Mechanism for positioning and locking vehicle body by matching vacuum with lifting mechanism

Abstract

The invention relates to the technical field of conveying, in particular to a mechanism for positioning and locking a vehicle body by matching vacuum with a lifting mechanism, which comprises a vehicle body, driven wheels are respectively mounted at two corners of one side of the lower surface of the vehicle body, and driving wheels are respectively mounted at two corners of the other side of the lower surface of the vehicle body; a parking mechanism is arranged on the lower surface of the vehicle body, a top plate is fixedly installed at the upper end of the vehicle body, a plurality of sets of moving plates are arranged on the upper surface of the top plate, each set of moving plates comprises two moving plates, a telescopic mechanism is arranged between the two moving plates, and a plurality of contact rollers are connected to the lower portions of the moving plates through transverse and vertical moving mechanisms. After the suction cups are pressed on the ground, the function of parking a vehicle body is achieved, the stability during parking is improved, the contact rollers on the two sides are close to each other and push the surfaces of the arc-shaped parts, meanwhile, under limiting guiding of the movable plates on the two sides, it is ensured that the frame box moves vertically upwards, and grabbing and moving of a mechanical arm are facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of conveying technology, in particular to a mechanism for positioning and locking a vehicle body using a vacuum lifting mechanism. BACKGROUND

[0002] In the field of semiconductor manufacturing, AGV (Automated Guided Vehicle) is a common and efficient material transportation method for wafer frame boxes. Wafer frame boxes can be seamlessly transferred between machines, buffer areas, and production lines by AGV. For example, using a fusion architecture of "AGV mobile chassis + collaborative robot arm + high-precision vision system", the wafer box can be automatically transported between different positions, and the grabbing accuracy can reach ±0.5mm, meeting the positioning requirements of 12-inch wafer boxes, and significantly improving production efficiency in some precision wafer manufacturing workshops.

[0003] The bearing table of the AGV will be directly limited by the displacement of the frame box through special structural design, ensuring that there is no looseness during transportation, but this design can only be used for a certain size of frame box, and the adaptability is poor; or through an automatic clamping mechanism to realize the positioning of the frame box, but it brings inconvenience to the subsequent mechanical hand grabbing.

[0004] In the existing vehicle body parking, only the friction between the caster wheels and the ground is relied on to ensure the stability of the vehicle body. In the work, the mis-touch of the personnel to the vehicle body, the end collision of the vehicle body, and other situations cause the vehicle body to deviate, thereby generating errors. SUMMARY

[0005] The purpose of the present application is to solve the shortcomings in the background art, and a mechanism for positioning and locking a vehicle body using a vacuum lifting mechanism is proposed.

[0006] To achieve the above purpose, the technical scheme adopted by the present application is as follows: a mechanism for positioning and locking a vehicle body using a vacuum lifting mechanism, comprising a vehicle body, two driven wheels are installed on one side of the lower surface of the vehicle body, two drive wheels are installed on the other side of the lower surface of the vehicle body, a parking mechanism is arranged on the lower surface of the vehicle body, a top plate is fixedly installed on the upper end of the vehicle body, a plurality of group moving plates are arranged on the upper surface of the top plate, each group of moving plates is provided with two moving plates and a telescopic mechanism is arranged between the two moving plates, a plurality of contact rollers are connected to the lower surface of the moving plate through horizontal and vertical moving mechanisms; The two moving plates of each group position the two side surfaces of the frame box, and when the contact roller pushes the arc-shaped part, the frame box moves upward along the two moving plates.

[0007] Preferably, the parking mechanism comprises a pressure column slidingly inserted into the lower surface of the vehicle body in the vertical direction, a pressure rod slidingly inserted into the lower end of the pressure column, a suction cup fixedly connected to the lower end of the pressure rod, a buffer spring sleeved on the outer surface of the pressure rod and located between the pressure column and the pressure rod, and a pressing mechanism arranged on one side of the pressure column.

