Handling device and handling method
By using a variable-pitch manipulator and a dual-drive mechanism in the handling device, the problem of low handling efficiency caused by inconsistent T-Tray tray specifications was solved, and efficient chip handling was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HANGZHOU CHANGCHUAN TECH CO LTD
- Filing Date
- 2023-01-10
- Publication Date
- 2026-08-04
AI Technical Summary
In the existing technology, the inconsistent specifications of different T-Tray trays result in low chip handling efficiency and high equipment complexity.
Multiple variable-pitch robotic arms are used to change the product spacing in the X and Y directions through variable-pitch components and picking parts. Combined with a dual-drive mechanism, the product flow path is automatically adjusted to adapt to different sized trays.
It improves chip handling efficiency, enables efficient handling between trays of different sizes, and reduces the complexity of the equipment.
Smart Images
Figure CN116040292B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of semiconductor manufacturing technology, and in particular to a handling device and handling method. Background Technology
[0002] Semiconductor memory is an information storage device that uses semiconductor media. Commonly used memory modules, USB flash drives, and solid-state drives all fall under the category of memory. Currently, the industry designs, manufactures, and packages volatile memory chips and non-volatile memory chips.
[0003] As competition in the semiconductor industry intensifies, the demands on chip testing efficiency are also increasing. To improve testing efficiency, the number of chips tested at a time should be as high as possible. However, the specifications of the chip trays to be tested (hereinafter referred to as loading trays) are often inconsistent with those of the testing area trays (hereinafter referred to as T-Trays). In traditional chip testing equipment, chips are temporarily stored and unloaded through various T-Trays during the process from loading to testing. Each T-Tray is made with different specifications due to industry supplier limitations. Therefore, the range of motion of the handling robot is limited by the specifications of the testing area T-Trays and the customer's loading trays, which inevitably affects the handling efficiency and the complexity of the equipment. Summary of the Invention
[0004] Therefore, it is necessary to provide a handling device and a handling method to solve the problem of low handling efficiency caused by the different specifications of different T-Trays during chip handling in the prior art.
[0005] In a first aspect, this application provides a conveying device, comprising:
[0006] The main body and the dual-drive mechanism disposed on the main body;
[0007] Multiple variable-pitch manipulators are spaced apart on the machine body to jointly define the product flow path; each variable-pitch manipulator is connected to the dual-drive mechanism to move along the product flow path under the drive of the dual-drive mechanism; among the multiple variable-pitch manipulators, at least one variable-pitch manipulator can change the spacing of the product along the X direction, and at least another variable-pitch manipulator can change the spacing of the product along the Y direction.
[0008] Each of the variable pitch manipulators includes a variable pitch assembly connected to the dual drive mechanism and a plurality of pickups; the variable pitch assembly has a plurality of guide slides spaced apart along a first direction, and the spacing between any adjacent guide slides gradually increases along a second direction;
[0009] Each of the guide slides corresponds to one of the pickups, and a portion of the pickup extends into the corresponding guide slide; the plurality of pickups are configured to move along the corresponding guide slide in response to the drive of the pitch assembly to change the spacing between any adjacent pickups in the Y or X direction;
[0010] The X and Y directions are set at an angle; the first direction is either the X or Y direction, and the second direction is set at an angle to the first direction.
[0011] In one embodiment, the pitch-changing assembly includes a guide plate, a transverse slide bar, and guides; the guide plate is configured with a plurality of guide holes spaced apart along a first direction, each guide hole forming a guide slide; the plurality of guides are slidably connected to the transverse slide bar and are all movable relative to the transverse slide bar along the first direction; one end of each guide is correspondingly connected to a pickup element, and the other end extends into a corresponding guide hole; the guide plate is movable in a vertical direction, driving the guides to move relative to the transverse slide bar within the guide holes, thereby changing the spacing between any adjacent pickup elements.
[0012] In one embodiment, among the plurality of variable pitch manipulators, some of the variable pitch manipulators further include a crossbeam assembly, which is connected to the variable pitch assembly and to the dual drive mechanism, for driving the variable pitch assembly to move the plurality of pickups in the vertical and horizontal directions.
[0013] In one embodiment, among the plurality of variable-pitch manipulators, some of the variable-pitch manipulators together form a loading manipulator, which can sequentially transport the product between a first position, a second position, and a third position, and change the X-axis and Y-axis spacing during the transport process; among the plurality of variable-pitch manipulators, another portion of the variable-pitch manipulators together form a receiving manipulator, which can sequentially transport the product between a third position, a fourth position, and a fifth position, and change the X-axis and Y-axis spacing during the transport process; the X-axis and Y-axis spacing of the loading manipulator at the initial transport position are the same as the X-axis and Y-axis spacing of the receiving manipulator at the final transport position.
[0014] In one embodiment, the loading robot includes a first variable-pitch robot and a second variable-pitch robot; the first variable-pitch robot moves between a first position and a second position, and the second variable-pitch robot moves between a second position and a third position; wherein the first variable-pitch robot is used to change the product spacing X1 to a first target spacing X2, and the second variable-pitch robot is used to change the product spacing Y1 to a second target spacing Y2; the receiving robot includes a third variable-pitch robot and a fourth variable-pitch robot; the third variable-pitch robot moves between a third position and a fourth position, and the fourth variable-pitch robot moves between a fourth position and a fifth position; wherein the third variable-pitch robot is used to change the first target spacing X2 to a product spacing X1, and the fourth variable-pitch robot is used to change the second target spacing Y2 to a product spacing Y1.
