CN103332426A - Automated material handling system and material conveying method - Google Patents
Automated material handling system and material conveying method Download PDFInfo
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- CN103332426A CN103332426A CN2013102760300A CN201310276030A CN103332426A CN 103332426 A CN103332426 A CN 103332426A CN 2013102760300 A CN2013102760300 A CN 2013102760300A CN 201310276030 A CN201310276030 A CN 201310276030A CN 103332426 A CN103332426 A CN 103332426A
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Abstract
The invention discloses an automated material handling system and a material conveying method. The automated material handling system comprises layer material outlets, layer material inlets, double-layer interlayer structures, telescopic supports, telescopic grasping devices, layer moving units and layer control units, wherein each double-layer interlayer structure is arranged at the bottom or on the top of each layer of a storage shelf, the bottom of the current layer of the storage shelf is formed by the upper layer of each double-layer interlayer structure, the top of the next layer of the storage shelf is formed by the lower layer of each double-layer interlayer structure, each telescopic support is arranged at the tail end of each lower layer structure, each telescopic support can carry out forward sliding or backward sliding relative to each lower layer structure, each telescopic grasping device is hung below each telescopic support, and is used for grasping materials, each layer moving unit is arranged on the upper surface of each upper layer structure, and is used for conveying the materials on each layer of the storage shelf to each layer material outlet, or conveying the materials entering each layer material inlet to the interior of each layer of the storage shelf, and each layer control unit is used for controlling each telescopic support to extend forwards and contract backwards, and/or controlling each telescopic grasping device to extend and grasp the materials. The automated material handling system and the material conveying method improve material conveying efficiency, and reduce the danger caused by the phenomenon that the materials fall off from the high position when the materials are conveyed.
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.
In the automated material delivery system of the present invention, the magazine that adopts is multilayer, and wherein, the structure of each layer magazine comprises:
Layer material outlet and a layer material inlet are positioned at the end of described each layer magazine;
Double-deck spacer structure is positioned at bottom or the top of described each layer magazine, and the upper strata of described spacer structure constitutes described bottom when layer magazine, and the lower floor of described spacer structure constitutes the described top of one deck magazine down;
Telescoping shoring column is positioned at the top end of described every layer of magazine;
Scalable grabbing device hangs on described telescoping shoring column below, is used for grasping material;
Layer mobile unit is positioned at the upper surface of the superstructure of described spacer structure, is used for the material on described every layer of magazine is sent to described layer material outlet, and the material that maybe will enter described layer of material inlet is sent to the inside of described every layer of magazine; Wherein, described mobile unit is belt conveyor, is respectively arranged with pulley at the two ends of the bottom of described every layer of magazine, is used for driving described belt conveyor around described pulley rolling;
Layer control unit is used for the elastic of the described telescoping shoring column of control, and/or controls the flexible of described scalable grabbing device and grasp described material.
Preferably, the understructure of described spacer structure is the chute structure, and the top card of described telescoping shoring column moves in described chute structure and along described chute structure.
Preferably, described telescoping shoring column is the chute structure, and the understructure bottom of described spacer structure is stuck in the described chute structure and along described chute structure moves.
Preferably, described automated material delivery system also comprises: layer delivery unit, the transmission plane of described layer delivery unit is positioned at or is higher than on the plane, upper surface place of superstructure of described spacer structure, and the bottom of described layer delivery unit is positioned at or is higher than on the plane, place, bottom of described spacer structure superstructure.
Preferably, described automated material delivery system also comprises board, and described board is provided with the liftable pedestal, and is positioned at a plurality of telescopic manipulators on the described liftable pedestal, is used for the material that gripping transports from the different layers delivery unit.
Preferably, described automated material delivery system also comprises a layer induction installation, and described layer induction installation is used for sending energizing signal to described layer control unit.
Preferably, described layer delivery unit is that belt conveying is carried or passed to drum-type.
Preferably, the track of described layer delivery unit is smooth curve.