[0008] Preferably, the pressing mechanism comprises a telescopic cylinder arranged below the vehicle body, a first connecting seat rotatably connected to one end of the telescopic cylinder, the first connecting seat being fixedly connected to the lower surface of the vehicle body, a prying frame rotatably connected to the other end of the telescopic cylinder, a second connecting seat rotatably sleeved on the outer side of the prying frame, the upper end of the second connecting seat being fixedly connected to the lower surface of the vehicle body, and the one side end of the prying frame being rotatably connected to the outer surface of the pressure column.

[0009] Preferably, the upper surface of the top plate is provided with a sliding opening, the inner bottom surface of the sliding opening is fixedly embedded with a supporting plate, the telescopic mechanism comprises a bidirectional cylinder fixedly installed on the upper surface of the supporting plate, a mounting seat fixedly installed between the bidirectional cylinder and the supporting plate, two telescopic ends of the bidirectional cylinder are respectively fixedly connected with a moving frame, and the upper end of the moving frame is fixedly connected to the side surface of the moving plate.

[0010] Preferably, the lower end of the moving frame is fixedly connected with a bottom plate, the lower surface of the bottom plate is in sliding contact with the upper surface of the supporting plate, the edge of the moving frame is provided with a clamping opening, and the clamping opening is slidingly sleeved on the edge of the sliding opening.

[0011] Preferably, the horizontal and vertical moving mechanism comprises a connecting plate fixedly connected to the side surface of the moving plate, the lower surface of the connecting plate is connected with a bent plate through a vertical servo mechanism, the lower end of the bent plate is fixedly connected with a side plate, one side surface of the side plate is connected with a distance adjusting plate through a horizontal servo mechanism, one side surface of the distance adjusting plate is fixedly installed with a concave frame, the central shaft of the contact roller is fixedly penetrated with a rotating shaft, and the two ends of the rotating shaft are respectively rotatably penetrated through the inner wall of the concave frame.

[0012] Preferably, the vertical servo mechanism comprises a threaded rod rotatably installed on the lower surface of the connecting plate, the threaded rod is threadedly penetrated through the upper surface of the bent plate, one side of the lower surface of the connecting plate close to the threaded rod is fixedly connected with a vertical guide rod, the vertical guide rod is slidingly penetrated through the upper surface of the bent plate, a servo motor is fixedly installed on the lower surface of the connecting plate through a motor seat, the outer surface of the upper end of the threaded rod and the output shaft of the servo motor are respectively fixedly sleeved with transmission gears, and the two transmission gears are in mesh with each other.

[0013] Preferably, the horizontal servo mechanism comprises a horizontal guide rod slidingly penetrated through the side surface of the side plate, one end of the horizontal guide rod is fixedly connected with the side surface of the distance adjusting plate, a short distance cylinder is fixedly installed on one side surface of the side plate, and the telescopic end of the short distance cylinder is slidingly penetrated through the side plate and fixedly connected to the side surface of the distance adjusting plate.

[0014] Compared with the prior art, the present application has the following beneficial effects: 1、The vehicle body needs to stop, the telescopic cylinder is retracted, the pry frame is pulled, the pry frame is rotated and the pressure column is pressed down, the pressure column is moved down, the suction cup is moved down, the suction cup is pressed on the ground, and the function of stopping the vehicle body is played, the stability during parking is improved. In this process, the buffer spring plays a buffering role, prevents the reaction force of the pressure rod from moving the vehicle body, ensures the stability of the stop, and a working cycle is completed by controlling the telescopic cylinder to extend, pushing the pry frame, moving the pressure column, and moving the suction cup away from the ground. The vehicle body can mechanically travel; 2、In the conveying line, the mechanical hand grabs the frame box and places it between the two moving plates, and corresponds to the position between the two contact rollers, then the vehicle body is conveyed to the specified position, the distance adjusting plate is moved by controlling the short stroke cylinder to extend, the two contact rollers are close to each other, the surface of the arc-shaped part is pushed by the contact roller, and the frame box is ensured to move vertically under the limiting guidance of the two moving plates, which is convenient for the mechanical hand to grab and move; 3、The vehicle body controls the operation of the servo motor, and then the two transmission gears are driven, and then the threaded rod rotates, and then the bending plate moves up or down, and then the side plate moves vertically, changes the distance between the contact roller and the moving plate, and ensures that the contact roller can be aligned with one side of the arc-shaped part close to the upper end, so that the contact roller can make the frame box move a large distance vertically when pushing the arc-shaped part. DETAILED DESCRIPTION