[0015] In one embodiment, the spacing of multiple pickups in the first variable-pitch robot along the Y direction is the same as the product spacing Y1 at the first position; the spacing of multiple pickups in the second variable-pitch robot along the X direction is the same as the first target spacing X2 at the second position; the spacing of multiple pickups in the third variable-pitch robot along the Y direction is the same as the second target spacing Y2 at the third position; and the spacing of multiple pickups in the fourth variable-pitch robot along the X direction is the same as the product spacing X1 at the fourth position.
[0016] In one embodiment, the number of the third variable-pitch manipulators is at least two, and the at least two third variable-pitch manipulators are arranged at intervals along the X direction, and the movement path range of the fourth variable-pitch manipulator can cover the arrangement range of the at least two third variable-pitch manipulators.
[0017] In one embodiment, the machine body is provided with an alarm component; the alarm component includes an interference detection element and an alarm, the interference detection element is used to detect the distance between adjacent variable-pitch manipulators, and the alarm is used to issue an alarm when the detection distance detected by the interference detection element is lower than the alarm distance.
[0018] Secondly, this application also provides a handling method based on the aforementioned handling device, wherein the variable-pitch manipulator in the handling device includes a first variable-pitch manipulator, a second variable-pitch manipulator, a third variable-pitch manipulator, and a fourth variable-pitch manipulator; the method includes the following steps: controlling the first variable-pitch manipulator to handle the arrayed products from a first position to a second position, and during the handling process, changing the product spacing X1 along the X direction between multiple products to a first target spacing X2; then, the second variable-pitch manipulator handles the arrayed products at the second position to a third position, and during the handling process, changing the product spacing Y1 along the Y direction between multiple products to a second target spacing Y2; controlling the third variable-pitch manipulator to handle the arrayed products at the third position to a fourth position, and during the handling process, changing the first target spacing X2 along the X direction between multiple products to a product spacing X1; then, the fourth variable-pitch manipulator handles the arrayed products at the fourth position to a fifth position, and during the handling process, changing the second target spacing Y2 along the Y direction between multiple products to a product spacing Y1.
[0019] In one embodiment, the conveying device is equipped with at least one interference detection element and an alarm on its body. During the feeding process of the loading robot, at least one interference detection element is controlled to detect the distance between the first and second variable-pitch robots in real time. When the distance between the first and second variable-pitch robots is lower than the alarm distance, the alarm is triggered. During the receiving process of the receiving robot, at least one interference detection element is controlled to detect the distance between the third and fourth variable-pitch robots in real time. When the distance between the third and fourth variable-pitch robots is lower than the alarm distance, the alarm is triggered.
[0020] The aforementioned handling device incorporates multiple variable-pitch manipulators with guide rails of varying spacing between adjacent manipulators. This allows the picked-up parts of the product to move along these guide rails, accommodating the variable-pitch manipulators in the X or Y directions and thus adapting to handling within trays of different sizes. The handling method applicable to this device achieves complex variable-pitch operations by using multiple variable-pitch manipulators to perform pitch changes in one direction, thereby satisfying the varying pitch of the product relative to different trays in both the X and Y directions and improving the handling efficiency of the variable-pitch manipulators. Attached Figure Description
[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application.
[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0023] Figure 1 This is a schematic diagram of the structure of the feeding tray or receiving tray shown in one embodiment of this application;
[0024] Figure 2 This is a schematic diagram of the structure of the first buffer disk according to one embodiment of this application;
[0025] Figure 3 This is a schematic diagram of the structure of the detection tray shown in one embodiment of this application;
[0026] Figure 4 This is a schematic diagram of the structure of the second buffer disk shown in one embodiment of this application;
[0027] Figure 5 This is a schematic diagram of the conveying device according to one embodiment of this application;
[0028] Figure 6 yes Figure 5 Schematic diagram of the dual-drive mechanism;
[0029] Figure 7 yes Figure 5 Schematic diagrams of the first and second variable-pitch manipulators in the diagram;
[0030] Figure 8 yes Figure 5 Schematic diagrams of the third and fourth pitch-changing manipulators;
[0031] Figure 9 yes Figure 7 Schematic diagram of the intermediate pitch component;
[0032] Figure 10 yes Figure 9 A schematic diagram of the structure of the guide plate.
[0033] Explanation of reference numerals in the attached figures:
[0034] 100. Handling device; 110. First variable pitch robot; 120. Second variable pitch robot; 130. Third variable pitch robot; 140. Fourth variable pitch robot; 150. Crossbeam assembly; 160. Variable pitch assembly; 161. Transverse slide bar; 162. Guide plate; 1621. Guide slide; 163. Guide; 164. Variable pitch drive component; 165. Pick-up component; 170. Dual drive mechanism; 171. First dual drive component; 172. Second dual drive component; 173. Third dual drive component; 174. Fourth dual drive component; 180. Feeding and receiving device;
[0035] 200, Feeding tray; 300, First buffer tray; 400, Inspection tray; 500, Second buffer tray; 600, Receiving tray; 700, Product. Detailed Implementation
[0036] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.
[0038] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.
[0039] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0041] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0042] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0043] It should be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component.
[0044] The preferred embodiments of this application will now be described with reference to the accompanying drawings.