Preferably, described layer delivery unit is provided with holding device.
The present invention also provides a kind of and adopts above-mentioned any described automatization materials conveying system to carry out the method that material transmits, wherein, comprising that material is sent with material sends two processes to, and described material is sent process and described material and sent process to and can carry out simultaneously or hocket:
Described material is sent process, comprising:
Step S01: material in each layer magazine, by layer mobile unit with described mass transport to a layer material outlet position, described layer mobile unit stops;
Step S02: the position that layer induction installation sensed described material, and to layer control unit transmission energizing signal;
Step S03: under the regulation and control of described layer control unit, the scalable grabbing device on the telescoping shoring column moves down, and grasps material, moves up then;
Step S04: under the regulation and control of described layer control unit, described telescoping shoring column stretches out to the outside, makes described material be positioned at the top of layer delivery unit;
Step S05: under the regulation and control of described layer control unit, described scalable grabbing device moves down, and described material is placed on the described layer delivery unit, and described scalable grabbing device upwards shrinks;
Step S06: the described telescoping shoring column described magazine inside of withdrawing, simultaneously, described layer delivery unit transmits described material;
Described material is sent process to, comprising:
Step S11: described layer delivery unit is sent to the position corresponding with described layer material inlet with material;
Step S12: the position that described layer induction installation sensed described material, and to layer control unit transmission energizing signal;
Step S13: under the control of described layer control unit, telescoping shoring column is protruding, and scalable grabbing device moves down then, grasps described material, moves up then;
Step S14: under the control of described layer control unit, the described telescoping shoring column described magazine inside of withdrawing, described scalable grabbing device moves down then, described material is placed on stop on layer mobile unit;
Step S15: described scalable grabbing device moves up, and simultaneously, described layer mobile unit is delivered to described magazine inside with described material.
Preferably, among the described step S05, described scalable grabbing device is placed on described material on the holding device of described layer delivery unit, and described holding device clamps described material.
Preferably, among the described step S13, after the holding device of described layer delivery unit unclamped, described flexible grabbing device moved down and grasps described material.
Preferably, after the described step S06, also comprise: at first, before described layer delivery unit is sent to board with described material, liftable pedestal on the described board carries out upper and lower movement, makes described telescopic manipulator be greater than or equal to the height of described layer delivery unit; Then, telescopic manipulator grasps described material and puts it on the described board.
Preferably, before the described step S11, also comprise: at first, the telescopic manipulator on the described board grasps described material from described board; Then, the liftable pedestal on the described board carries out upper and lower movement, makes described telescopic manipulator be greater than or equal to the height of described layer delivery unit, and described telescopic manipulator is positioned over described material on the described layer delivery unit.
Automated material delivery system of the present invention and material transfer approach, by every layer of magazine double-deck spacer structure being set, and at the end of the lower floor of double-deck spacer structure telescoping shoring column is set, at telescoping shoring column scalable grabbing device is set, in addition, being provided with a layer mobile unit in the superstructure of double-deck spacer structure is belt conveyor, belt conveyor carries out transmission around the pulley that these superstructure two ends arrange, like this, can make material from magazine inner continue be transported to a layer material outlet, perhaps be transported to magazine inside from layer material inlet, guaranteed the continuity of whole automated material delivery system; And be combined with a layer delivery unit at layer material outlet or inflow point, material is not to hang transportation, transport but be placed on layer delivery unit, can utilize like this telescoping shoring column stretch forward or backward drive scalable grabbing device and move forward to the top of layer delivery unit or move in the magazine from the top of layer delivery unit backward, time and energy that the process of not only having avoided manipulator upwards to extract material consumes, also guaranteed under the situation that material is gained in weight the danger that material falls from eminence.
