gripper mechanism

Abstract

The present application relates to the technical field of handling device, especially to a clamping jaw mechanism, which comprises a clamping jaw power set and two clamping jaws, the two clamping jaws are connected to the clamping jaw power set, the clamping jaw power set can drive the two clamping jaws to clamp or release the carrier. The clamping jaw mechanism further comprises a brake device to provide a braking function. A guide structure is arranged between the clamping jaw mechanism and a lifting mechanism, the guide structure comprises a plurality of guide columns and a plurality of guide seats, each of the guide seats is provided with a guide hole, the guide columns and the guide seats can be arranged on the clamping jaw mechanism or the lifting mechanism, when the clamping jaw mechanism rises, the guide columns can be respectively inserted into the guide holes to provide the effect of guiding and positioning. The clamping jaw mechanism further comprises a horizontal adjustment mechanism, which can be used to adjust and detect the levelness. The clamping jaw mechanism further comprises a resilient downward pressing mechanism, which can be resiliently pressed on the top of the carrier.

Description

Technical Field

[0001] The present invention relates to the technical field of transport devices, and in particular to a clamping claw mechanism applicable to a transport device of an unmanned transport vehicle. Background Art

[0002] Existing automated guided vehicles (AGVs) are equipped with a gripper mechanism that grips a carrier and is then driven by a lifting mechanism to lift and lower the carrier to a desired location. However, existing gripper mechanisms are often highly complex, increasing costs, being prone to failure, and inconvenient to repair. Summary of the Invention

[0003] In order to solve the above technical problems, the purpose of the present invention is to provide a clamping mechanism with a simplified structure, which can reduce costs, reduce failures, and is simple and convenient to maintain.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The clamping mechanism is applied to a transport device and can clamp a carrier. The clamping mechanism is arranged below a lifting mechanism of the transport device and includes:

[0006] Lower the shell;

[0007] a gripper power unit, the gripper power unit being disposed on the lower housing;

[0008] Two clamping jaws, the two clamping jaws are disposed on the lower housing, the two clamping jaws are connected to the clamping jaw power unit, and the clamping jaw power unit can drive the two clamping jaws to clamp or release the carrier; and

[0009] A brake device is connected to the clamping jaw power group to provide a braking function.

[0010] Furthermore, the clamping jaw power group includes a driving motor and a transmission belt group, the transmission belt group is connected between the driving motor and the two clamping jaws, and the driving motor and the brake device are respectively arranged at both ends of the transmission belt group.

[0011] Furthermore, a guide structure is provided between the clamping mechanism and the lifting mechanism, and the guide structure includes multiple guide columns and multiple guide seats, each of which is provided with a guide hole. The guide columns and the guide seats can be set on the clamping mechanism or the lifting mechanism. When the clamping mechanism rises, the guide columns can be inserted into the guide holes respectively.

[0012] Furthermore, one end of each of the guide posts is in a cone or arc shape, and one end of each of the guide holes is provided with a cone hole.

[0013] Furthermore, it also includes a plurality of level adjustment mechanisms for adjusting the levelness of the clamping mechanism.

[0014] Furthermore, the horizontal adjustment mechanism includes a belt connector, a first base, a first axis, a second base, a second axis, a horizontal sensor and an adjustment screw. The first base is connected to the belt connector via the first axis, the second base is connected to the first base via the second axis, the second base is fixed to a fixed base on the lower shell, the first axis and the second axis are horizontally arranged and perpendicular to each other, the adjustment screw passes through the second base and is screwed to the fixed base, and the horizontal sensor is arranged on the second base.

[0015] Furthermore, the horizontal adjustment mechanisms are arranged on the lower shell near the edge or corner.

[0016] Furthermore, it also includes an elastic downward pressing mechanism, which includes a pressing piece, a connecting rod, a lifting fixed seat and an elastic piece. The pressing piece is connected to the lower end of the connecting rod, and the lifting fixed seat is fixed to the lower shell. The connecting rod can be lifted and lowered on the lifting fixed seat. The elastic piece is in contact with the connecting rod. The elastic piece can push the connecting rod and the pressing piece to move downward, so that the pressing piece elastically presses the carrier.