[0045] Combination Figures 1 to 10 This application discloses a conveying device 100, which is used to convey products 700 from a loading tray 200 to a testing tray 400 for loading, and to convey products 700 that have been tested by a testing device (not shown) from the testing tray 400 to a receiving tray 600 for unloading. The product spacing between the loading tray 200 and the testing tray 400, and between the receiving tray 600 and the testing tray 400, is different in both the X-direction and Y-direction. The X-direction and Y-direction are set at an angle; the following description assumes that the X-direction and Y-direction are perpendicular.
[0046] Please see Figures 1 to 4 In this embodiment, such as Figure 1 As shown, the loading tray 200 and the receiving tray 600 have the same row and column arrangement, which is 20 rows and 8 columns. The product spacing in the X direction (hereinafter referred to as column spacing) is X1, and the product spacing in the Y direction (hereinafter referred to as row spacing) is Y1. Figure 2 As shown, the first buffer disk 300 is 4 rows and 16 columns, with a column spacing of X2 and a row spacing of Y1. Figure 3 As shown, the detection tray 400 is 16 rows and 16 columns, with a column spacing of X2 and a row spacing of Y2. Figure 4 As shown, the second buffer tray 500 has 8 rows and 8 columns, with a column spacing of X1 and a row spacing of Y2. The following description of the conveying device 100 and conveying method will be based on the above specifications of the loading tray 200, the first buffer tray 300, the detection tray 400, the second buffer tray 500, and the receiving tray 600.
[0047] Please see Figures 5 to 9 The conveying device 100 provided in one embodiment of this application includes a body, a dual-drive mechanism 170 disposed on the body, and a plurality of variable-pitch manipulators, which are spaced apart on the body. Products 700 flow between adjacent variable-pitch manipulators, and the multiple manipulators collectively define the product flow path. Each variable-pitch manipulator is connected to the dual-drive mechanism 170 to move along the product flow path under the drive of the dual-drive mechanism 170. Among the multiple variable-pitch manipulators, at least one manipulator can change the spacing of the products 700 along the X-direction, and at least another manipulator can change the spacing of the products 700 along the Y-direction, thereby changing the spacing of the products 700 in the X and Y directions during the flow of the products 700. Figure 9 and Figure 10 As shown, each variable-pitch robot includes a variable-pitch assembly 160 and multiple pickup elements 165. The variable-pitch assembly 160 is connected to the dual-drive mechanism 170, and the pickup elements 165 are used to pick up the product 700. In this embodiment, the pickup element 165 is a suction nozzle.
[0048] like Figure 5As shown, according to some embodiments of this application, optionally, a plurality of variable-pitch manipulators, some of which are variable-pitch manipulators, jointly constitute a loading manipulator for transporting product 700 from the loading tray 200 to the inspection tray 400, thereby completing the loading. The loading manipulator can sequentially transport product 700 between a first position, a second position, and a third position, changing the X-axis and Y-axis spacing during the transport process. In this embodiment, when product 700 is in the first position, it is located within the loading tray 200; when product 700 is in the second position, it is located within the first buffer tray 300; and when product 700 is in the third position, it is located within the inspection tray 400, so that the inspection device can inspect product 700.
[0049] like Figure 5 As shown, the loading robot includes a first variable-pitch robot 110 and a second variable-pitch robot 120. The first variable-pitch robot 110 moves between a first position and a second position, and is used to change the product spacing X1 to a first target spacing X2. Figure 1 and Figure 2 As shown, the loading tray 200 has 20 rows and 8 columns, with a column spacing of X1 and a row spacing of Y1. The first buffer tray 300 has 4 rows and 16 columns, with a column spacing of X2 and a row spacing of Y1. During the process of the first variable-pitch robot 110 moving the product 700 from the loading tray 200 to the first buffer tray 300, the product spacing in the X direction is changed from X1 to X2 during the moving process.
[0050] like Figure 1 and Figure 2 As shown, the loading tray 200 has 20 rows and 8 columns, and the first buffer tray 300 has 4 rows and 16 columns. In this embodiment, the picking components 165 of the first variable-pitch robot 110 are arranged in a 4×8 configuration, i.e., 4 rows and 8 columns or 4 columns and 8 rows. The products 700 from the loading tray 200 are placed onto the first buffer tray 300 in a 4×8 layout. Since the first buffer tray 300 has 4 rows and 16 columns, and the picking components 165 of the first variable-pitch robot 110 are arranged in a 4×8 configuration, the first variable-pitch robot 110 needs to handle the products twice to fill the first buffer tray 300.
[0051] The second variable-pitch robot 120 moves between a second position and a third position, and is used to change the product spacing Y1 to a second target spacing Y2. For example... Figure 2 As shown, the first buffer disk has a column spacing of X2 and a row spacing of Y1. (The last sentence appears to be incomplete and possibly refers to a different data point.) Figure 3 As shown, the column spacing of the inspection tray 400 is X2, and the row spacing is Y2. The second variable-pitch robot 120 moves between the second position and the third position, so that the product 700 is transported from the first buffer tray 300 to the inspection tray 400, and the product spacing in the Y direction is changed from Y1 to Y2 during the transport process.
[0052] like Figure 2 and Figure 3 The first buffer tray 300 has a 4-row, 16-column layout, the detection tray 400 has a 16-row, 16-column layout, and the pickup parts 165 of the second variable-pitch robot 120 are arranged in a 2×16 configuration (either 2 rows, 16 columns or 2 columns, 16 rows). The products 700 from the first buffer tray 300 are placed onto the detection tray 400 in a 2×16 layout. Because the detection tray 400 has a 16-row, 16-column layout and the pickup parts 165 of the second variable-pitch robot 120 are arranged in a 2×16 configuration, the second variable-pitch robot 120 needs to perform 8 handling operations to fill the detection tray 400.
