A robot clamping device and clamping method thereof, a plate carrier box, and a composite robot

Abstract

The present invention provides a robot clamping device and a clamping method thereof, a plate carrier box, and a composite robot, wherein the robot clamping device includes a clamping claw mechanism, which includes: a claw rod, a claw finger, a guide, and an elastic member, wherein the second end of the claw rod is connected to the robot claw end, the first end of the claw rod is provided with a first groove, the first part of the claw finger is limited in the first groove, the elastic member elastically supports the claw finger in the first groove, the second part of the claw finger is provided with a finger hook, the guide member is arranged on the finger hook and extends a distance outward of the finger hook, the guide member is induced by the positioning part of the matching member to prompt the finger hook to enter the clamping space to lift the clamping table, so as to form automatic correction during the clamping process.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot clamping device and a clamping method thereof, a plate carrier box and a composite robot. Background Art

[0002] At present, in various stages of the manufacturing or processing procedures of semiconductor products (such as the packaging and testing stage), magazine boxes (commonly known as carrier boxes, PCB board boxes) are usually used to batch load various types of semiconductor component products (such as PCB boards 8 carrying chips) for transportation, positioning and storage.

[0003] However, semiconductor manufacturing plants have extremely high requirements for product cleanliness and safety. If the substrate box falls during the production process, it will damage and contaminate the semiconductor components contained therein, thereby causing the batch of products to be scrapped. This will not only cause the company to suffer high production losses, but will also cause problems such as reduced production capacity. Therefore, this type of production accident is intolerable for semiconductor manufacturers.

[0004] Therefore, semiconductor manufacturers currently require manual work in the transportation and loading and unloading of substrate boxes. However, with the increasing labor costs and the increasing requirements for production efficiency and accuracy, the field urgently needs a reliable solution that can realize automatic clamping and transportation of substrate boxes. Summary of the invention

[0005] The main purpose of the present invention is to provide a robot clamping device and a clamping method thereof, a plate carrier box and a composite robot, so as to at least improve the fault tolerance of the automated clamping of the plate carrier box and form automatic correction during the clamping process.

[0006] In order to achieve the above-mentioned purpose, according to the first aspect of the present invention, there is provided a plate carrier box, wherein a fitting is provided on the box body, wherein a supporting wall is provided on the first surface of the fitting, and a positioning portion with a circular arc-shaped recess is provided on the first side of the fitting, and after the fitting is connected to the top of the box body, a height difference is formed between the first surface of the fitting and the top surface of the box body via the supporting wall, so as to separate a clamping space between the top surface of the box body and the bottom surface of the fitting, and define a clamping platform next to the positioning portion.

[0007] In order to achieve the above-mentioned purpose, according to the second aspect of the present invention, there is provided a robot clamping device, which is arranged at the claw end of the robot and is used to clamp the above-mentioned carrier box, and includes a clamping mechanism, which includes: a claw rod, a claw finger, a guide member, and an elastic member, wherein the second end of the claw rod is connected to the claw end of the robot, and a first groove is provided on the first end of the claw rod, and the first part of the claw finger is limited in the first groove. The elastic member elastically supports the claw finger in the first groove, and a finger hook is provided at the second part of the claw finger. The guide member is arranged on the finger hook and extends a distance outward from the finger hook. The guide member is guided by the positioning part of the matching member to prompt the finger hook to enter the clamping space to lift the clamping table.

[0008] In a possible preferred embodiment, a recess is provided on the wall of the first groove, and a first opening is provided between the first part and the second part of the claw finger to accommodate at least part of the guide member, and when the claw finger is pressed into the first groove, the guide member and the recess of the first groove abut against each other to limit the depth of the claw finger pressed into the first groove.

[0009] In a possible preferred embodiment, a notch is provided on the wall of the first groove, and a first opening is provided between the first part and the second part of the claw finger to accommodate at least part of the guide member, and when the claw finger is pressed into the first groove, the guide member and the notch of the first groove are abutted against each other to limit the depth of the claw finger pressed into the first groove and stop the guide member to limit the induction of the positioning part, and a first mark is provided on the guide member to identify the relative displacement of the first mark to understand the braking of the guide member, thereby marking the downward pressure limit of the claw rod.