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 understructure of spacer structure of a preferred embodiment of the present invention and the fit structure scheme drawing of telescoping shoring column
Fig. 5 is the structural representation of holding device clamping wafer of the layer delivery unit of a preferred embodiment of the present invention
Fig. 6 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. 7-14 sends corresponding cross section structure scheme drawing in each step of process for the material of the method for the transmission material of above-mentioned preferred embodiment of the present invention
Figure 15 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
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 2-5, 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, the automated material delivery system of present embodiment of the present invention, the magazine that adopts is multilayer magazine 200, wherein, the structure of each layer magazine 200 comprises:
Double-deck spacer structure 201 is positioned at bottom or the top of each layer magazine, and the superstructure 210 of spacer structure 201 constitutes when the bottom of layer magazine, and the understructure 209 of spacer structure 201 constitutes the top of one deck magazine down;
Here, see also Fig. 4, Fig. 4 is the understructure of spacer structure of a preferred embodiment of the present invention and the fit structure scheme drawing of telescoping shoring column, see also Fig. 4 A, telescoping shoring column 204 is the chute structure, the bottom of the understructure 209 of spacer structure 201 is stuck in the chute structure and along the chute structure moves, as shown in the figure, the understructure 209 of spacer structure 201 is " worker " font, the I shape lower end can be stuck in carries out slippage in the chute structure, and the lower end of I shape has certain gravity load-carrying capacity, is unlikely to be loaded with under the situation of weight in the chute structure, and the chute structure is broken away from from I-shaped structure;
Certainly, in another preferred embodiment of the present invention, see also Fig. 4 B, the understructure 209 of spacer structure 201 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.
Continue to introduce automated material delivery system of the present invention below, see also Fig. 3:
Layer mobile unit 208, be positioned at the upper surface of the superstructure 210 of spacer structure 201, that is to say the bottom that is positioned at every layer of magazine, be used for the material on every layer of magazine is sent to layer material outlet 202 that the material that maybe will enter layer material inlet 203 is sent to the inside of every layer of magazine; Wherein, a layer mobile unit 208 be 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 the drive belt conveyor around pulley rolling;
Layer control unit is used for the elastic of control telescoping shoring column 204, and/or controls the flexible of scalable grabbing device 205 and grasp material.
Here, concrete, when needs outwards transmitted material, a layer control unit controlled scalable grabbing device 205 and stretched out extracting material 206 downwards, and upwards shrinks, and then, layer control unit controlled stretching out forward of telescoping shoring column 204; When telescoping shoring column 204 reaches the top of layer delivery unit 207, layer control unit controlled scalable grabbing device 205 and moved down, and material 206 is placed on layer delivery unit 207, and upwards shrinks, then, layer control unit control telescoping shoring column 204 is to after contraction.
When needs inwardly transmitted material, layer control unit controlled stretching out forward of telescoping shoring column 204, and then, a layer control unit controlled scalable grabbing device 205 and stretched out the extracting material downwards, and upwards shrinks; In the time of in telescoping shoring column 204 is retracted to layer material inlet 203, layer control unit controlled scalable grabbing device 205 and moved down, and material is placed on layer mobile unit 208, and upwards shrinks.
In present embodiment of the present invention, in the automated material delivery system, the delivery unit 207 of layer in addition that matches with magazine 200, belt conveying be carried or be passed to layer delivery unit 207 can for drum-type, material can be placed on layer delivery unit 207 like this, by layer delivery unit 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 at layer delivery unit 207, such as chuck etc., with firm being clamped on layer delivery unit of material, prevent material landing or movement, see also Fig. 5, Fig. 5 is the structural representation of holding device clamping wafer of the layer delivery unit of a preferred embodiment of the present invention.
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 layer delivery unit 207 should be smooth curve, that is to say, layer delivery unit 207 should be made as slick and sly structure rather than horn structure at corner location.
The setting of layer delivery unit 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, layer delivery unit 207 in the present embodiment of the present invention has certain matching relationship with magazine 200, the transmission plane of layer delivery unit 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 layer delivery unit 207 is positioned at or is higher than on the plane, place, bottom of spacer structure 201 superstructures 210.Preferably, the transmission plane of layer delivery unit 207 is positioned on the plane, upper surface place of superstructure 210 of spacer structure 201, the bottom of layer delivery unit 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 layer delivery unit, need not consume more energy, reduce the delivery time of this process; And layer delivery unit can be worked simultaneously, when certain one deck delivery unit work, do not influence the work of other layer delivery unit.