[0053] like Figure 5 As shown, among the multiple variable-pitch manipulators, another group of variable-pitch manipulators together form a receiving manipulator, used to transport product 700 from the inspection tray 400 to the receiving tray 600, thus completing the receiving process. The receiving manipulator can sequentially transport product 700 between the third, fourth, and fifth positions, changing the X-axis and Y-axis spacing during the transport process. Specifically, when product 700 is in the third position, it is located within the inspection tray 400, but the inspection has already been completed; when product 700 is in the fourth position, it is located within the second buffer tray 500; and when product 700 is in the fifth position, it is located within the receiving tray 600. During the receiving process of transporting product 700 from the inspection tray 400 to the receiving tray 600, the row and column spacing are changed, allowing product 700 to be smoothly transported from the inspection tray 400, where the row and column spacing differs from that of the receiving tray 600, to the receiving tray 600, thus completing the receiving process.
[0054] The receiving robot includes a third variable-pitch robot 130 and a fourth variable-pitch robot 140. The third variable-pitch robot 130 moves between a third position and a fourth position, and is used to change the first target spacing X2 to the product spacing X1. Figure 3 As shown, the detection tray 400 is 16 rows and 16 columns, with a column spacing of X2 and a row spacing of Y2. Figure 4 As shown, the second buffer tray 500 has 8 rows and 8 columns, with a column spacing of X1 and a row spacing of Y2. The third variable-pitch robot 130 moves between the third and fourth positions to transport the product 700 from the inspection tray 400 to the second buffer tray 500, and changes the product spacing in the X direction from X2 to X1 during the transport process.
[0055] like Figure 3 and Figure 4As shown, the inspection tray 400 has 16 rows and 16 columns, and the second buffer tray 500 has 8 rows and 8 columns. In this embodiment, the pickup components 165 of the third variable-pitch robot 130 are arranged in a 4×8 configuration, i.e., 4 rows and 8 columns or 4 columns and 8 rows. The products 700 from the inspection tray 400 are placed onto the second buffer tray 500 in a 4×8 layout. Since the second buffer tray 500 has 8 rows and 8 columns, and the pickup components 165 of the third variable-pitch robot 130 are arranged in a 4×8 configuration, the third variable-pitch robot 130 needs to perform two handling operations to fill the second buffer tray 500.
[0056] Please see Figure 5 , Figure 7 and Figure 8 According to some embodiments of this application, optionally, the conveying device 100 further includes a feeding and receiving device 180 for placing the feeding tray 200, the first buffer tray 300, the detection tray 400, the second buffer tray 500, and the receiving tray 600, and enabling the first buffer tray 300 to move between the first variable-pitch robot 110 and the second variable-pitch robot 120, the detection tray 400 to move between the second variable-pitch robot 120, the detection device, and the third variable-pitch robot 130, and the second buffer tray 500 to move between the third variable-pitch robot 130 and the fourth variable-pitch robot 140.
[0057] According to some embodiments of this application, optionally, there are multiple first buffer trays 300, corresponding respectively to the first variable-pitch robot 110 and the second variable-pitch robot 120. The multiple first buffer trays 300 are located in the feeding and receiving device 180, which is capable of exchanging the positions of the first buffer tray 300 corresponding to the first variable-pitch robot 110 and the first buffer tray 300 corresponding to the second variable-pitch robot 120. Preferably, there are two first buffer trays 300, each corresponding to the first variable-pitch robot 110 and the second variable-pitch robot 120, allowing the first variable-pitch robot 110 and the second variable-pitch robot 120 to operate independently without interference, thereby improving the efficiency of variable-pitch handling of the product 700.
[0058] When the first buffer tray 300 of the first variable-pitch robot 110 is filled with products 700, the first buffer tray 300 corresponding to the first variable-pitch robot 110 is full, while the first buffer tray 300 corresponding to the second variable-pitch robot 120 is empty. The receiving device 180 controls the first buffer tray 300 corresponding to the first variable-pitch robot 110 and the first buffer tray 300 corresponding to the second variable-pitch robot 120 to exchange positions, so that the first buffer tray 300 filled with products 700 is moved to the position of the second variable-pitch robot 120, allowing the second variable-pitch robot 120 to continue picking up products 700. The empty first buffer tray 300, whose products 700 have been taken by the second variable-pitch robot 120, is then moved to the position of the first variable-pitch robot 110, so that the first variable-pitch robot 110 can continue to place products 700 into the corresponding first buffer tray 300.
[0059] According to some embodiments of this application, optionally, there are multiple second buffer trays 500, corresponding respectively to the third variable-pitch robot 130 and the fourth variable-pitch robot 140. The multiple second buffer trays 500 are located in the feeding and receiving device 180, which is capable of exchanging the positions of the second buffer tray 500 corresponding to the third variable-pitch robot 130 and the second buffer tray 500 corresponding to the fourth variable-pitch robot 140. Preferably, there are two second buffer trays 500 between each third variable-pitch robot 130 and the fourth variable-pitch robot 140, with the two second buffer trays 500 corresponding to the third variable-pitch robot 130 and the fourth variable-pitch robot 140 respectively, so that the third variable-pitch robot 130 and the fourth variable-pitch robot 140 can operate independently without interference, thereby improving the efficiency of variable-pitch handling of the product 700.