[0010] In a possible preferred embodiment, the guide member includes: a roller and a rotating shaft, the roller is connected to the finger hook via the rotating shaft, the size of the roller exceeds the finger hook to cover at least a portion of the finger hook to form a guide and simultaneously define the non-roller covering area of ​​the finger hook as a lifting portion, the roller is guided into the arc-shaped recess of the positioning portion of the connector, thereby prompting the lifting portion of the finger hook to position and support the clamping table of the connector.

[0011] In a possible preferred embodiment, the robot clamping device also includes a side blocking mechanism, which includes: a bracket, a driving motor, a transmission unit, and a blocking rod. The transmission unit and the driving motor are respectively connected to the bracket to be fixed to the robot claw end via the bracket, wherein the driving motor is connected to the driving end of the transmission unit, and the blocking rod is connected to the linkage end of the transmission unit to be driven by the transmission unit to block the side of the carrier box in an embracing posture.

[0012] In a possible preferred embodiment, the transmission unit includes: a first gear, a second gear, and a cantilever, the first end of each cantilever is respectively connected to the first gear and the second gear, the first gear and the second gear are respectively connected to the bracket and mesh with each other, the drive motor is transmission connected to at least one of the first gear or the second gear, and the second end of the cantilever is connected to the gear lever.

[0013] In a possible preferred embodiment, the transmission unit also includes: a limit member, which is L-shaped and fixed on the bracket at a limit position near the first end of the cantilever to prevent the first end of the cantilever from continuing to move when the cantilever is driven to a preset limit position by the first gear / second gear.

[0014] In order to achieve the above-mentioned purpose, according to the third aspect of the present invention, a robot clamping device is provided, which is arranged at the robot claw end and is used to clamp the above-mentioned carrier box, and comprises: a clamping mechanism, a side stop mechanism, the clamping mechanism comprises: a claw rod, a claw finger, a guide member, and an elastic member, wherein the second end of the claw rod is connected to the robot claw end, a first groove is provided on the first end of the claw rod, the first part of the claw finger is limited in the first groove, the elastic member elastically supports the claw finger in the first groove, a finger hook is provided at the second part of the claw finger, the guide member is provided on the finger hook and extends a distance outward of the finger hook, the guide member is guided by the positioning part of the connecting part, so that the finger hook lifts the clamping platform of the connecting part, the first groove wall is provided with a notch, and the first part of the claw finger is provided with a notch. A first opening is provided between the first part and the second part to accommodate at least part of the guide member, and when the claw finger member is pressed into the first groove, the guide member abuts against the recess of the first groove to limit the depth of the claw finger member pressed into the first groove; the side blocking mechanism comprises: a bracket, a driving motor, a transmission unit, and a blocking rod, the transmission unit and the driving motor are respectively connected to the bracket to be fixed to the robot claw end through the bracket, wherein the transmission unit comprises: a first gear, a second gear, and a cantilever, each of the first ends of the cantilevers is respectively connected to the first gear and the second gear, the first gear and the second gear are respectively connected to the bracket and mesh with each other, the driving motor is connected to at least any one of the first gear or the second gear, and the second end of the cantilever is connected to the blocking rod to drive the blocking rod to block the side of the carrier box in an embracing posture.

[0015] In order to achieve the above-mentioned purpose, according to the fourth aspect of the present invention, a composite robot is provided for carrying the above-mentioned sheet material box, which comprises: a robotic arm, a mobile chassis, the robotic arm is arranged on the mobile chassis, and it also comprises: a clamping assembly, which is mounted on the claw end of the robotic arm, wherein the clamping assembly is composed of any of the above-mentioned robot clamping devices.

