the present invention provides a fork-type substrate transportation device, comprising a lifting mechanism and a fork assembly, wherein the lifting mechanism, a lifting rail and a lifting driver are assembled, wherein the lifting rail is disposed on one side of the lifting mechanism and embedded into the lifting mechanism in a vertical direction from top to bottom; the lifting driver is arranged at one end of the lifting mechanism and is used for providing power to drive the tooth fork group to move; the fork group comprises a bracket, wherein a fork connecting part facing the lifting mechanism is arranged at the middle section of the bracket; the first fork frame is arranged at one end of the bracket and is arranged towards one side which does not face the fork connecting part; the second fork frame is arranged at the other end of the bracket, faces to the side not facing the fork connecting part and corresponds to the first fork frame; the tooth fork driver is respectively arranged at the pivoting positions of the bracket and the first tooth fork frame and the second tooth fork frame and provides pivoting power when the first tooth fork frame and the second tooth fork frame change directions; one side of the tooth fork connecting part is arranged at the middle section of the bracket, and the other side of the tooth fork connecting part is embedded into the lifting track and is driven by the lifting driver to move.
In one embodiment of the present invention, the lifting rail is provided therein with a belt, a chain, a gear, a slide rail, a screw or screw element or other transmission components capable of driving the fork connection part to move by means of a lifting driver.
In one embodiment of the present invention, the first yoke and the second yoke may be disposed in parallel with the bracket.
In one embodiment of the present invention, the first fork frame is formed by a plurality of forks arranged in parallel.
In one embodiment of the present invention, the second fork frame is formed by a plurality of fork arms arranged side by side.
In an embodiment of the present invention, the fork driver may pivot the first fork frame and the second fork frame up and down simultaneously, and may make the first fork frame and the second fork frame parallel or perpendicular to the lifting mechanism.
Furthermore, to achieve the above objects, the present invention provides a fork-type substrate transportation device, comprising a lifting mechanism and a fork assembly, wherein the lifting mechanism, a lifting rail and a lifting driver are assembled, wherein the lifting rail is disposed on one side of the lifting mechanism and embedded into the lifting mechanism in a vertical direction from top to bottom; the lifting driver is arranged at one end of the lifting mechanism and is used for providing power to drive the tooth fork group to move; the tooth fork group comprises a bracket, wherein a tooth fork connecting part facing the lifting mechanism is additionally arranged at the middle section of the bracket, a bracket track embedded in the bracket is arranged on one side not facing the lifting mechanism, and a bracket driver is arranged at one end of the bracket; a third yoke coupled to one end of a first rotating shaft and disposed between the middle section of the bracket and one end thereof; a fourth yoke coupled to one end of a second rotary shaft and disposed between the middle section and the other end of the bracket while being parallel to the third yoke; the other ends of the first rotating shaft and the second rotating shaft, which are not connected with the third fork frame and the fourth fork frame, are embedded into the bracket track and provide a rotating power to enable the third fork frame and the fourth fork frame to rotate by 90 degrees; the bracket driver is used for driving the first rotating shaft and the second rotating shaft to move in the bracket track and providing a rotating power to enable the first rotating shaft and the second rotating shaft to rotate; one side of the tooth fork connecting part is arranged at the middle section of the bracket, and the other side of the tooth fork connecting part is embedded into the lifting track and can move in the lifting track under the driving of the lifting driver.
In one embodiment of the present invention, the third yoke is formed by a plurality of yokes arranged in parallel.
In one embodiment of the present invention, the fourth yoke is formed by a plurality of yokes arranged in parallel.
In an embodiment of the present invention, the third yoke and the fourth yoke are simultaneously moved toward both ends of the carriage by the carriage driver when rotating 90 degrees.
To achieve the above object, the present invention provides a method for transporting a forked substrate, which is suitable for the forked substrate transporting device, and at least comprises the following steps.
The method comprises the following steps: a substrate is transported to the lower layer conveying mechanism for positioning by the lower layer conveying belt, and a tooth fork group is positioned below the lower layer conveying mechanism for standby.
Step two: the fork set is lifted from the bottom by a lifting mechanism and is positioned in a crossed manner with the lower layer conveying mechanism to bear the substrate.
Step three: the tooth fork group bears the base plate and is horizontally positioned with the upper layer conveying mechanism after the base plate is lifted upwards to the top.
Step four: the upper layer conveying mechanism is displaced to enter the lower part of the substrate and is positioned with the tooth fork frame in a staggered mode.
Step five: after the upper layer conveying mechanism bears the substrate, the substrate is displaced in the horizontal direction to be taken away.
Step six: the fork group is pivoted downwards by a fork driver so as to be parallel to the lifting mechanism and then move downwards to the bottom.
Step seven: after the fork group descends to the bottom, the fork group is pivoted upwards by the fork driver so as to be vertical to the lifting mechanism.
Step eight: and entering a standby state, and repeating the steps from the first step to the seventh step when the substrate is transported to the lower layer conveying mechanism by the lower layer conveying belt for positioning.
In an embodiment of the present invention, there is further provided a method for transporting a forked substrate, which is suitable for the forked substrate transporting apparatus, and at least includes the following steps.