[0060] like Figure 8 As shown, when the second buffer tray 500 of the third variable-pitch robot 130 is filled with products 700, the receiving device 180 controls the second buffer tray 500 of the third variable-pitch robot 130 to exchange positions with the second buffer tray 500 of the fourth variable-pitch robot 140, so that the second buffer tray 500 filled with products 700 is moved to the position of the fourth variable-pitch robot 140, allowing the fourth variable-pitch robot 140 to continue picking up products 700. The empty second buffer tray 500, whose products 700 have been taken by the fourth variable-pitch robot 140, is then moved to the position of the third variable-pitch robot 130, allowing the third variable-pitch robot 130 to continue placing products 700 into the corresponding second buffer tray 500.
[0061] According to some embodiments of this application, optionally, the number of third variable-pitch manipulators 130 is at least two, and the at least two third variable-pitch manipulators 130 are arranged at intervals along the X direction, and the movement path range of the fourth variable-pitch manipulator 140 can cover the arrangement range of the at least two third variable-pitch manipulators 130. For example... Figure 3 As shown, the detection tray 400 is 16 rows and 16 columns, with a column spacing of X2 and a row spacing of Y2. Figure 4 As shown, the second buffer disk 500 is 8 rows and 8 columns, with a column spacing of X1 and a row spacing of Y2. In this embodiment, as... Figure 1 As shown, there are two third variable-pitch robots 130. These two robots transport products 700 located in different areas of the same inspection tray 400 to different second buffer trays 500, changing the product spacing in the X direction from X2 to X1 during the transport process. Preferably, one of the two third variable-pitch robots 130 transports the products 700 from the right half (16 rows, 8 columns) of the inspection tray 400 to the corresponding second buffer tray 500, and the other transports the products 700 from the left half (16 rows, 8 columns) of the inspection tray 400 to the corresponding second buffer tray 500.
[0062] The fourth variable-pitch robot 140 moves between the fourth and fifth positions. The fourth variable-pitch robot 140 is used to change the second target spacing Y2 to the product spacing Y1. For example... Figure 4 As shown, the second buffer disk 500 is 8 rows and 8 columns, with a column spacing of X1 and a row spacing of Y2. Figure 1 As shown, the receiving tray 600 has 20 rows and 8 columns, with a column spacing of X1 and a row spacing of Y1. The fourth variable-pitch robot 140 moves between the fourth and fifth positions to transport the product 700 from the second buffer tray 500 to the receiving tray 600, and changes the product spacing in the Y direction from Y2 to Y1 during the transport process.
[0063] like Figure 1 and Figure 4 As shown, the second buffer tray 500 has an 8-row, 8-column layout, and the receiving tray 600 has a 20-row, 8-column layout. In this embodiment, the picking components 165 of the fourth variable-pitch robot 140 are arranged in a 4×8 configuration, i.e., 4 rows and 8 columns or 4 columns and 8 rows. The products 700 from the second buffer tray 500 are placed onto the receiving tray 600 in a 4×8 layout. Since the receiving tray 600 has a 20-row, 8-column layout, and the picking components 165 of the fourth variable-pitch robot 140 are arranged in a 4×8 layout, the fourth variable-pitch robot 140 needs to perform 5 handling operations to fill the receiving tray 600.
[0064] Optionally, to improve material collection efficiency, the picking part 165 of the fourth variable pitch robot 140 can be replaced with a 4-row, 14-column configuration, and the receiving tray 600 can also be changed to a 20-row, 14-column configuration.
[0065] In this embodiment, the X-axis and Y-axis spacing of the loading robot at the initial handling position (i.e., the first position) are the same as the X-axis and Y-axis spacing of the receiving robot at the end handling position (i.e., the fifth position). Accordingly, the loading tray 200 and the receiving tray 600 have the same row and column arrangement, which is 20 rows and 8 columns, with the product spacing in the X-axis being X1 and the product spacing in the Y-axis being Y1.
[0066] According to some embodiments of this application, optionally, the spacing of the plurality of pickups 165 in the first variable-pitch robot 110 along the Y direction is the same as the product spacing Y1 at the first position. That is, during the process of the first variable-pitch robot 110 transporting the product 700 from the loading tray 200 to the first buffer tray 300, the spacing of adjacent pickups 165 in the Y direction is consistent with and remains unchanged from the product spacing within the loading tray 200 and the first buffer tray 300. The spacing of the plurality of pickups 165 in the second variable-pitch robot 120 along the X direction is the same as the first target spacing X2 at the second position. That is, during the process of the second variable-pitch robot 120 transporting the product 700 from the first buffer tray 300 to the detection tray 400, the spacing of adjacent pickups 165 along the X direction is consistent with and remains unchanged from the product spacing within the first buffer tray 300 and the detection tray 400. In the third variable-pitch robot 130, the spacing of adjacent pickups 165 along the Y direction is the same as the second target spacing Y2 at the third position. That is, during the process of the third variable-pitch robot 130 transporting the product 700 from the detection tray 400 to the second buffer tray 500, the spacing of adjacent pickups 165 in the Y direction is consistent with and remains unchanged from the product spacing within the detection tray 400 and the second buffer tray 500. In the fourth variable-pitch robot 140, the spacing of multiple pickups 165 along the X direction is the same as the product spacing X at the fourth position. That is, during the process of the fourth variable-pitch robot 140 transporting the product 700 from the second buffer tray 500 to the receiving tray 600, the spacing of adjacent pickups 165 in the X direction is consistent with and remains unchanged from the product spacing within the second buffer tray 500 and the receiving tray 600.
