System and method for transporting substrates

A printing method comprising:

• providing a load station to load one or more substrates;
• said load station comprises:
• a platform configured to be moved in the horizontal direction;
• a row of vacuum grippers configured to grip said substrate at one end thereof;
• at least one row of Bernoulli grippers;
• said platform comprising a fixed part and a movable part, said movable part configured to rotate around a motor-activated axis, said row of vacuum grippers attached to said movable part and said at least one row of Bernoulli grippers attached to said fixed part;
• and
• a ramp configured to press said substrate being loaded to said at least one row of Bernoulli grippers;
• providing a first platen to received one or more substrates from said load station;
• providing a second platen to received one or more substrates from said load station;
• providing a platen transport system operatively connected to said load station, said platen transport system adapted to move said first and second platens in the system independently in a horizontal direction and in a vertical direction;
• loading one or more substrates to said first platen;
• moving said first platen horizontally to an alignment station which aligns the one or more substrates on said first platen;
• moving said first platen horizontally to a print station, the print station printing onto the one or more substrates on said first platen;
• moving said first platen horizontally to an unload station which unloads the one or more substrates from said first platen;
• loading one or more substrates to said second platen;
• moving said second platen horizontally to an alignment station which aligns the one or more substrates on said second platen;
• moving said second platen horizontally to a print station, the print station printing onto the one or more substrates on said second platen;
• and
• moving said second platen horizontally to an unload station which unloads the one or more substrates from said second platen,
• wherein said moving said first platen to said alignment station and said moving said second platen to said alignment station occur at different times, wherein said moving said first platen to said print station and said moving said second platen to said print station occur at different times,
• wherein said moving said first platen to said unload station and said moving said second platen to said unload station occur at different times, and
• wherein said first and second platens are moved vertically between said horizontal movements to avoid interference.

A substrate loading system comprising:

• a row of vacuum grippers configured to grip said substrate at one end thereof;
• at least one row of Bernoulli grippers;
• said vacuum grippers and said Bernoulli grippers mounted on a common platform moveable in a horizontal direction;
• said platform comprising a fixed part and a rotatable part, said rotatable part configured to rotate around a motor-activated axis, said row of vacuum grippers attached to said movable part and said at least one row of Bernoulli grippers attached to said fixed part;
• and
• a ramp configured to press said substrate being loaded to said at least one row of Bernoulli grippers.

A method of loading a substrate onto a platen comprising:

• a. gripping a first end of said substrate with a first row of vacuum grippers;
• b. elevating said gripped end;
• c. moving said substrate in the horizontal direction of said first row of grippers;
• d. pressing said substrate against a ramp and gripping it with a second row of Bernoulli grippers;
• e. repeating steps (c) and (d) if additional rows of grippers exist;
• and
• f. releasing said substrate from said grippers onto a platen.

A substrate unloading system comprising:

• a row of grippers mounted on a slanted plane and movable along said slanted plane, said grippers configured to grip a substrate at one end thereof;
• and
• a platen onto which said substrate is attached, said platen configured to be moved down in a vertical direction and away from said gripper in a horizontal direction while unloading said substrate,
• said row of gripper and said platen configured to move simultaneously so that said substrate remains substantially horizontal.

A method of unloading a substrate from a platen comprising:

• a. gripping one end of said substrate on said platen with a row of grippers mounted on a slanted plane and movable along said slanted plane;
• b. simultaneously moving said platen in both vertical and horizontal direction away from said grippers and moving said grippers down along said slanted plane until said substrate is removed from said platen, whereby said substrate remains horizontal;
• and
• c. releasing said substrate from said grippers.