Step A: a substrate is transported to the lower layer conveying mechanism for positioning by the lower layer conveying belt, and a tooth fork group is positioned below the lower layer conveying mechanism for standby.
And B: the fork set is lifted from the bottom by a lifting mechanism and is positioned in a crossed manner with the lower layer conveying mechanism to bear the substrate.
And C: the tooth fork group bears the base plate and is horizontally positioned with the upper layer conveying mechanism after the base plate is lifted upwards to the top.
Step D: the upper layer conveying mechanism is displaced to enter the lower part of the substrate and is positioned with the tooth fork frame in a staggered mode.
Step E: the tooth fork set descends by virtue of the lifting mechanism, and meanwhile, the rotating shaft provides rotating power, so that the tooth fork set can rotate by 90 degrees, and the rotating shaft moves to two ends of the support when the tooth fork set rotates.
Step F: the tooth fork set rotates and then descends to the bottom, and then the rotation shaft provides rotation power to enable the tooth fork set to rotate by 90 degrees, so that the tooth fork set is perpendicular to the lifting mechanism and is in a standby state.
Step G: and C, entering a standby state, and repeating the steps A to F when the substrate is conveyed to the lower layer conveying mechanism for positioning by the lower layer conveying belt.
In order to achieve the above object, the present invention provides a fork-type substrate transportation device, which comprises a lifting mechanism, a pair of fork sets, wherein the lifting mechanism, a lifting track set and a lifting driver, wherein the lifting track is arranged on one side of the lifting mechanism, embedded into the lifting mechanism in the vertical direction from top to bottom, extended downwards from the top of the lifting track to both sides, and then communicated to the bottom of the lifting channel to form a loop; the lifting driver is arranged at one end of the lifting mechanism and is used for providing power for driving the double-tooth fork set to lift; this two prong group is formed by the combination of at least more than two sets of prong groups, and wherein, each this prong group still includes: the bracket is formed by assembling a first bracket and a second bracket, and a tooth fork connecting part facing the lifting mechanism is arranged at the joint of the first bracket and the second bracket; the first fork frame is arranged at the middle section of the first bracket, and a plurality of forks are arranged towards one side which does not face the fork connecting part; the second fork frame is arranged at the middle section of the second bracket, is also provided with a plurality of forks towards one side which does not face the fork connecting part, and simultaneously corresponds to the first fork frame in parallel; a tooth fork rotating shaft which is arranged at the pin joint of the bracket and the first tooth fork frame and the second tooth fork frame and provides a rotating force when the first tooth fork frame and the second tooth fork frame change directions; the tooth fork connecting part is formed by combining a first connecting part and a second connecting part, wherein the first connecting part is connected with one end of the first bracket facing the second bracket, the second connecting part is connected with one end of the second bracket facing the first bracket, one side of the tooth fork connecting part facing the lifting mechanism is embedded into the lifting track and can move in the lifting track under the driving of the lifting driver, after the tooth fork connecting part is lifted to the top of the lifting track, the tooth fork connecting part is divided into the first connecting part and the second connecting part, respectively moves towards two sides and descends to the bottom of the lifting track, and the first connecting part and the second connecting part are further combined into the tooth fork connecting part; the double-tooth fork set is respectively arranged at the top and the bottom of the lifting mechanism and is driven by the lifting driver to move, so that the double-tooth fork set can circulate and exchange positions.
In one embodiment of the present invention, the lifting rail is provided therein with a belt, chain, gear, slide rail, screw or screw element or other transmission component capable of driving the fork connection part to move by the lifting driver.
In one embodiment of the present invention, the first yoke and the second yoke may be disposed in parallel with the bracket.
In one embodiment of the present invention, the first fork frame is formed by a plurality of forks arranged in parallel.
In one embodiment of the present invention, the second fork frame is formed by a plurality of fork arms arranged side by side.
In an embodiment of the present invention, the fork rotating shaft enables the first fork frame and the second fork frame to simultaneously rotate 90 degrees, and the first fork frame and the second fork frame are moved to both ends of the bracket by the fork driver.
The invention also provides a method for transporting the forked base plate, which is suitable for the forked base plate transporting device and at least comprises the following steps.
Step 1: a substrate is transported to the lower layer conveying mechanism for positioning by the lower layer conveying belt, and a double-tooth fork set is respectively positioned below the lower layer conveying mechanism and below the upper layer conveying mechanism for standby.
Step 2: the tooth fork group under the lower layer conveying mechanism is lifted upwards from the bottom by a lifting mechanism and is positioned in a crossed manner with the lower layer conveying mechanism to bear the substrate, and meanwhile, the tooth fork group under the upper layer conveying mechanism moves towards two sides respectively and rotates for 90 degrees at the same time, so that the tooth fork group is parallel to the lifting mechanism.
And step 3: the tooth fork group positioned on the lower layer conveying mechanism bears the substrate and upwards rises to the top to be horizontally positioned with the upper layer conveying mechanism, and meanwhile, the tooth fork groups positioned on two sides of the lifting mechanism and close to the top are respectively descended to the bottom from the lifting tracks on the two sides and then return to be vertical to the lifting mechanism by rotating 90 degrees, so that the tooth fork group on the lower layer is positioned below the lower layer conveying mechanism to be ready, and the substrate is conveyed to the lower layer conveying mechanism by the lower layer conveying belt to be positioned.