[0067] like Figure 9 and Figure 10 As shown, the pitch-changing assembly 160 has a plurality of guide rails 1621 spaced apart along a first direction (X or Y), and the spacing between any adjacent guide rails 1621 gradually increases along a second direction. The plurality of guide rails 1621 are independently configured, and adjacent guide rails 1621 do not interfere with each other. Each guide rail 1621 corresponds to a pickup 165, and a portion of the pickup 165 extends into the corresponding guide rail 1621. The plurality of pickups 165 are configured to move along their corresponding guide rails 1621 in response to the drive of the pitch-changing assembly 160, thereby changing the spacing between any adjacent pickups 165 along the Y or X direction; wherein the second direction is angled relative to the first direction.
[0068] When the first direction is X, the pickup 165 can achieve variable product spacing in the X direction. For example... Figure 10 As shown, in the second direction, the spacing between adjacent guide rails 1621 is X1 at one end and X2 at the other end. (See also...) Figure 9 and Figure 10 When the pickup 165 slides along the corresponding guide slide 1621, the distance between adjacent pickups 165 changes from X1 to X2. Reversing the distance between the guide slides 1621, or moving the pickups 165 in the opposite direction, can change the distance between adjacent pickups 165 from X2 to X1. Correspondingly, when the first direction is set to the Y direction, the pickup 165 can achieve product spacing variation in the Y direction. The principle of product spacing variation in the Y direction is similar to the principle described above and will not be elaborated here.
[0069] like Figure 9 and Figure 10 As shown, according to some embodiments of this application, optionally, the pitch control assembly 160 includes a guide plate 162, a lateral slide bar 161, and a guide 163. It is understood that the pitch control assembly 160 also includes a pitch drive 164 that provides kinetic energy for pitch control; the pitch drive 164 is connected to the guide plate 162 to move the guide plate 162 relative to the pickup member 165. The guide plate 162 is configured with a plurality of guide holes spaced apart along a first direction, each guide hole forming a guide rail 1621. For example... Figure 9 As shown, the transverse slide bar 161 is arranged laterally. In this embodiment, the pitch-changing assembly 160 is provided with a bracket, which supports the guide plate 162, the transverse slide bar 161, and the guide 163. The transverse slide bar 161 is laterally connected to the bracket. Multiple guides 163 are slidably connected to the transverse slide bar 161 and can all move relative to the transverse slide bar 161 in a first direction. One end of each guide 163 is connected to a pickup 165, and the other end extends into a guide hole. The guide plate 162 can move in the vertical direction, driving the guide 163 to move relative to the transverse slide bar 161 within the guide hole, thereby changing the spacing between any two adjacent pickups 165.
[0070] In other embodiments, the guide slide 1621 may also be a sliding track fixedly connected to the guide plate 162, in which case the pickup 165 is slidably connected to the sliding track.
[0071] When the transverse slide bar 161 is set along the X direction, the pickup element 165 can achieve variable product spacing in the X direction. For example... Figure 10 As shown, in the vertical direction, the distance between adjacent guide rails 1621 is X1 at one end and X2 at the other. Please refer to [link / reference]. Figure 9 and Figure 10When the guide plate 162 moves upward in the vertical direction, each guide 163 slides along its corresponding guide slide 1621 in the vertical direction, causing each guide 163 to slide relative to the transverse slide bar 161 in the transverse direction. This changes the spacing between adjacent guides 163, thereby changing the spacing between adjacent pickups 165 from X1 to X2. Reversing the installation of the guide plate 162, or moving the guide plate 162 downward in the vertical direction, can change the spacing between adjacent pickups 165 from X2 to X1. Correspondingly, when the transverse slide bar 161 is set along the Y direction, the product spacing between adjacent pickups 165 can be varied in the Y direction. The principle of product spacing variation in the Y direction is similar to the principle described above and will not be elaborated here.
[0072] According to some embodiments of this application, optionally, among the multiple variable-pitch manipulators, some variable-pitch manipulators also include a crossbeam assembly 150. The crossbeam assembly 150 is connected to the variable-pitch assembly 160 and to the dual-drive mechanism 170. The crossbeam assembly 150 has a built-in motor and a slider. The variable-pitch assembly 160 is mounted on the slider. The motor drives the variable-pitch assembly 160 and the pickup 165 to move laterally with the slider. At the same time, the crossbeam assembly 150 also includes a vertical motor, which is used to drive the pickup 165 to move vertically to pick up materials. In this embodiment, the first variable-pitch manipulator 110, the third variable-pitch manipulator 130, and the fourth variable-pitch manipulator 140 all include a crossbeam assembly 150.
[0073] The dual-drive mechanism 170 includes a first dual-drive component 171, a second dual-drive component 172, a third dual-drive component 173, and a fourth dual-drive component 174, which are respectively connected to the first variable-pitch robot 110, the second variable-pitch robot 120, the third variable-pitch robot 130, and the fourth variable-pitch robot 140. Taking the first variable-pitch robot 110 and the first dual-drive component 171 as an example, the crossbeam assembly 150 of the first variable-pitch robot 110 is connected to the first dual-drive component 171, and the variable-pitch component 160 is mounted on the crossbeam assembly 150. The first dual-drive component 171 controls the movement of the crossbeam assembly 150, thereby enabling the first variable-pitch robot 110 to move between the loading tray 200 and the first buffer tray 300 under the control of the first dual-drive component 171. Similarly, the second dual-drive unit 172 controls the second variable-pitch robot 120 to move between the first buffer tray 300 and the detection tray 400, the third dual-drive unit 173 controls the third variable-pitch robot 130 to move between the detection tray 400 and the second buffer tray 500, and the fourth dual-drive unit 174 controls the fourth variable-pitch robot 140 to move between the second buffer tray 500 and the receiving tray 600.