[0017] Furthermore, at least one guide rail is provided on the lower shell body, and the two clamping jaws are respectively connected to at least one guide slider, and the guide slider is slidably fitted on the guide rail.

[0018] The present invention provides beneficial effects: The clamping mechanism includes a lower housing, a clamping power unit, a brake device, and two clamping jaws. The clamping power unit and the two clamping jaws are disposed in the lower housing. The two clamping jaws are connected to the clamping power unit, which drives the two clamping jaws to clamp or release the carrier. The brake device is connected to the clamping power unit to provide a braking function. This clamping mechanism has a simplified structure, which can reduce costs, reduce failures, and simplify and facilitate maintenance.

[0019] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and illustration and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional diagram of a transport device according to an embodiment of the present invention.

[0021] Figure 2 2 is a perspective view of a transport device and a carrier according to an embodiment of the present invention.

[0022] Figure 3 It is a three-dimensional diagram of the clamping mechanism according to an embodiment of the present invention.

[0023] Figure 4 This is a three-dimensional diagram of the clamping mechanism from another angle according to an embodiment of the present invention.

[0024] Figure 5 2. It is a cross-sectional view of the clamping mechanism according to an embodiment of the present invention.

[0025] Figure 6 for Figure 3 Detailed drawing of part VI.

[0026] Figure 7 It is a plan view of the local structure of an embodiment of the present invention.

[0027] Figure 8 2 is a cross-sectional view of a transport device according to an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 1: base; 11: top plate; 2: transverse movement mechanism; 3: lifting mechanism; 36: guide seat; 361: guide hole; 362: tapered hole; 4: clamping claw mechanism; 41: driving motor; 42: transmission belt assembly; 43: clamping claw; 44: lower shell; 45: contrast sensor; 46: brake device; 47: guide column; 48: horizontal adjustment mechanism; 481: belt connector; 482: first seat body; 483: first axis; 484: second seat body; 485: second axis; 486: horizontal sensor; 487: adjustment screw; 488: fixed seat; 49: elastic downward pressure mechanism; 491: pressing part; 492: connecting rod; 493: lifting fixed seat; 494: elastic part; 50: guide rail; 51: guide slider; A: transverse movement direction; 100: carrier. DETAILED DESCRIPTION

[0030] The following is an explanation of the relevant embodiments disclosed in the present invention through specific specific examples. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual dimensions. It is stated in advance. The following embodiments will further explain the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of protection of the present invention. In addition, the term "or" used in this article may include any one or more combinations of the associated listed items depending on the actual situation.

[0031] [Example]

[0032] See also Figure 1-8The present invention provides a clamping mechanism that can be applied to a handling device of an unmanned guided vehicle for conveying a carrier 100. The carrier 100 can be a wafer box (FOUP) or a cassette, etc. The handling device may include a base 1, a transverse movement mechanism 2, a lifting mechanism 3 and a clamping mechanism 4.

[0033] The base 1 has a top plate 11, which can be a square plate. The traverse mechanism 2 is disposed on the top plate 11 of the base 1. The traverse mechanism 2 is disposed below the base 1. The lifting mechanism 3 is disposed below the traverse mechanism 2. The clamping mechanism 4 is disposed below the lifting mechanism 3. The base 1, traverse mechanism 2, lifting mechanism 3, and clamping mechanism 4 are disposed in order from top to bottom, with the lifting mechanism 3 connected between the traverse mechanism 2 and the clamping mechanism 4. The clamping mechanism 4 can be used to clamp the carrier 100. The traverse mechanism 2 drives the carrier 100 to move laterally along a traverse direction A perpendicular to the guide rail 50. The lifting mechanism 3 can also drive the carrier 100 to move up and down, so that the carrier 100 can be transported to a predetermined location.

[0034] See also Figures 3 to 5 The clamping mechanism 4 includes a clamping power unit and two clamping jaws 43. The clamping power unit includes a drive motor 41 and a transmission belt assembly 42. The drive motor 41, transmission belt assembly 42, and clamping jaws 43 are disposed in a lower housing 44. The drive motor 41 and transmission belt assembly 42 can be disposed within the lower housing 44 to prevent dust or oil generated during the operation of the clamping power unit (drive motor 41 and transmission belt assembly 42) from falling downward and contaminating the carrier 100. The two clamping jaws 43 can be disposed outside the lower housing 44, and the two clamping jaws 43 can be exposed on the bottom side of the lower housing 44 to clamp the carrier 100.