And 4, step 4: the upper layer conveying mechanism is displaced to enter the lower part of the substrate and is positioned with the tooth fork frame in a staggered mode.
And 5: the tooth fork group under the upper layer conveying mechanism moves to two sides and rotates 90 degrees at the same time, and the tooth fork group under the lower layer conveying mechanism is lifted upwards from the bottom by a lifting mechanism and is positioned with the lower layer conveying mechanism in a crossed manner to bear the substrate.
Step 6: the tooth fork groups which are positioned at two sides of the lifting mechanism and are close to the top are respectively descended to the bottom from the lifting tracks at two sides and then return to be vertical to the lifting mechanism by rotating 90 degrees, so that the tooth fork groups at the lower layer are positioned below the lower layer conveying mechanism to be ready, and meanwhile, the tooth fork groups at the lower layer conveying mechanism bear the base plate and are lifted upwards to the top to be horizontally positioned with the upper layer conveying mechanism.
And 7: and (5) repeating the step 1 to the step 6.
Drawings
FIG. 1: the invention discloses a schematic diagram of a forked substrate conveying device.
FIG. 2: the invention discloses a pivoting schematic diagram of a forked substrate conveying device.
FIG. 3: another embodiment of the present invention is a forked substrate transport device.
FIG. 4: another prong top view of the prong substrate transport device of the present invention.
FIG. 5: another embodiment of the present invention is a forked substrate transport device.
FIG. 6: another embodiment of the present invention is a fork movement diagram of a fork substrate transport apparatus.
FIG. 7: the invention discloses a flow chart of an embodiment of a forked substrate transportation method.
FIG. 8: another fork flow diagram of the fork type substrate transportation device and the method thereof is provided.
FIG. 9: the invention discloses a double-tooth-fork schematic diagram of a tooth-fork type substrate conveying device and a method thereof.
FIG. 10: the invention relates to a double-tooth-fork flow chart of a tooth-fork type substrate conveying device and a method thereof.
FIG. 11: the invention discloses a forked substrate conveying device and a method thereof.
Fig. 12A to 12D: the invention discloses a forked substrate conveying device and a method thereof.
Description of the figure numbers:
10. 50 lifting mechanism
110. 510 lifting rail
120. 520 lifting driver
20. 600 tooth fork group
210. 610 support
211 bracket track
611 first support
612 second support
212. 670 rack driver
220. 620 fork connecting part
621 first connecting part
622 second connection part
230. 630 first tooth fork frame
240. 640 second tooth fork frame
250. 650 teeth fork driver
260 third yoke
261 first rotation axis
270 fourth dental yoke
271 second rotation axis
30 conveying mechanism
40 substrate
60 double-tooth fork set
660 tooth fork rotating shaft
S710 to S780 from step one to step eight
S810-S870 Steps A to G
S1010 to S1070, step 1 to step 7.
Detailed Description
First, please refer to fig. 1 and fig. 2, which are schematic views and pivot schematic views of a forked substrate transportation device of the present invention, wherein the forked substrate transportation device mainly comprises a lifting mechanism 10 and a forked set 20, the forked substrate transportation device shown in fig. 1 can be executed independently as required, or can be disposed correspondingly to each other by a dual (two sets of) forked substrate transportation device, wherein the lifting mechanism 10 is formed with a lifting rail 110 and a lifting driver 120, wherein the lifting rail 110 is disposed on one side of the lifting mechanism 10 and is embedded into the lifting mechanism 10 in a vertical direction from top to bottom; the lifting driver 120 is disposed at one end of the lifting mechanism 10, for example: the top or bottom, but not limited thereto, mainly provides a power to drive the movement of the fork assembly 20; the fork assembly 20 includes a bracket 210, and a fork connecting portion 220 facing the lifting mechanism 10 is disposed at a middle section of the bracket 210; a first yoke 230 provided at one end of the bracket 210 and facing a side not facing the yoke connecting part 220; a second yoke 240 provided at the other end of the bracket 210 and also provided toward a side not facing the yoke connecting part 220 while corresponding to the first yoke 230; a fork driver 250 respectively disposed at the pivot joints of the bracket 210 and the first fork frame 230 and the second fork frame 240, and providing a power for pivoting when the first fork frame 230 and the second fork frame 240 change directions, wherein the fork driver 250 can pivot the first fork frame 230 and the second fork frame 240 to be parallel (please refer to fig. 2) or perpendicular to the lifting mechanism 10; the fork connecting portion 220 is disposed at the middle portion of the bracket 210, and the other side thereof is embedded in the lifting rail 110 and is driven by the lifting driver 120 to move, wherein the lifting rail 110 is internally provided with a belt, a chain, a gear, a slide rail, a screw or screw element or other transmission components capable of driving the fork connecting portion 220 to move by the lifting driver 120, the first fork frame 230 and the second fork frame 240 are disposed in parallel with the bracket 210, and the first fork frame 230 and the second fork frame 240 are formed by a plurality of forks arranged in parallel, and different numbers of the forks can be arranged according to the size of the substrate.