[0074] Optionally, according to some embodiments of this application, the machine body is equipped with an alarm component. Preferably, the alarm component is disposed between adjacent variable-pitch manipulators to avoid motion interference between adjacent variable-pitch manipulators during handling. The alarm component includes an interference detection element and an alarm. The interference detection element is used to detect the distance between adjacent variable-pitch manipulators. In this embodiment, the interference detection element adopts a machine motion interference detection system, which can collect and plan trajectory data of the variable-pitch manipulators. The specific structure and program are not described in detail here. The alarm is used to issue an alarm when the detection distance detected by the interference detection element is lower than the alarm distance.
[0075] This application also provides a handling method based on the above-described handling device 100, the handling method comprising the following steps:
[0076] The first variable-pitch robot 110 is controlled to move the arrayed products 700 from the first position to the second position. During the moving process, the product spacing X1 in the X direction between multiple products 700 is changed to the first target spacing X2. During the process of the first variable-pitch robot 110 moving the products 700 from the loading tray 200 (X1, Y1) to the first buffer tray 300 (X2, Y1), the product spacing in the X direction is changed from X1 to X2. At this time, the products 700 are located in the first buffer tray 300 with a column spacing of X2 and a row spacing of Y1.
[0077] Subsequently, the second variable-pitch robot 120 transports the arrayed products 700 from the second position to the third position. During the transport process, the product spacing Y1 along the Y direction between multiple products 700 is changed to the second target spacing Y2. The second variable-pitch robot 120 moves between the second and third positions, so that the products 700 are transported from the first buffer tray 300 (X2, Y1) to the detection tray 400 (X2, Y2). During the transport process, the product spacing in the Y direction is changed from Y1 to Y2. At this time, the products 700 are located in the detection tray 400 with a column spacing of X2 and a row spacing of Y2.
[0078] Subsequently, the product 700 located on the testing tray 400 is tested using a testing device. The testing process and testing items are not limited.
[0079] After the inspection is completed, the third variable-pitch robot 130 is controlled to move the array of products 700 in the third position to the fourth position. During the moving process, the first target spacing X2 between multiple products 700 in the X direction is changed to the product spacing X1. The third variable-pitch robot 130 moves between the third and fourth positions to move the products 700 from the inspection tray 400 (X2, Y2) to the second buffer tray 500 (X1, Y2). During the moving process, the product spacing in the X direction is changed from X2 to X1. At this time, the products 700 are located in the second buffer tray 500 with a column spacing of X1 and a row spacing of Y2.
[0080] Subsequently, the fourth variable-pitch robot 140 transports the arrayed products 700 at the fourth position to the fifth position. During the transport process, the second target spacing Y2 between the multiple products 700 along the Y direction is changed to the product spacing Y1. The fourth variable-pitch robot 140 moves between the fourth and fifth positions to transport the products 700 from the second buffer tray 500 (X1, Y2) to the receiving tray 600 (X1, Y1). During the transport process, the product spacing in the Y direction is changed from Y2 to Y1. At this time, the products 700 are located in the receiving tray 600 with a column spacing of X1 and a row spacing of Y1.
[0081] The above-mentioned handling method uses multiple robotic arms to complete the pitch change in one direction to achieve complex pitch changes. The multiple robotic arms operate simultaneously without interfering with each other. The overall structure is simple, the movement distance of each pitch-changing robotic arm is shortened, and the handling efficiency is high.
[0082] In one embodiment, during the loading process of the loading robot, at least one interference detection device is controlled to detect the distance between the first variable-pitch robot 110 and the second variable-pitch robot 120 in real time. An alarm is triggered when the distance between the first variable-pitch robot 110 and the second variable-pitch robot 120 is lower than an alarm distance. It is understood that the alarm distance can be adjusted according to the size of each component and the moving speed of the variable-pitch robot during actual production. During the receiving process of the receiving robot, at least one interference detection device is controlled to detect the distance between the third variable-pitch robot 130 and the fourth variable-pitch robot 140 in real time, respectively. An alarm is triggered when the distance between the third variable-pitch robot 130 and the fourth variable-pitch robot 140 is lower than an alarm distance.