In the present embodiment, the structure that layer delivery unit 207 matches also has board, and board is provided with the liftable pedestal, and is positioned at a plurality of scalable grabbing device on the liftable pedestal, is used for the material that gripping transports from the different layers delivery unit.Certainly, can also comprise induction installation in the board, be used for the position of induction material, thereby can make board control the movement of liftable pedestal and scalable grabbing device or flexible accurately.
Certainly, corresponding every layer of magazine all arranges a layer delivery unit and looks like and increased cost, still, saved the delivery time greatly, improved transmission efficiency, in the unit time, can transmit more material simultaneously, and reduce the danger that material drops from eminence in the prior art.
Consider accuracy and the continuity of the work of whole automated material delivery system, in present embodiment of the present invention, for the ease of the accurate flexible and extracting material of controlling the elastic and scalable grabbing device 205 of telescoping shoring column 204, in the automated material delivery system of present embodiment, also be provided with layer induction installation layer induction installation and be used for sending energizing signal to layer control unit, thereby control telescoping shoring column 204 and scalable grabbing device 205 are made corresponding actions.
Below in conjunction with accompanying drawing 6-14, 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. 6-14, wherein, the material that Fig. 6 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, and Fig. 7-14 sends corresponding cross section structure scheme drawing in each step of process for the material of the method for the transmission material of above-mentioned preferred embodiment of the present invention.
See also Fig. 6, the material of present embodiment of the present invention is sent process, comprising:
Step S01: see also Fig. 7, material 206 is transported to a layer material outlet position by layer mobile unit 208 with material 206 in each layer magazine, and layer mobile unit 208 stops;
Step S02: the position that layer induction installation sensed material 206, and to layer control unit transmission energizing signal;
Step S03: see also Fig. 8-10, under the regulation and control of layer control unit, as shown in Figure 8, the scalable grabbing device 205 on the telescoping shoring column 204 moves down; Then, as shown in Figure 9, scalable grabbing device 205 grasps material 206; Then, as shown in figure 10, scalable grabbing device 205 is being grabbed material 206 and is being moved up;
Step S04: see also Figure 11, under the regulation and control of layer control unit, telescoping shoring column 204 stretches out to the outside, makes material 206 be positioned at the top of layer delivery unit 207;
Step S05: see also Figure 12 and 13, under the regulation and control of layer control unit, scalable grabbing device 205 moves down, and material 206 is placed on layer delivery unit 207, as shown in figure 12; Then, scalable grabbing device 205 upwards shrinks, as shown in figure 13;
Here, in present embodiment of the present invention, scalable grabbing device 205 is placed on material 206 on the holding device (not shown) of layer delivery unit 207, and holding device clamps material 206.
Step S06: see also Figure 14, telescoping shoring column 204 is withdrawn into magazine 200 inside, and simultaneously, layer delivery unit 207 transmits material 206.
In present embodiment of the present invention, this step also comprises: at first, before layer delivery unit 207 was sent to board with material 206, the liftable pedestal on the board carried out upper and lower movement, makes scalable grabbing device be greater than or equal to the height of layer delivery unit; Then, scalable grabbing device grasps material 206 and puts it on the board.
Here need to prove, because layer delivery unit is multilayer, pick up for the ease of the material that each layer delivery unit 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 scalable grabbing device exactly, make scalable grabbing device 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, scalable grabbing device is placed on the material that grasps respectively on the corresponding placement location.
Next, see also Figure 15, Figure 15 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.