Referring to fig. 3 to 6, another fork assembly 20 of the fork-type substrate transportation device of the present invention is shown in fig. 3, and further includes a bracket 210, wherein a fork connecting portion 250 facing the lifting mechanism 10 is further disposed at a middle section of the bracket 210, a bracket rail 211 embedded in the bracket 210 is disposed at a side not facing the lifting mechanism 10, and a bracket driver 212 is disposed at one end of the bracket 210; a third yoke 260 coupled to one end of a first rotation shaft 261 and disposed between a middle portion and one end of the bracket 210; a fourth yoke 270 coupled to one end of a second rotating shaft 271, disposed between the middle and the other end of the bracket 210, and parallel to the third yoke 260; the first rotation shaft 261 and the second rotation shaft 271, the other ends of which are not coupled to the third yoke 260 and the fourth yoke 270, are embedded in the holder rail 211, and provide a rotation power to allow the third yoke 260 and the fourth yoke 270 to rotate at 90 degrees; the support driver 212 provides a rotation power to rotate the first rotation shaft 261 and the second rotation shaft 271 and drive the first rotation shaft 261 and the second rotation shaft 271 to move in the support track 211; one side of the fork connecting portion 220 is disposed at the middle section of the bracket 210, and the other side thereof is embedded in the lifting rail 110 and can be moved in the lifting rail 110 by the driving of the lifting driver 120. The third yoke 260 and the fourth yoke 261 are formed by a plurality of yokes arranged in parallel, and the third yoke 260 and the fourth yoke 261 are capable of moving the third yoke 260 and the fourth yoke 270 to both ends of the rack 210 by the rack driver 212 when rotating 90 degrees.
Referring to fig. 7, a flow chart of a forked substrate transportation method of the present invention is shown, which is a forked substrate transportation method including the following steps.
Step one, S710: a substrate is transported to the lower layer conveying mechanism for positioning by the lower layer conveying belt, and a tooth fork group is positioned below the lower layer conveying mechanism for standby.
Step two S720: the fork set is lifted from the bottom by a lifting mechanism and is positioned in a crossed manner with the lower layer conveying mechanism to bear the substrate.
Step three, S730: the tooth fork group bears the base plate and is horizontally positioned with the upper layer conveying mechanism after the base plate is lifted upwards to the top.
Step four S740: the upper layer conveying mechanism is displaced to enter the lower part of the substrate and is positioned with the tooth fork frame in a staggered mode.
Step five S750: after the upper layer conveying mechanism bears the substrate, the substrate is displaced in the horizontal direction to be taken away.
Step six S760: the fork group is pivoted downwards by a fork driver so as to be parallel to the lifting mechanism and then move downwards to the bottom.
Step seven S770: after the fork group descends to the bottom, the fork group is pivoted upwards by the fork driver so as to be vertical to the lifting mechanism.
Step eight S780: entering a standby state, and repeating the steps S710 to S770 after the substrate is transported to the lower layer transportation mechanism by the lower layer transportation belt and positioned.
Fig. 8 is a schematic view of another fork flow of the fork-type substrate transportation method of the present invention, wherein the transportation method can further include the following steps.
Step A S810: a substrate is transported to the lower layer conveying mechanism for positioning by the lower layer conveying belt, and a tooth fork group is positioned below the lower layer conveying mechanism for standby.
Step B S820: the fork set is lifted from the bottom by a lifting mechanism and is positioned in a crossed manner with the lower layer conveying mechanism to bear the substrate.
Step C S830: the tooth fork group bears the base plate and is horizontally positioned with the upper layer conveying mechanism after the base plate is lifted upwards to the top.
Step D S840: the upper layer conveying mechanism is displaced to enter the lower part of the substrate and is positioned with the tooth fork frame in a staggered mode.
Step E S850: the tooth fork set descends by virtue of the lifting mechanism, and meanwhile, the rotating shaft provides rotating power, so that the tooth fork set can rotate by 90 degrees, and the rotating shaft moves to two ends of the support when the tooth fork set rotates.
Step F S860: the tooth fork set rotates and then descends to the bottom, and then the rotation shaft provides rotation power to enable the tooth fork set to rotate by 90 degrees, so that the tooth fork set is perpendicular to the lifting mechanism and is in a standby state.
Step G S870: and entering a standby state, and repeating the steps AS810 to FS860 after the substrate is transported to the lower layer conveying mechanism by the lower layer conveying belt and positioned.