[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
Claims
1. A conveying device, characterized in that, include: The main body and the dual-drive mechanism disposed on the main body; Multiple variable-pitch manipulators are spaced apart on the machine body to jointly define the product flow path; each variable-pitch manipulator is connected to the dual-drive mechanism to move along the product flow path under the drive of the dual-drive mechanism; among the multiple variable-pitch manipulators, at least one variable-pitch manipulator can change the spacing of the product along the X direction, and at least another variable-pitch manipulator can change the spacing of the product along the Y direction. Each of the variable pitch manipulators includes a variable pitch assembly connected to the dual drive mechanism and a plurality of pickups; the variable pitch assembly has a plurality of guide slides spaced apart along a first direction, and the spacing between any adjacent guide slides gradually increases along a second direction; Each of the guide slides corresponds to one of the pickups, and a portion of the pickup extends into the corresponding guide slide; the plurality of pickups are configured to move along the corresponding guide slide in response to the drive of the pitch assembly to change the spacing between any adjacent pickups in the Y or X direction; Wherein, the X direction and the Y direction are set at an angle; the first direction is either the X direction or the Y direction, and the second direction is set at an angle to the first direction; Among the multiple variable-pitch manipulators, some of the variable-pitch manipulators together form a loading manipulator. The loading manipulator can sequentially transport the product between the first position, the second position, and the third position, and change the X-axis spacing and the Y-axis spacing during the transport process. Among the multiple variable-pitch manipulators, another part of the variable-pitch manipulators together form a receiving manipulator. The receiving manipulator can drive the product to be transported sequentially between the third position, the fourth position and the fifth position, and change the X-axis spacing and the Y-axis spacing during the transport process. The X-axis and Y-axis spacing of the loading robot at the initial position of the transport are the same as the X-axis and Y-axis spacing of the receiving robot at the end position of the transport.
2. The conveying device according to claim 1, characterized in that, The pitch control assembly includes a guide plate, a lateral slide bar, and a guide; The guide plate is constructed with a plurality of guide holes spaced apart along a first direction, each guide hole forming a guide slide; the plurality of guides are slidably connected to the transverse slide bar, and each can move relative to the transverse slide bar along the first direction; one end of each guide is connected to a pickup element, and the other end extends into a guide hole. The guide plate can move vertically, driving the guide to move relative to the transverse slide bar within the guide hole, thereby changing the spacing between any two adjacent pickups.
3. The conveying device according to claim 1, characterized in that, Among the multiple variable pitch manipulators, some of the variable pitch manipulators also include a crossbeam assembly, which is connected to the variable pitch assembly and the dual drive mechanism, for driving the variable pitch assembly to move the multiple pickups in the vertical and horizontal directions.
4. The conveying device according to any one of claims 1 to 3, characterized in that, The loading robot includes a first variable-pitch robot and a second variable-pitch robot; The first variable-pitch robot moves between a first position and a second position, and the second variable-pitch robot moves between a second position and a third position; wherein, the first variable-pitch robot is used to change the product spacing X1 to a first target spacing X2, and the second variable-pitch robot is used to change the product spacing Y1 to a second target spacing Y2. The material receiving robot includes a third variable-pitch robot and a fourth variable-pitch robot; The third variable-pitch robot moves between the third and fourth positions, and the fourth variable-pitch robot moves between the fourth and fifth positions; wherein, the third variable-pitch robot is used to change the first target spacing X2 to the product spacing X1, and the fourth variable-pitch robot is used to change the second target spacing Y2 to the product spacing Y1.
5. The conveying device according to claim 4, characterized in that, The spacing of multiple pick-up parts in the first variable-pitch robot along the Y direction is the same as the product spacing Y1 at the first position, and the spacing of multiple pick-up parts in the second variable-pitch robot along the X direction is the same as the first target spacing X2 at the second position. The spacing of the multiple pickups in the third variable-pitch manipulator along the Y direction is the same as the second target spacing Y2 at the third position, and the spacing of the multiple pickups in the fourth variable-pitch manipulator along the X direction is the same as the product spacing X1 at the fourth position.
6. The conveying device according to claim 4, characterized in that, The number of the third variable-pitch manipulators is at least two, and the at least two third variable-pitch manipulators are arranged at intervals along the X direction. The movement path range of the fourth variable-pitch manipulator can cover the arrangement range of the at least two third variable-pitch manipulators.
7. The conveying device according to claim 1, characterized in that, The machine body is equipped with an alarm component; The alarm component includes an interference detection element and an alarm. The interference detection element is used to detect the distance between adjacent variable-pitch manipulators, and the alarm is used to issue an alarm when the detected distance by the interference detection element is lower than the alarm distance.
8. A method for handling materials, characterized in that, Based on the handling device according to any one of claims 1 to 7, the variable-pitch manipulator in the handling device includes a first variable-pitch manipulator, a second variable-pitch manipulator, a third variable-pitch manipulator, and a fourth variable-pitch manipulator; the method includes the following steps: The first variable-pitch robot moves the arrayed products from the first position to the second position, and during the moving process, the product spacing X1 along the X direction between multiple products is changed to the first target spacing X2; then, the second variable-pitch robot moves the arrayed products at the second position to the third position, and during the moving process, the product spacing Y1 along the Y direction between multiple products is changed to the second target spacing Y2. The third variable-pitch robot moves the array of products at the third position to the fourth position, and during the moving process, the first target distance X2 between multiple products along the X direction is changed to the product distance X1; then, the fourth variable-pitch robot moves the array of products at the fourth position to the fifth position, and during the moving process, the second target distance Y2 between multiple products along the Y direction is changed to the product distance Y1.
9. The handling method according to claim 8, characterized in that, The conveying device is equipped with at least one interference detection device and an alarm. During the feeding process of the feeding robot, at least one interference detection device is controlled to detect the distance between the first variable pitch robot and the second variable pitch robot in real time. When the distance between the first variable pitch robot and the second variable pitch robot is lower than the alarm distance, the alarm is triggered. During the material receiving process of the receiving robot, at least one interference detection device is controlled to detect the distance between the third and fourth variable-pitch robots in real time. When the distance between the third and fourth variable-pitch robots is lower than the alarm distance, the alarm is triggered.