[0016] In order to achieve the above-mentioned purpose, according to the fifth aspect of the present invention, a clamping method of a robot clamping device is provided, which is used to control any of the above-mentioned robot clamping devices to clamp the above-mentioned carrier material box, and the steps include: the robot claw end drives the claw rod to press down until the claw finger contacts the top surface of the box body; the robot claw end drives the claw rod to gradually close, so that the guide part contacts the positioning part of the matching part to form an induction to adjust the direction of the carrier material box, until the finger hook is inserted into the clamping space of the matching part; the robot claw end drives the claw rod to lift up, so as to lift the clamping platform of the matching part through the finger hook.

[0017] The robot clamping device and its clamping method, plate carrier box and composite robot provided by the present invention improve the structure of the existing plate carrier box and the robot arm clamping claw, so that the robot arm is not easy to damage the material in the plate carrier box when clamping the plate carrier box. At the same time, during the clamping process, the clamping claw mechanism cooperates with the matching parts of the plate carrier box to form automatic correction, thereby ensuring the reliability of clamping and reducing the fault tolerance of the robot arm clamping claw when clamping the plate carrier box.

[0018] In addition, in some embodiments, through the intervention of the side blocking mechanism, when the clamping claw mechanism is clamped, it can further form a hug from the side of the carrier box, which can prevent the side leakage of materials in the carrier box, and at the same time further stabilize the carrier box from the side, thereby alleviating the shaking of the carrier box during the clamping and transportation process, so as to adapt to more stringent production process requirements, thereby making it possible to use such a mechanical arm robot to replace manual intervention in production to carry out procedures such as the transfer of carrier boxes and loading and unloading of equipment, thereby replacing manual labor to form automated production and providing the possibility of improving production efficiency.

[0019] On the other hand, since the robot clamping device provided in this case is suitable for adding or modifying existing robotic arms, the cost of upgrading such existing equipment is relatively low, which is suitable for market promotion and popularization. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 It is a structural schematic diagram of the carrier material box of the present invention;

[0022] Figure 2 It is a schematic structural diagram of the robot clamping device of the present invention being mounted on the robot claw end to clamp and load a sheet material box;

[0023] Figure 3 It is a schematic diagram of the assembly structure of the robot clamping device of the present invention;

[0024] Figure 4 It is a schematic structural diagram of a robot clamping device of the present invention for clamping and loading a sheet material box, wherein the fitting is in a perspective form;

[0025] Figure 5 It is a schematic structural diagram of the robot clamping device of the present invention;

[0026] Figure 6 It is a schematic structural diagram of the robot clamping device of the present invention;

[0027] Figure 7It is a schematic structural diagram of the robot clamping device of the present invention being mounted on the robot claw end to clamp and load a sheet material box;

[0028] Figure 8 It is a structural schematic diagram of the robot clamping device of the present invention, in which the clamping claw mechanism clamps the loading plate material box from the top, and the side blocking mechanism embraces the loading plate material box from the side.

[0029] Description of Reference Numerals

[0030] Plate carrier box 1, clamping claw mechanism 2, side stop mechanism 3, box body 11, matching part 12, supporting wall 13, positioning part 14, clamping space 15, clamping platform 16, robot 9, claw rod 21, claw finger 22, guide member 23, elastic member 24, first groove 25, finger hook 26, first opening 27, first mark 28, roller 231, rotating shaft 232, lifting part 233, bracket 31, driving machine 32, transmission unit 33, stop rod 34, limit member 35, first gear 331, second gear 332, cantilever 333, PCB board 8. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, the specific technical solution of the present invention will be clearly and completely described in conjunction with the embodiments below to help those skilled in the art further understand the present invention. Obviously, the embodiments described in this case are only embodiments of a part of the present invention, not all of the embodiments. It should be pointed out that for those of ordinary skill in the art, the embodiments in this application and the features in the embodiments can be combined with each other without departing from the concept of the present invention and without conflicting with each other. Based on the embodiments in the present invention, all other embodiments obtained without creative work by those of ordinary skill in the art should belong to the disclosure and protection scope of the present invention.

[0032] In addition, the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those described herein. At the same time, the terms "including" and "having" and any of their variations in the present invention are intended to cover non-exclusive inclusions. Unless otherwise clearly specified and limited, the terms "set", "layout", "installation", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this case can be understood according to the specific circumstances and in combination with the prior art.