Referring to fig. 9, a schematic diagram of a double-fork substrate transportation device and a method thereof according to the present invention is shown, in an embodiment of the present invention, wherein the double-fork substrate transportation device comprises a lifting mechanism 50, a double-fork set 60, wherein the lifting mechanism 50, a lifting rail 510 and a lifting driver 520, wherein the lifting rail 510 is disposed on one side of the lifting mechanism 50, embedded into the lifting mechanism 50 in a vertical direction from top to bottom, extends from the top of the lifting rail 510 to both sides and downward, and is communicated to the bottom of the lifting channel 510 to form a loop; the lifting driver 520 is disposed at one end of the lifting mechanism 50, for example: the top or the bottom, but not limited thereto, mainly provides the power for driving the dual-tooth fork set 60 to ascend and descend; the double-prong set 60 is formed by combining at least two sets of prong sets 600, and each prong set 600 includes: a bracket 610, which is formed by assembling a first bracket 611 and a second bracket 612, and a fork connecting part 620 facing the lifting mechanism 50 is arranged at the joint of the first bracket 611 and the second bracket 612; a first yoke 630 disposed at the middle of the first bracket 611 and having a plurality of yokes facing a side not facing the yoke connecting part 620; a second fork frame 640 disposed at the middle portion of the second bracket 612, and also having a plurality of forks facing the side not facing the fork connecting portion 620 and corresponding to the first fork frame 630 side by side; a yoke rotation shaft 660 provided at the pivot joint between the bracket 610 and the first yoke 630 and the second yoke 640, and providing a rotation force when the first yoke 630 and the second yoke 640 change directions, so that the first yoke 630 and the second yoke 640 rotate 90 degrees at the same time, and the first yoke 630 and the second yoke 640 move toward both ends of the bracket 610 by the bracket driver 670; the fork connecting portion 620 is formed by combining a first connecting portion 621 and a second connecting portion 622, wherein the first connecting portion 621 is connected to an end of the first bracket 611 facing the second bracket 612, the second connecting portion 622 is connected to an end of the second bracket 612 facing the first bracket 611, a side of the fork connecting portion 620 facing the lifting mechanism 50 is embedded in the lifting rail 510 and can be moved in the lifting rail 510 by being driven by the lifting driver 520, and after being lifted to the top of the lifting rail 510, the fork connecting portion 620 is divided into the first connecting portion 621 and the second connecting portion 622 and respectively moves to two sides and descends to the bottom of the lifting rail 510, and the first connecting portion 621 and the second connecting portion 622 are further combined to form the fork connecting portion 620; the dual-prong set 60 is disposed at the top and bottom of the lifting mechanism 50, and is driven by the lifting driver 520 to move, so that the dual-prong set 60 can exchange positions cyclically.
The lifting track 510 is provided therein with a belt, a chain, a gear, a slide rail, a screw or screw element or other transmission components capable of driving the fork connecting portion to move by means of a lifting driver. The first fork frame 630 and the second fork frame 640 are disposed parallel to the support 610 and each formed by a plurality of fork arms arranged in parallel.
Referring to fig. 10, a dual-fork flowchart of the forked substrate transportation device and the method thereof according to the present invention is shown, which at least includes the following steps.
Step 1S 1010: a substrate is transported to the lower layer conveying mechanism for positioning by the lower layer conveying belt, and a double-tooth fork set is respectively positioned below the lower layer conveying mechanism and below the upper layer conveying mechanism for standby.
Step 2S 1020: the tooth fork group under the lower layer conveying mechanism is lifted upwards from the bottom by a lifting mechanism and is positioned in a crossed manner with the lower layer conveying mechanism to bear the substrate, and meanwhile, the tooth fork group under the upper layer conveying mechanism moves towards two sides respectively and rotates for 90 degrees at the same time, so that the tooth fork group is parallel to the lifting mechanism.
Step 3S 1030: the tooth fork group positioned on the lower layer conveying mechanism bears the substrate and upwards rises to the top to be horizontally positioned with the upper layer conveying mechanism, and meanwhile, the tooth fork groups positioned on two sides of the lifting mechanism and close to the top are respectively descended to the bottom from the lifting tracks on the two sides and then return to be vertical to the lifting mechanism by rotating 90 degrees, so that the tooth fork group on the lower layer is positioned below the lower layer conveying mechanism to be ready, and the substrate is conveyed to the lower layer conveying mechanism by the lower layer conveying belt to be positioned.
Step 4S 1040: the upper layer conveying mechanism is displaced to enter the lower part of the substrate and is positioned with the tooth fork frame in a staggered mode.
Step 5S 1050: the tooth fork group under the upper layer conveying mechanism moves to two sides and rotates 90 degrees at the same time, and the tooth fork group under the lower layer conveying mechanism is lifted upwards from the bottom by a lifting mechanism and is positioned with the lower layer conveying mechanism in a crossed manner to bear the substrate.
Step 6S 1060: the tooth fork groups which are positioned at two sides of the lifting mechanism and are close to the top are respectively descended to the bottom from the lifting tracks at two sides and then return to be vertical to the lifting mechanism by rotating 90 degrees, so that the tooth fork groups at the lower layer are positioned below the lower layer conveying mechanism to be ready, and meanwhile, the tooth fork groups at the lower layer conveying mechanism bear the base plate and are lifted upwards to the top to be horizontally positioned with the upper layer conveying mechanism.
Step 7S 1070: step 1S1010 to step 6S1060 are repeated.
Referring to fig. 11, a schematic top view of the forked substrate transportation device and the method thereof of the present invention shows that the forked set 20 and the transportation mechanisms 30 and 32 are disposed in a crossed manner to avoid the forked set 20 and the transportation mechanisms 30 and 32 from rubbing each other when the lifting mechanism 10 is lifted.