[0015] Figure 1 It is a structural schematic view of the mechanism for positioning and locking the vehicle body by using the vacuum cooperation lifting mechanism; Figure 2 It is a structural schematic view of the mechanism for positioning and locking the vehicle body by using the vacuum cooperation lifting mechanism Figure 1 It is an enlarged view of A in the mechanism for positioning and locking the vehicle body by using the vacuum cooperation lifting mechanism; Figure 3 It is another view schematic view of the mechanism for positioning and locking the vehicle body by using the vacuum cooperation lifting mechanism; Figure 4 It is a schematic view of the upper end of the mechanism for positioning and locking the vehicle body by using the vacuum cooperation lifting mechanism; Figure 5 It is a sectional view of the top plate of the mechanism for positioning and locking the vehicle body by using the vacuum cooperation lifting mechanism; Figure 6 It is a schematic view of the moving plate of the mechanism for positioning and locking the vehicle body by using the vacuum cooperation lifting mechanism; Figure 7 It is a schematic view of the mechanism for positioning and locking the vehicle body by using the vacuum cooperation lifting mechanismFigure 6 Enlarged view at B; Figure 8 A front view of a mechanism for positioning and locking a vehicle body using a vacuum matching lifting mechanism; Figure 9 A front view of a mechanism for positioning and locking a vehicle body using a vacuum matching lifting mechanism; Figure 8 Enlarged view at C.

[0016] Wherein: 1, vehicle body; 2, driven wheel; 3, drive wheel; 4, telescopic cylinder; 5, first connecting seat; 6, prying frame; 7, second connecting seat; 8, pressing column; 9, buffer spring; 10, pressing rod; 11, suction cup; 12, top plate; 13, sliding port; 14, moving frame; 15, clamping port; 16, moving plate; 17, supporting plate; 18, mounting seat; 19, bidirectional cylinder; 20, bottom plate; 21, side plate; 22, distance adjusting plate; 23, concave frame; 24, contact roller; 25, rotating shaft; 26, horizontal guide rod; 27, short distance cylinder; 28, bending plate; 29, connecting plate; 30, vertical guide rod; 31, threaded rod; 32, transmission gear; 33, servo motor; 34, motor seat; 35, frame box; 36, arc-shaped part. DETAILED DESCRIPTION

[0017] The following description is provided to enable any person skilled in the art to practice the present application. The preferred embodiments described below are only examples of the present application and other obvious variants can be conceived by those skilled in the art.

[0018] As Figures 1-9 shown in a mechanism for positioning and locking a vehicle body using a vacuum matching lifting mechanism, comprising a vehicle body 1, the lower surface of the vehicle body 1 is provided with two driven wheels 2 at two corners on one side, the lower surface of the vehicle body 1 is provided with two drive wheels 3 at two corners on the other side, the lower surface of the vehicle body 1 is provided with a parking mechanism, the upper end of the vehicle body 1 is fixedly provided with a top plate 12, the upper surface of the top plate 12 is provided with a plurality of groups of moving plates 16, each group of moving plates 16 is provided with two moving plates 16 and a telescopic mechanism is arranged between the two moving plates 16, a plurality of contact rollers 24 are connected to the lower surface of the moving plate 16 through horizontal and vertical moving mechanisms; The two moving plates 16 of each group are positioned on the two side surfaces of the frame box 35, when the contact roller 24 pushes the arc-shaped part 36, the frame box 35 moves upward along the two moving plates 16. The shape of the frame box 35 is as Figure 4 shown.