[0033] Except for specific circumstances, the robot / robotic arm referred to in this case can be understood as a general reference to a robot containing a robotic arm, or a robotic arm-type robot.

[0034] Traditional robotic arm two-finger grippers usually use a clamping method to clamp objects. Therefore, for box-shaped objects, a grasping method is usually used to pinch the two sides of the box body to form a stable grip. However, for the existing structure of the carrier box, since it stores precision semiconductor materials, the box body needs to avoid being squeezed, and the gripping method will obviously cause squeezing pressure inside, thereby increasing the chance of damage to the internal material. At the same time, it also puts forward a certain precision control threshold for the gripping strength of the robotic arm gripper. These limitations have caused the gripping solution formed by the traditional robotic arm structure to be unable to meet the needs of clamping and transporting such carrier boxes.

[0035] For this see Figure 1 As shown, the present invention provides a carrier material box 1, whose box body 11 can adopt various existing schemes, but the top of the box body 11 is preferably provided with a connector 12, wherein a support wall 13 extends from the first surface of the connector 12, that is, the bottom surface of the connector 12, and a positioning portion 14 with an arc-shaped recess is provided on the first side of the connector 12, that is, the opening side of the connector 12 on both sides of the box body 11, wherein when the connector 12 is connected to the top of the box body 11, the support wall 13 can form a height difference between the first surface of the connector 12 and the top surface of the box body 11, thereby separating a clamping space 15 between the top surface of the box body 11 and the bottom surface of the connector 12, so as to define a clamping platform 16 next to the positioning portion 14.

[0036] In order to adapt the structure of the carrier material box 1, as Figures 1 to 8As shown, the robot clamping device provided by the present invention is arranged at the claw end of the robot 9 and is used to adapt and clamp the above-mentioned carrier material box 1, wherein the robot clamping device preferably includes a clamping mechanism 2, wherein the clamping mechanism 2 includes: a claw rod 21, a claw finger 22, a guide 23, and an elastic member 24, wherein the second end of the claw rod 21 is connected to the claw end of the robot 9, and the claw rod 21 is as shown Figure 3 As shown, a first groove 25 is provided on the first end, and the first part of the claw finger 22 is confined in the first groove 25, and the elastic member 24 is preferably a spring, which elastically supports the claw finger 22 in the first groove 25, wherein a finger hook 26 is provided at the second part of the claw finger 22.

[0037] Among them, a notch is provided on the wall of the first groove 25, and a first opening 27 is provided between the first part and the second part of the claw finger 22 to accommodate at least part of the guide member 23, and when the claw finger 22 is pressed into the first groove 25, the guide member 23 and the notch of the first groove 25 are abutted to limit the depth of the claw finger 22 pressed into the first groove 25.

[0038] In this embodiment, the guide member 23 includes: a roller 231 and a rotating shaft 232. The roller 231 is connected to the finger hook 26 via the rotating shaft 232, and the size of the roller 231 exceeds the finger hook 26 to cover at least a portion of the finger hook 26 to form a guide, and at the same time define the non-roller 231 covering area of ​​the finger hook 26 as a lifting portion 233. In addition, the roller 231 at least partially enters the first opening 27. On the one hand, it does not affect the rolling of the roller 231. On the other hand, when the roller 231 is made of a flexible material, such as rubber, silicone, etc., when the guide member 23 is abutted against the notch of the first groove 25 to limit the claw finger member 22, a secondary buffer can be further formed after the spring, thereby further reducing the downward pressure of the claw rod 21 to improve fault tolerance and reliability.