Referring to fig. 12A to 12D, which are views illustrating a forked substrate transporting apparatus and a method thereof according to an embodiment of the present invention, when a substrate 40 is transported to a lower conveying mechanism 30 by a lower conveyor (not shown) and positioned, a forked set 20 is positioned below the lower conveying mechanism 30 to stand by, the forked set 20 is lifted up from the bottom by a lifting mechanism 10 (see fig. 12A) and positioned across from the lower conveying mechanism 30 to support the substrate 40, the forked set 20 supports the substrate 40 and is lifted up, the lower conveying mechanism 30 is separated from the substrate 40 (see fig. 12B), when the forked set 20 is lifted to the top, the forked set is positioned horizontally with an upper conveying mechanism 32, the upper conveying mechanism 32 is displaced to enter below the substrate 40 and positioned in a staggered manner with a forked frame, the forked set 20 is pivoted downward by a forked driver 250, after being parallel to the lifting mechanism 10, the upper layer conveying mechanism 32 moves downward to the bottom (see fig. 12C), after carrying the substrate 40, the upper layer conveying mechanism 32 moves in the horizontal direction to take the substrate 40 away (see fig. 12D), and after the fork assembly 20 descends to the bottom, the fork assembly 20 pivots upward by the fork driver 250, so that the fork assembly 20 is perpendicular to the lifting mechanism 10, thereby completing a transportation process.
Therefore, in summary, the forked substrate transporting device of the present invention can be implemented individually according to the requirements, or two forked substrate transporting devices are correspondingly disposed, that is, the forked substrate transporting device can transport substrates individually, and whether the lifting mechanism is collocated with a single forked group to transport substrates, or the lifting mechanism is collocated with a double forked group to transport substrates according to the requirements.
As can be seen from the above description, the present invention has the following advantages compared with the prior art and the product.
1. The forked substrate conveying device and the method thereof can change the tooth fork configuration direction and the number of the tooth forks according to requirements.
2. The forked substrate conveying device and the method thereof can move the substrate up and down quickly and accurately by means of the movement of the forked group.
3. The forked substrate conveying device and the method thereof can improve the transmission efficiency and shorten the forked circulation time by simultaneously operating the double forked parts.
Specifically, the invention utilizes the changeable tooth fork configuration direction and quantity, can be freely matched according to requirements, and is provided with the track capable of moving up and down, so that the effects of high efficiency and effectively shortening the conveying time are achieved when the substrate is conveyed.
Claims (19)
1. A forked substrate transportation device, comprising a lifting mechanism (10) and a forked set (20), wherein:
the lifting mechanism (10) is composed of a lifting track (110) and a lifting driver (120), wherein:
the lifting track (110) is embedded into one surface of the lifting mechanism (10) in the vertical direction from top to bottom;
the lifting driver (120) is arranged at one end of the lifting mechanism (10) and is used for providing power for driving the tooth fork group (20) to lift;
the dental fork set (20) comprises:
a bracket (210), wherein a fork connecting part (220) facing the lifting mechanism (10) is arranged at the middle section of the bracket (210);
a first yoke (230) provided at one end of the bracket (210) and disposed toward a side not facing the yoke connecting part (220);
a second yoke frame (240) provided at the other end of the bracket (210) and also provided toward a side not facing the yoke connecting part (220) while corresponding to the first yoke frame (230);
a yoke driver (250) disposed at the pivot of the bracket (210) and the first yoke (230) and the second yoke (240), and providing power for the first yoke (230) and the second yoke (240) to change directions;
one side of the fork connecting part (220) is arranged at the middle section of the bracket (220), and the other side of the fork connecting part is embedded into the lifting track (110) and can move in the lifting track (110) under the driving of the lifting driver (120).
2. The substrate transportation apparatus according to claim 1, wherein the lifting rail (110) is provided therein with a belt, chain, gear, slide, screw or screw element or other transmission component capable of moving the fork connection part (220) by the lifting driver (120).
3. The substrate transport apparatus according to claim 1, wherein the first fork frame (230) and the second fork frame (240) are disposed in parallel with the frame (210).
4. The forked substrate transport device as claimed in claim 1, wherein the first fork carriage (230) is formed by a plurality of forks arranged side by side.
5. The forked substrate transport device as claimed in claim 1, wherein the second fork carriage (240) is formed by a plurality of forks arranged side by side.
6. The substrate transport apparatus according to claim 1, wherein the fork driver (250) pivots the first fork carriage (230) and the second fork carriage (240) up and down simultaneously, and makes the first fork carriage (230) and the second fork carriage (240) parallel or perpendicular to the lift mechanism (10).
7. A forked substrate transportation device, comprising a lifting mechanism (10) and a forked set (20), wherein:
the lifting mechanism (10) is composed of a lifting track (110) and a lifting driver (120), wherein:
the lifting track (110) is embedded into one surface of the lifting mechanism (10) in the vertical direction from top to bottom;
the lifting driver (120) is arranged at the top of one end of the lifting mechanism (10) and is used for providing power for driving the tooth fork group (20) to lift;
the dental fork set (20) comprises:
a bracket (210), a fork connecting part (220) facing the lifting mechanism (10) is further arranged at the middle section of the bracket (210), a bracket rail (211) embedded in the bracket (210) is arranged at one side not facing the lifting mechanism (10), and a bracket driver (212) is arranged at one end of the bracket (210);
a third yoke (260) coupled to one end of a first rotary shaft (261) and disposed between a middle portion and one end of the bracket (210);
a fourth yoke (270) coupled to one end of a second rotating shaft (271), disposed between the middle section and the other end of the bracket (210), and parallel to the third yoke (260);
the other ends of the first rotating shaft (261) and the second rotating shaft (271), which are not engaged with the third fork (260) and the fourth fork (270), are embedded in the bracket track (211), and provide a rotational power to allow the third fork (260) and the fourth fork (270) to rotate at 90 degrees;
the support driver (212) is used for driving the first rotating shaft (261) and the second rotating shaft (271) to move and rotate in the support track (211);
one side of the fork connecting part (220) is arranged at the middle section of the bracket (210), and the other side of the fork connecting part is embedded into the lifting track (110) and can move in the lifting track (110) by the driving of the lifting driver (120).