The material of present embodiment of the present invention is sent process to, comprising:
Step S11: layer delivery unit is sent to the position corresponding with layer material inlet with material;
Concrete, in the present embodiment, at first, the scalable grabbing device on the board grasps material from board; Then, the liftable pedestal on the board carries out upper and lower movement, makes scalable grabbing device be greater than or equal to the height of layer delivery unit, and scalable grabbing device is positioned over material on layer delivery unit; Then, layer delivery unit is sent to the corresponding position of layer material inlet with material.
Here need to prove, because layer delivery unit is multilayer, for the ease of to each layer delivery unit 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 scalable grabbing device exactly, make scalable grabbing device aim at material, and material is picked up from the relevant position of board, be placed on then on layer transfer station, for example, a plurality of placement locations are arranged on the board, each scalable grabbing device grasps material from corresponding placement location respectively and is placed on then on layer delivery unit.
Step S12: the position that layer induction installation sensed material, and to layer control unit transmission energizing signal;
Step S13: under the control of layer control unit, telescoping shoring column is protruding, and scalable grabbing device moves down then, grasps material, moves up then;
Here, in present embodiment of the present invention, after the holding device of layer delivery unit unclamped material, flexible grabbing device moved down the extracting material.
Step S14: under the control of layer control unit, telescoping shoring column withdrawal magazine inside, scalable grabbing device moves down then, material is placed on the layer mobile unit that stops;
Step S15: scalable grabbing device moves up, and simultaneously, layer mobile unit is delivered to magazine inside with material.
Automated material delivery system of the present invention and material transfer approach, by every layer of magazine double-deck spacer structure being set, and at the end of the lower floor of double-deck spacer structure telescoping shoring column is set, at telescoping shoring column scalable grabbing device is set, in addition, being provided with a layer mobile unit in the superstructure of double-deck spacer structure is belt conveyor, belt conveyor carries out transmission around the pulley that these superstructure two ends arrange, like this, can make material from magazine inner continue be transported to a layer material outlet, perhaps be transported to magazine inside from layer material inlet, guaranteed the continuity of whole automated material delivery system; And be combined with a layer delivery unit at layer material outlet or inflow point, material is not to hang transportation, transport but be placed on layer delivery unit, can utilize like this telescoping shoring column stretch forward or backward drive scalable grabbing device and move forward to the top of layer delivery unit or move in the magazine from the top of layer delivery unit backward, time and energy that the process of not only having avoided manipulator upwards to extract material consumes, also guaranteed under the situation that material is gained in weight the danger that material falls from eminence.
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 (14)
1. an automated material delivery system comprises the multilayer magazine, it is characterized in that, the structure of described each layer magazine comprises:
Layer material outlet and a layer material inlet are positioned at the end of described each layer magazine;
Double-deck spacer structure is positioned at bottom or the top of described each layer magazine; Wherein, the superstructure of described spacer structure constitutes described bottom when layer magazine, and the understructure of described spacer structure constitutes the described top of one deck magazine down;
Telescoping shoring column is positioned at the end of the understructure of described spacer structure; Described telescoping shoring column can carry out slippage forward or backward with respect to the understructure of described spacer structure;
Scalable grabbing device hangs on described telescoping shoring column below, is used for grasping material;
Layer mobile unit is positioned at the upper surface of the superstructure of described spacer structure, is used for the material on described every layer of magazine is sent to described layer material outlet, and the material that maybe will enter described layer of material inlet is sent to the inside of described every layer of magazine; Wherein, described mobile unit is belt conveyor, is respectively arranged with pulley at the two ends of the bottom of described every layer of magazine, is used for driving described belt conveyor around described pulley rolling;
Layer control unit is used for the elastic of the described telescoping shoring column of control, and/or controls the flexible of described scalable grabbing device and grasp described material.
2. automated material delivery system according to claim 1 is characterized in that, the understructure of described spacer structure is the chute structure, and the top card of described telescoping shoring column moves in described chute structure and along described chute structure.
3. automated material delivery system according to claim 1 is characterized in that, described telescoping shoring column is the chute structure, and the understructure bottom of described spacer structure is stuck in the described chute structure and along described chute structure moves.