[0019] The parking mechanism comprises a pressing column 8 slidably inserted into the lower surface of the vehicle body 1 in the vertical direction, the half section of the pressing column 8 is in the shape of "T", the pressing column 8 cannot move downward and separate from the lower surface of the vehicle body 1, the lower end of the pressing column 8 is slidably inserted with a pressing rod 10, the half section of the pressing rod 10 is in the shape of "T", the upper end of the pressing rod 10 is slidably inserted into the inner side of the pressing column 8 and cannot separate from the pressing column 8 due to the action of gravity, the lower end of the pressing rod 10 is fixedly connected with a suction cup 11, the outer surface of the pressing rod 10 is sleeved with a buffer spring 9, the buffer spring 9 is located between the pressing column 8 and the pressing rod 10, and the pressing column 8 is provided with a pressing mechanism. After the suction cup 11 is controlled to move downward, it can be adsorbed on the ground, thereby achieving the effect of maintaining the parking of the vehicle body 1.

[0020] The pressing mechanism comprises a telescopic cylinder 4 arranged below the vehicle body 1, one end of the telescopic cylinder 4 is rotatably connected with a first connecting seat 5, the first connecting seat 5 is fixedly connected to the lower surface of the vehicle body 1, the other end of the telescopic cylinder 4 is rotatably connected with a prying frame 6, the outer side of the prying frame 6 is rotatably sleeved with a second connecting seat 7, the upper end of the second connecting seat 7 is fixedly connected to the lower surface of the vehicle body 1, and one side end of the prying frame 6 is rotatably connected with the outer surface of the pressing column 8. The telescopic cylinder 4 can be selected as a pneumatic cylinder, which can be quickly telescoped to drive the prying frame 6 to rotate and quickly control the suction cup 11 to move downward or upward.

[0021] The upper surface of the top plate 12 is provided with a sliding opening 13, the inner bottom surface of the sliding opening 13 is fixedly embedded with a supporting plate 17, the telescopic mechanism comprises a bidirectional cylinder 19 fixedly installed on the upper surface of the supporting plate 17, a mounting seat 18 fixedly installed between the bidirectional cylinder 19 and the supporting plate 17, two telescopic ends of the bidirectional cylinder 19 are respectively fixedly connected with a moving frame 14, and the upper end of the moving frame 14 is fixedly connected to the side surface of a moving plate 16. The mounting seat 18 can improve the stability of the bidirectional cylinder 19, the bidirectional cylinder 19 can synchronously control the two moving frames 14 to move synchronously, control the moving frames 14 to move close to or away from each other, thereby adapting to the placement of frame boxes 35 of different sizes and improving the applicability.

[0022] The lower end of the moving frame 14 is fixedly connected with a bottom plate 20, the lower surface of the bottom plate 20 is in sliding contact with the upper surface of the supporting plate 17, the edge of the moving frame 14 is provided with a clamping opening 15, and the clamping opening 15 is slidably sleeved on the edge of the sliding opening 13. The stability of the moving frame 14 when moving along the inner side of the sliding opening 13 can be improved.

[0023] The horizontal and vertical moving mechanism comprises a connecting plate 29 fixedly connected to the side surface of the moving plate 16, the lower surface of the connecting plate 29 is connected with a bent plate 28 through a vertical servo mechanism, the lower end of the bent plate 28 is fixedly connected with a side plate 21, one side surface of the side plate 21 is connected with a distance adjusting plate 22 through a horizontal servo mechanism, one side surface of the distance adjusting plate 22 is fixedly installed with a concave frame 23, the central shaft of a contact roller 24 is fixedly penetrated with a rotating shaft 25, and both ends of the rotating shaft 25 are rotatably penetrated through the inner wall of the concave frame 23. The contact roller 24 can be made of hard rubber material to prevent scratching the arc-shaped part 36 on the surface of the frame box 35.