[0039] Therefore, when the robot starts to clamp the plate material box 1, it first moves the claw rod 21 to the top of the plate material box 1 and gradually moves down to the top surface of the box body 11. The claw finger 22 can form an elastic buffer with the claw rod 21 through the elastic member 24 or the roller 231 to improve the fault tolerance of the robot when manipulating the claw rod 21 to press down, and at the same time, it can also reduce the squeezing force of the claw finger 22 on the box body 11. Then the claw rod 21 begins to gradually close. At this time, since the roller 231 is more protruding than the finger hook 26, it can be moved before the finger hook 26 contacts with at least part of the positioning portion 14 on the side of the connecting member 12, and is induced to roll along the claw rod 21 as it gradually closes, so as to gradually adjust the direction of the carrier box 1 to form an automatic correction, and finally when the roller 231 and the positioning portion 14 reach the positioning position, the lifting portion 233 of the finger hook 26 can be just positioned and inserted into the clamping space 15 of the connecting member 12. At this time, when the claw rod 21 starts to lift, it can lift the clamping platform 16 of the connecting member 12 to clamp the carrier box 1.

[0040] In addition, it is worth mentioning that in order to provide fault tolerance for the claw rod 21 while being able to feedback features suitable for recognition by an automated sensing system such as a machine vision recognition system to identify the claw rod 21's pressing limit, in a preferred embodiment, Figure 3 to Figure 4 As shown, the guide member 23 is provided with a first mark 28, and the first mark 28 can be set on the wheel surface of the roller 231, and the first mark 28 can be a mark or a line or a feature with a gradient color suitable for perception by a machine vision recognition system. When the feature is set on the wheel surface of the roller 231, when the roller 231 is against the notch of the first groove 25 to limit the depth of the claw finger 22 pressed into the first groove 25, the roller 231 will also be braked to limit the induction of the positioning part 14 to it, that is, at this time, the roller 231 will not roll along the notch of the positioning part 14 or the side wall of the matching part 12, and at this time, the first mark 28 will not be able to roll on the roller 231, so that the change in its relative displacement, the technicians in this field can know that it has the possibility of being known by the machine vision recognition system, so as to know this situation and the braking of the roller 231 it refers to, and then mark the limit of the downward pressure of the claw rod 21, thereby providing a possible basis for the automatic control robot to adjust the downward pressure distance of the claw rod 21 in time.

[0041] It can be seen that the present invention cleverly uses the design of the clamping mechanism 2 to ensure fault tolerance and form automatic correction guidance. At the same time, without adding sensors, it can provide identification features for the existing automatic sensing system, making it possible for the structure of the present invention to be integrated into automated production.

[0042] In addition, it is worth mentioning that the clamping structure of the robot clamping device and the carrier material box 1 in this embodiment is essentially a clamping form in which the matching part 12 is pinched and lifted by the clamping claw mechanism 2. Therefore, it is different from the existing clamping structure of holding the box body 11, so as to be as far away from the box body 11 as possible, so that it is not easy to squeeze the box body 11 itself, and thus it is not easy to damage the material in the box body 11.

[0043] On the other hand, since the present invention adopts a unique guiding structure to automatically correct the position of the finger hook 26 until it is guided into the clamping space 15 to lift the clamping platform 16, the fault tolerance and reliability of the connection between the clamp mechanism 2 and the adapter 12 are guaranteed.

[0044] On the other hand, since both sides of the carrier box 1 are open, it must remain stable during transportation, otherwise the materials contained inside will easily leak out from the sides. These limitations make it impossible for the holding method formed by the traditional robotic arm structure to meet the needs of clamping and transporting such carrier box 1.

[0045] For this reason, in a preferred embodiment, Figures 5 to 8 As shown, the robot clamping device of the present invention also includes a side block mechanism 3, so as to form a blockage from the open openings on both sides of the box body 11 when the clamping mechanism 2 clamps the loading sheet material box 1, wherein the side block mechanism 3 example includes: a bracket 31, a driving motor 32, a transmission unit 33, and a baffle 34, the transmission unit 33 and the driving motor 32 are respectively connected to the bracket 31, so as to be fixed to the claw end of the robot 9 through the bracket 31, wherein the transmission unit 33 includes: a first gear 331, a second gear 332, and a cantilever 333, each of the first ends of the cantilevers 333 is respectively connected to the first gear 331 and the second gear 332, the first gear 331 and the second gear 332 are respectively connected to the bracket 31 and mesh with each other, the driving motor 32 is transmission-connected to at least any one of the first gear 331 or the second gear 332, and the second end of the cantilever 333 is connected to the baffle 34 to drive the baffle 34 to block the side of the loading sheet material box 1 in an embracing posture.