4. automated material delivery system according to claim 1, it is characterized in that, described automated material delivery system also comprises: layer delivery unit, the transmission plane of described layer delivery unit is positioned at or is higher than on the plane, upper surface place of superstructure of described spacer structure, and the bottom of described layer delivery unit is positioned at or is higher than on the plane, place, bottom of described spacer structure superstructure.
5. automated material delivery system according to claim 4, it is characterized in that, described automated material delivery system also comprises board, described board is provided with the liftable pedestal, and be positioned at a plurality of telescopic manipulators on the described liftable pedestal, be used for the material that gripping transports from the different layers delivery unit.
6. automated material delivery system according to claim 1 is characterized in that, described automated material delivery system also comprises a layer induction installation, and described layer induction installation is used for sending energizing signal to described layer control unit.
7. automated material delivery system according to claim 4 is characterized in that, described layer delivery unit is that belt conveying is carried or passed to drum-type.
8. automated material delivery system according to claim 7 is characterized in that, the track of described layer delivery unit is smooth curve.
9. automated material delivery system according to claim 4 is characterized in that, described layer delivery unit is provided with holding device.
10. one kind is adopted any described automatization materials conveying system of claim 1-9 to carry out the method that material transmits, it is characterized in that, comprising that material is sent with material sends two processes to, and described material is sent process and described material and sent process to and can carry out simultaneously or hocket:
Described material is sent process, comprising:
Step S01: material in each layer magazine, by layer mobile unit with described mass transport to a layer material outlet position, described layer mobile unit stops;
Step S02: the position that layer induction installation sensed described material, and to layer control unit transmission energizing signal;
Step S03: under the regulation and control of described layer control unit, the scalable grabbing device on the telescoping shoring column moves down, and grasps material, moves up then;
Step S04: under the regulation and control of described layer control unit, described telescoping shoring column stretches out to the outside, makes described material be positioned at the top of layer delivery unit;
Step S05: under the regulation and control of described layer control unit, described scalable grabbing device moves down, and described material is placed on the described layer delivery unit, and described scalable grabbing device upwards shrinks;
Step S06: the described telescoping shoring column described magazine inside of withdrawing, simultaneously, described layer delivery unit transmits described material;
Described material is sent process to, comprising:
Step S11: described layer delivery unit is sent to the position corresponding with described layer material inlet with material;
Step S12: the position that described layer induction installation sensed described material, and to layer control unit transmission energizing signal;
Step S13: under the control of described layer control unit, telescoping shoring column is protruding, and scalable grabbing device moves down then, grasps described material, moves up then;
Step S14: under the control of described layer control unit, the described telescoping shoring column described magazine inside of withdrawing, described scalable grabbing device moves down then, described material is placed on the layer mobile unit that stops;
Step S15: described scalable grabbing device moves up, and simultaneously, described layer mobile unit is delivered to described magazine inside with described material.
11. material transfer approach according to claim 10 is characterized in that, among the described step S05, described scalable grabbing device is placed on described material on the holding device of described layer delivery unit, and described holding device clamps described material.
12. material transfer approach according to claim 10 is characterized in that, among the described step S13, after the holding device of described layer delivery unit unclamped, described flexible grabbing device moved down and grasps described material.
13. material transfer approach according to claim 10, it is characterized in that, after the described step S06, also comprise: at first, before described layer delivery unit is sent to board with described material, liftable pedestal on the described board carries out upper and lower movement, makes described telescopic manipulator be greater than or equal to the height of described layer delivery unit; Then, telescopic manipulator grasps described material and puts it on the described board.
14. material transfer approach according to claim 10 is characterized in that, before the described step S11, also comprises: at first, the telescopic manipulator on the described board grasps described material from described board; Then, described liftable pedestal carries out upper and lower movement, makes described telescopic manipulator be greater than or equal to the height of described layer delivery unit, and described telescopic manipulator is positioned over described material on the described layer delivery unit.
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