[0024] The vertical servo mechanism comprises a threaded rod 31 rotatably installed on the lower surface of the connecting plate 29, the threaded rod 31 is threadedly penetrated through the upper surface of the bent plate 28, the lower surface of the connecting plate 29 and close to one side of the threaded rod 31 is fixedly connected with a vertical guide rod 30, the vertical guide rod 30 is slidably penetrated through the upper surface of the bent plate 28, the edge of the lower surface of the connecting plate 29 is fixedly installed with a servo motor 33 through a motor base 34, the outer surface of the upper end of the threaded rod 31 and the output shaft of the servo motor 33 are respectively fixedly sleeved with transmission gears 32, and the two transmission gears 32 are meshed with each other. When the servo motor 33 is driven, the threaded rod 31 can be rotated to control the up-and-down movement of the bent plate 28, and the vertical guide rod 30 can improve the stability of the up-and-down movement of the bent plate 28.

[0025] The horizontal servo mechanism comprises a horizontal guide rod 26 slidably penetrated through the side surface of the side plate 21, one end of the horizontal guide rod 26 is fixedly connected with the side surface of the distance adjusting plate 22, one side surface of the side plate 21 is fixedly installed with a short stroke cylinder 27, and the telescopic end of the short stroke cylinder 27 is slidably penetrated through the side plate 21 and fixedly connected with the side surface of the distance adjusting plate 22. The short stroke cylinder 27 is telescopic to control the movement of the distance adjusting plate 22, and the horizontal guide rod 26 improves the stability of the movement of the distance adjusting plate 22.

[0026] The vehicle body 1 is flexibly controlled to move by driving and steering the driving wheel 3, and the frame box 35 is transported, when it is necessary to stop, the vehicle body 1 controls the short stroke cylinder 4 to shrink, pulls the prying frame 6, so that the prying frame 6 is rotated and presses down the pressing column 8, when the pressing column 8 moves downward, the suction cup 11 is driven to move downward, after the suction cup 11 is pressed on the ground, the function of stopping the vehicle body 1 is realized, and the stability of stopping is improved. In this process, the buffer spring 9 plays a buffering role, prevents the reaction force of the pressing rod 10 from pushing the vehicle body 1, and ensures the stability of stopping.

[0027] By controlling the short stroke cylinder 4 to elongate, the prying frame 6 is pushed and squeezed, so that the pressing column 8 moves upward, and the suction cup 11 moves away from the ground, then the vehicle body 1 can mechanically travel, and one working cycle is completed.

[0028] In the conveyor line, after the robotic arm grasps the frame box 35, it is placed between two moving plates 16, corresponding to the position between two contact rollers 24. Then, it is transported by the vehicle body 1. After the frame box 35 is transported to the designated position, the short-pitch cylinder 27 is extended, causing the adjusting plate 22 to move. The contact rollers 24 on both sides move closer to each other, and the contact rollers 24 push against the surface of the arc-shaped part 36. At the same time, under the limiting guidance of the moving plates 16 on both sides, the frame box 35 is ensured to move vertically, which facilitates the robotic arm's grasping and movement. The vehicle body 1 controls the operation of the servo motor 33, which in turn causes the two transmission gears 32 to drive each other, which in turn causes the threaded rod 26 to rotate, which in turn causes the bending plate 28 to move up or down, which in turn causes the side plate 21 to move vertically, changing the distance between the contact roller 24 and the moving plate 16, ensuring that the contact roller 24 can be aligned with one side of the arc-shaped part 36 near the upper end, so that the contact roller 24 can push the arc-shaped part 36 to make the frame box 35 move a large distance vertically.

[0029] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism, comprising a vehicle body (1), characterized in that: Two driven wheels (2) are installed at two corners on one side of the lower surface of the vehicle body (1), and two drive wheels (3) are installed at two corners on the other side of the lower surface of the vehicle body (1). A parking mechanism is provided on the lower surface of the vehicle body (1). A top plate (12) is fixedly installed on the upper end of the vehicle body (1). Several sets of movable plates (16) are provided on the upper surface of the top plate (12). Each set of movable plates (16) consists of two plates and a telescopic mechanism is provided between them. Several contact rollers (24) are connected to the lower part of the movable plates (16) through horizontal and vertical moving mechanisms. The two moving plates (16) of each group position the two sides of the frame box (35). When the contact roller (24) pushes the arc-shaped part (36), the frame box (35) moves upward between the two moving plates (16).