[0046] In addition, in order to improve the reliability of the side stop mechanism 3, as Figure 7 As shown, the transmission unit 33 also includes: a limit member 35, which is L-shaped and fixed on the bracket 31 at a limit position near the first end of the cantilever 333, so as to prevent the first end of the cantilever 333 from continuing to move when the cantilever 333 is driven to a preset limit position by the first gear 331 / the second gear 332, so as to avoid pinching the carrier box 1.

[0047] It can be seen that through the intervention of the side block mechanism 3, when the clamping claw mechanism 2 is clamped, it can further form a hug from the side of the carrier box 1, on the one hand, it can prevent the side leakage of materials in the carrier box 1, and at the same time, it can further stabilize the carrier box 1 from the side, thereby alleviating the shaking of the carrier box 1 during the clamping and transportation process. Therefore, according to the above embodiments, those skilled in the art know that the composite structure composed of the side block mechanism 3 and the clamping claw mechanism 2 is not only suitable for being installed on the claw end of the robot at the same time, but also can form functional cooperation, thereby stabilizing the transportation of the carrier box 1 to adapt to more stringent production process requirements.

[0048] Corresponding to the above-mentioned embodiments, the present invention also provides a clamping method of a robot clamping device, which is used to clamp the above-mentioned carrier material box 1, and the steps include: the claw end of the robot 9 drives the claw rod 21 to press down until the claw finger 22 contacts the top surface of the box body 11; the claw end of the robot 9 drives the claw rod 21 to gradually close, so that the guide member 23 contacts the positioning part 14 of the connecting member 12 to form an induction to adjust the direction of the carrier material box 1, until the finger hook 26 is inserted into the clamping space 15 of the connecting member 12; the claw end of the robot 9 drives the claw rod 21 to lift up, so as to lift the clamping platform 16 of the connecting member 12 through the finger hook 26.

[0049] Thereafter, the robot starts the driving machine 32 to drive the transmission unit 33 to move the blocking rod 34 to block the side of the sheet carrier box 1 in an embracing posture.

[0050] When removing the carrier box 1, the robot 9 separates the claw rod 21 to move away from the adapter 12 and then lifts it up. At the same time, the robot starts the drive motor 32, driving the transmission unit 33 to move the blocking rod 34 to withdraw from the side of the carrier box 1 in an arm-extending and embracing posture.

[0051] On the other hand, the present invention also provides a composite robot for carrying the sheet material box 1 of the above-mentioned embodiment, which comprises: a robotic arm, a mobile chassis, the robotic arm is arranged on the mobile chassis, wherein the mobile chassis can be an AGV robot, wherein the composite robot further comprises: a clamping assembly, which is mounted on the claw end of the robotic arm, wherein the clamping assembly is composed of the robot clamping device including any of the above-mentioned embodiments.

[0052] In summary, the robot clamping device, the plate carrier box 1 and the composite robot provided by the present invention improve the structure of the existing plate carrier box 1 and the robot arm clamping claw, so that the robot arm is not easy to damage the material in the plate carrier box 1 when clamping the plate carrier box 1. At the same time, during the clamping process, the clamping claw mechanism 2 cooperates with the matching part 12 of the plate carrier box 1 to form automatic correction, thereby ensuring the reliability of clamping and reducing the fault tolerance of the robot arm clamping claw when clamping the plate carrier box 1. This makes it possible to use such a robot arm robot to replace manual intervention in production to carry out the transportation of the plate carrier box 1, loading and unloading of equipment, and other procedures, thereby replacing manual intervention to form automated production and providing the possibility of improving production efficiency.

[0053] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation method. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is only limited by the claims and their full scope and equivalents. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0054] Those skilled in the art can understand that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be regarded as structures within the hardware component; the modules for implementing various functions can also be regarded as both software programs for implementing the method and structures within the hardware component.