8. The dental fork substrate transport apparatus of claim 7, wherein the third fork carriage (260) is formed by a plurality of forks arranged in parallel.
9. The forked substrate transport device as claimed in claim 7, wherein the fourth fork carriage (270) is formed by a plurality of forks being juxtaposed.
10. The apparatus for transporting a dental fork substrate as claimed in claim 7, wherein the third fork (260) and the fourth fork (270) are simultaneously moved toward both ends of the rack (210) by the rack driver (212) while rotating 90 degrees.
11. A method for transporting a forked substrate, which is applied to the forked substrate transporting apparatus according to any one of claims 1 to 6, characterized by comprising at least the following steps:
step one (S710): a substrate is transported to the lower layer conveying mechanism for positioning by the lower layer conveying belt, and a tooth fork group is positioned below the lower layer conveying mechanism for standby;
step two (S720): the tooth fork group is lifted upwards from the bottom by a lifting mechanism and is positioned in a crossed way with the lower layer conveying mechanism to bear the substrate;
step three (S730): the tooth fork group bears the weight of the base plate, and is horizontally positioned with the upper layer conveying mechanism after the base plate is lifted upwards to the top;
step four (S740): the upper layer conveying mechanism moves to enter the lower part of the substrate and is positioned with the tooth fork frame in a staggered mode;
step five (S750): after the upper layer conveying mechanism bears the substrate, the substrate is displaced in the horizontal direction to be taken away;
step six (S760): the fork group is pivoted downwards by a fork driver so as to be parallel to the lifting mechanism and then move downwards to the bottom;
step seven (S770): after the fork group descends to the bottom, the fork group is pivoted upwards by the fork driver so as to be vertical to the lifting mechanism;
step eight (S780): entering a standby state, and repeating the steps I (S710) to seven (S770) after the substrate is transported to the lower layer conveying mechanism by the lower layer conveying belt and positioned.
12. A method for transporting a forked substrate, which is applied to the forked substrate transporting apparatus according to any one of claims 7 to 10, characterized by comprising at least the following steps:
step a (S810): a substrate is transported to the lower layer conveying mechanism for positioning by the lower layer conveying belt, and a tooth fork group is positioned below the lower layer conveying mechanism for standby;
step B (S820): the tooth fork group is lifted upwards from the bottom by a lifting mechanism and is positioned in a crossed way with the lower layer conveying mechanism to bear the substrate;
step C (S830): the tooth fork group bears the weight of the base plate, and is horizontally positioned with the upper layer conveying mechanism after the base plate is lifted upwards to the top;
step D (S840): the upper layer conveying mechanism moves to enter the lower part of the substrate and is positioned with the tooth fork frame in a staggered mode;
step E (S850): the tooth fork set descends by virtue of the lifting mechanism, and simultaneously the rotating shaft provides rotating power, so that the tooth fork set can rotate at 90 degrees, and the rotating shaft moves to two ends of the bracket when the tooth fork set rotates;
step F (S860): the tooth fork set rotates and then descends to the bottom, and then the rotation shaft provides rotation power to enable the tooth fork set to rotate by 90 degrees, so that the tooth fork set is perpendicular to the lifting mechanism and is in a standby state;
step G (S870): entering a standby state, and repeating the steps A (S810) to F (S860) after the substrate is transported to the lower layer transportation mechanism by the lower layer transportation belt and positioned.