2. The mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism according to claim 1, characterized in that: The parking mechanism includes a pressure column (8) that is vertically slidably inserted into the lower surface of the vehicle body (1). A pressure rod (10) is slidably inserted into the lower end of the pressure column (8). A suction cup (11) is fixedly connected to the lower end of the pressure rod (10). A buffer spring (9) is sleeved on the outer surface of the pressure rod (10), and the buffer spring (9) is located between the pressure column (8) and the pressure rod (10). A pressing mechanism is provided on one side of the pressure column (8).

3. The mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism according to claim 2, characterized in that: The pressing mechanism includes a telescopic cylinder (4) located below the vehicle body (1). One end of the telescopic cylinder (4) is rotatably connected to a first connecting seat (5), which is fixedly connected to the lower surface of the vehicle body (1). The other end of the telescopic cylinder (4) is rotatably connected to a prying frame (6). A second connecting seat (7) is rotatably sleeved on the outer side of the prying frame (6). The upper end of the second connecting seat (7) is fixedly connected to the lower surface of the vehicle body (1). One side of the prying frame (6) is rotatably connected to the outer surface of the pressure column (8).

4. The mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism according to claim 1, characterized in that: The top plate (12) has a sliding opening (13) on its upper surface. A support plate (17) is fixedly embedded in the inner bottom surface of the sliding opening (13). The telescopic mechanism includes a two-way cylinder (19) fixedly installed on the upper surface of the support plate (17). An installation seat (18) is fixedly installed between the two-way cylinder (19) and the support plate (17). The two telescopic ends of the two-way cylinder (19) are respectively fixedly connected to a moving frame (14). The upper end of the moving frame (14) is fixedly connected to the side surface of the moving plate (16).

5. A mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism according to claim 4, characterized in that: The lower end of the movable frame (14) is fixedly connected to a base plate (20). The lower surface of the base plate (20) slides in contact with the upper surface of the support plate (17). The edge of the movable frame (14) is provided with a slot (15), which is slidably fitted onto the edge of the sliding opening (13).

6. The mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism according to claim 1, characterized in that: The horizontal and vertical moving mechanism includes a connecting plate (29) fixedly connected to the side surface of the moving plate (16). The lower surface of the connecting plate (29) is connected to a bending plate (28) via a vertical servo mechanism. The lower end of the bending plate (28) is fixedly connected to a side plate (21). One side surface of the side plate (21) is connected to an adjusting plate (22) via a horizontal servo mechanism. A concave frame (23) is fixedly installed on one side surface of the adjusting plate (22). The central shaft of the contact roller (24) is fixedly penetrated by a rotating shaft (25). The two ends of the rotating shaft (25) respectively rotate through the inner wall of the concave frame (23).

7. A mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism according to claim 6, characterized in that: The vertical servo mechanism includes a threaded rod (31) rotatably mounted on the lower surface of the connecting plate (29). The threaded rod (31) is threaded through the upper surface of the bent plate (28). A vertical guide rod (30) is fixedly connected to the lower surface of the connecting plate (29) near the threaded rod (31). The vertical guide rod (30) slides through the upper surface of the bent plate (28). A servo motor (33) is fixedly mounted on the lower edge of the connecting plate (29) via a motor mount (34). A transmission gear (32) is fixedly sleeved on the upper end of the outer surface of the threaded rod (31) and the output shaft of the servo motor (33), and the two transmission gears (32) mesh with each other.

8. A mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism according to claim 6, characterized in that: The transverse servo mechanism includes a transverse guide rod (26) that slides through the side surface of the side plate (21). One end of the transverse guide rod (26) is fixedly connected to the side surface of the adjusting plate (22). A short-pitch cylinder (27) is fixedly installed on one side surface of the side plate (21). The telescopic end of the short-pitch cylinder (27) slides through the side plate (21) and is fixedly connected to the side surface of the adjusting plate (22).

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