[0055] In addition, all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program codes.

[0056] In addition, various implementation modes of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed by the embodiments of the present invention.

Claims

1. A robot clamping device, arranged at the end of the robot claw, for clamping and loading a sheet material box, characterized in that The invention comprises a clamping mechanism, which comprises: a claw rod, a claw finger, a guide, and an elastic member, wherein the second end of the claw rod is connected to the claw end of the robot, a first groove is provided on the first end of the claw rod, a first part of the claw finger is limited in the first groove, the elastic member elastically supports the claw finger in the first groove, a finger hook is provided at the second part of the claw finger, the guide member is arranged on the finger hook and extends a distance outward of the finger hook, and the guide member is guided by the positioning part of the matching part of the carrier material box to prompt the finger hook to enter the clamping space to lift the clamping table of the carrier material box; The guide member comprises: a roller and a rotating shaft, wherein the roller is connected to the finger hook via the rotating shaft, and the roller is larger than the finger hook to cover at least a part of the finger hook to form a guide, and at the same time, a non-roller-covered area of ​​the finger hook is defined as a lifting portion; A notch is provided on the wall of the first groove, and a first opening is provided between the first part and the second part of the claw finger to accommodate at least part of the roller, and when the claw finger is pressed into the first groove, the roller and the notch of the first groove are abutted to limit the depth of the claw finger pressed into the first groove and brake the roller to limit the induction of the positioning part, and a first mark is provided on the roller to identify the relative displacement of the first mark to understand the braking of the roller, thereby marking the downward pressure limit of the claw rod.

2. The robot clamping device according to claim 1, characterized in that: It also includes a side blocking mechanism, which includes: a bracket, a driving motor, a transmission unit, and a blocking rod. The transmission unit and the driving motor are respectively connected to the bracket to be fixed to the robot claw end via the bracket, wherein the driving motor is connected to the driving end of the transmission unit, and the blocking rod is connected to the linkage end of the transmission unit to be driven by the transmission unit to block the side of the carrier box in an embracing posture.

3. The robot clamping device according to claim 2, characterized in that: The transmission unit includes: a first gear, a second gear, and a cantilever. The first end of each cantilever is connected to the first gear and the second gear respectively. The first gear and the second gear are respectively connected to the bracket and mesh with each other. The driving machine is connected to at least one of the first gear or the second gear. The second end of the cantilever is connected to the stop rod.

4. A sheet carrier box for a robot clamping device as claimed in any one of claims 1 to 3, wherein: The carrier box body is provided with a connecting piece, which is characterized in that a supporting wall is provided on the first surface of the connecting piece, and a positioning portion with an arc-shaped recess is provided on the first side of the connecting piece. After the connecting piece is connected to the top of the box body, a height difference is formed between the first surface of the connecting piece and the top surface of the box body via the supporting wall, so as to separate a clamping space between the top surface of the box body and the bottom surface of the connecting piece, and define a clamping platform next to the positioning portion.

5. A composite robot for carrying the sheet carrier box as claimed in claim 4, comprising: A robotic arm, a mobile chassis, wherein the robotic arm is arranged on the mobile chassis, and is characterized in that it also includes: a clamping assembly, which is mounted on the claw end of the robotic arm, wherein the clamping assembly is composed of a robot clamping device as described in any one of claims 1 to 4.

6. A clamping method for a robot clamping device, used for controlling the robot clamping device as claimed in any one of claims 1 to 3 to clamp the carrier material box as claimed in claim 4, characterized in that the steps include: The robot claw drives the claw rod to press down until the claw finger contacts the top surface of the plate carrier box body; The claw end of the robot drives the claw rod to gradually close, so that the guide part contacts the positioning part of the fitting part to form an induction to adjust the direction of the carrier material box until the finger hook is inserted into the clamping space of the fitting part; The robot claw end drives the claw rod to lift up, so as to lift the clamping table of the fitting through the finger hook.

Images