13. A forked substrate transportation device, comprising a lifting mechanism (50) and a pair of forked members (60), wherein:
the lifting mechanism (50) is composed of a lifting track (510) and a lifting driver (520), wherein:
the lifting track (510) is arranged on one side of the lifting mechanism (50), is embedded into the lifting mechanism (50) from the vertical direction of the top to the bottom, extends from the top of the lifting track (510) to the two sides and downwards, and is communicated to the bottom of the lifting channel (510) to form a loop;
the lifting driver (520) is arranged at one end of the lifting mechanism (50) and is used for providing power for driving the double-tooth fork set (60) to lift;
the double-prong set (60) is formed by combining at least two sets of prong sets (600), wherein each prong set (600) comprises:
a bracket (610) formed by assembling a first bracket (611) and a second bracket (612), and a fork connecting part (620) facing the lifting mechanism (50) is arranged at the joint of the first bracket (611) and the second bracket (612);
a first fork frame (630) disposed at the middle section of the first bracket (611) and having a plurality of forks facing a side not facing the fork connection portion (620);
a second fork frame (640) disposed at the middle section of the second bracket (612), and also having a plurality of forks facing a side not facing the fork connection portion (620) and corresponding to the first fork frame (612) in parallel;
a yoke rotation shaft (660) disposed at the pivot of the bracket (610) and the first yoke (611) and the second yoke (612), and providing a rotation force when the first yoke (630) and the second yoke (640) change directions;
the tooth fork connection part (620) is composed of a first connection part (621) and a second connection part (622), wherein the first connecting portion (621) is connected to an end of the first holder (611) facing the second holder (612), the second connecting part (622) is connected with one end of the second bracket (612) facing the first bracket (611), one side of the fork connecting part (620) facing the lifting mechanism (50) is embedded in the lifting track (510), and can be driven by the lifting driver (520) to move in the lifting track (510) and lifted to the top of the lifting track (510), the fork connecting part (620) is divided into the first connecting part (621) and the second connecting part (622) and moves to both sides and descends to the bottom of the lifting rail (510) respectively, the first connecting part (621) and the second connecting part (622) are connected to form the tooth fork connecting part (620);
the double-tooth fork set (60) is respectively arranged at the top and the bottom of the lifting mechanism (50) and is driven by the lifting driver (520) to move, so that the double-tooth fork set (60) circulates and exchanges positions.
14. The apparatus for transporting a forked substrate according to claim 13, wherein the lifting rail (510) is provided with belts, chains, gears, slides, screws or screw elements or other transmission components inside it that enable the forked connecting portion (620) to be moved by the lifting driver (520).
15. The substrate transport apparatus according to claim 13, wherein the first fork frame (630) and the second fork frame (640) are disposed in parallel with the rack.
16. The forked substrate transport device as claimed in claim 13, wherein the first fork carriage (630) is formed by a plurality of forks arranged side by side.
17. The forked substrate transport device as claimed in claim 13, wherein the second fork carriage (640) is formed by a plurality of forks arranged side by side.
18. The substrate transport apparatus according to claim 13, wherein the fork rotation axis (660) allows the first fork arm (630) and the second fork arm (640) to simultaneously rotate by 90 degrees, and simultaneously move the first fork arm (630) and the second fork arm (640) toward both ends of the frame by the fork driver (650).
19. A method for transporting a forked substrate, which is applied to the forked substrate transporting device as claimed in any one of claims 13 to 18, characterized in that it comprises at least the following steps:
step 1 (S1010): a substrate is transported to the lower layer conveying mechanism for positioning by the lower layer conveying belt, and a double-tooth fork set is respectively positioned below the lower layer conveying mechanism and below the upper layer conveying mechanism for standby;
step 2 (S1020): the tooth fork group below the lower layer conveying mechanism is lifted upwards from the bottom by a lifting mechanism and is positioned in a crossed manner with the lower layer conveying mechanism to bear the substrate, and meanwhile, the tooth fork group below the upper layer conveying mechanism moves towards two sides respectively and rotates for 90 degrees at the same time, so that the tooth fork group is parallel to the lifting mechanism;
step 3 (S1030): the tooth fork group positioned on the lower layer conveying mechanism bears the substrate and rises upwards to the top to be horizontally positioned with the upper layer conveying mechanism, and meanwhile, the tooth fork groups positioned on two sides of the lifting mechanism and close to the top are respectively descended to the bottom from the lifting tracks on the two sides and return to be vertical to the lifting mechanism after rotating 90 degrees, so that the tooth fork group on the lower layer is positioned below the lower layer conveying mechanism to be ready, and the substrate is conveyed to the lower layer conveying mechanism by the lower layer conveying belt to be positioned;
step 4 (S1040): the upper layer conveying mechanism moves to enter the lower part of the substrate and is positioned with the tooth fork frame in a staggered mode;
step 5 (S1050): the tooth fork group below the upper layer conveying mechanism moves to two sides and rotates 90 degrees at the same time, and the tooth fork group below the lower layer conveying mechanism is lifted upwards from the bottom by a lifting mechanism and is positioned in a crossed manner with the lower layer conveying mechanism to bear the substrate;
step 6 (S1060): the fork sets which are positioned at two sides of the lifting mechanism and are close to the top part respectively descend to the bottom part from the lifting tracks at two sides and then rotate 90 degrees to return to be vertical to the lifting mechanism, so that the lower fork set is positioned below the lower layer conveying mechanism to be ready, and simultaneously the fork set positioned on the lower layer conveying mechanism bears the substrate and rises upwards to the top part to be horizontally positioned with the upper layer conveying mechanism;
step 7 (S1070): steps 1(S1010) to 6(S1060) are repeated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910656715.5A CN112239069A (en) | 2019-07-19 | 2019-07-19 | Forked substrate conveying device and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910656715.5A CN112239069A (en) | 2019-07-19 | 2019-07-19 | Forked substrate conveying device and method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112239069A true CN112239069A (en) | 2021-01-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910656715.5A Withdrawn CN112239069A (en) | 2019-07-19 | 2019-07-19 | Forked substrate conveying device and method thereof |
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| Country | Link |
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| CN (1) | CN112239069A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114435900A (en) * | 2022-02-28 | 2022-05-06 | 深圳市哲盟软件开发有限公司 | Commodity circulation discharge conveying assembly |
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