[0035] The drive belt assembly 42 connects between the drive motor 41 and the two clamping jaws 43, connecting the two clamping jaws 43 to the clamping jaw power unit. The two clamping jaws 43 are elongated clamping members, and can be L-shaped plates. The structure of the clamping jaws 43 is not limited and can be modified to adapt to the type of carrier 100. The drive motor 41 drives the two clamping jaws 43 via the drive belt assembly 42, causing the two clamping jaws 43 to move closer or farther away from each other, thereby clamping or releasing the carrier 100.

[0036] In this embodiment, at least one guide rail 50 (e.g. Figure 7 As shown, the two clamping jaws 43 are each connected to at least one guide slider 51. The guide slider 51 slidably engages with the guide rail 50. The sliding of the guide slider 51 on the guide rail 50 can guide the two clamping jaws 43 toward or away from each other, ensuring stable and smooth movement of the two clamping jaws 43. Preferably, two guide rails 50 are provided, and the two guide rails 50 are arranged parallel to each other and spaced apart. The guide sliders 51 slidably engage with the two guide rails 50 respectively.

[0037] In this embodiment, a contrast sensor 45 may be further provided on the bottom side of the lower housing 44 at the intervals between the two ends of the two clamping jaws 43 to detect whether the clamping jaw mechanism 4 is placed in the carrier 100. The contrast sensor 45 may also be replaced by other types of sensors.

[0038] In this embodiment, the clamping mechanism 4 may further include a brake device 46 connected to the drive belt assembly 42 to provide a braking function. Preferably, the drive motor 41 and the brake device 46 are respectively disposed at both ends of the drive belt assembly 42 to reduce the height space occupied.

[0039] In this embodiment, a guide structure is provided between the clamping mechanism 4 and the lifting mechanism 3. The guide structure may include a plurality of guide posts 47 and a plurality of guide seats 36 (eg, Figure 8 As shown, each guide seat 36 is provided with a guide hole 361. The guide posts 47 and the guide seats 36 can be installed on the clamping mechanism 4 or the lifting mechanism 3. When the clamping mechanism 4 is raised, the guide posts 47 can be inserted into the corresponding guide holes 361 to provide a guiding and positioning effect, thereby accurately positioning the clamping mechanism 4. Preferably, one end of each guide post 47 can be conical or arc-shaped, and one end of each guide hole 361 is provided with a tapered hole 362, thereby providing a better guiding and positioning effect.

[0040] The clamping mechanism 4 may further include a plurality of level adjustment mechanisms 48, which are arranged on the lower shell 44 near the edge or corner, and can achieve a better level adjustment effect. In this embodiment, the level adjustment mechanism 48 includes a belt connecting member 481, a first base 482, a first axis 483, a second base 484, a second axis 485, a level sensor 486 (such as Figure 6 and Figure 7 ) and an adjustment screw 487. The belt connector 481 is connected to one end (the lower end) of the lifting belt of the lifting mechanism 3. The first base 482 is connected to the belt connector 481 via a first axis 483. The second base 484 is connected to the first base 482 via a second axis 485. The first axis 483 and the second axis 485 are arranged horizontally and perpendicular to each other. The first axis 483 and the second axis 485 can be hinge pins, etc., mainly serving as fixing axes. The second base 484 is fixed to a fixed base 488 on the lower shell 44. The adjustment screw 487 passes through the second base 484 and is screwed to the fixed base 488. When the adjustment screw 487 is rotated, it can be linked to the horizontal movement of the clamping mechanism 4 to adjust the level. In addition, a level sensor 486 can be provided on the second base 484 to detect levelness.

[0041] The clamping mechanism 4 may further include an elastic pressing mechanism 49 (such as Figure 5), which can elastically press against the top of the carrier 100. In this embodiment, the elastic downward pressing mechanism 49 includes a pressing member 491, a connecting rod 492, a lifting and fixing seat 493, and an elastic member 494. The pressing member 491 is connected to the lower end of the connecting rod 492, the lifting and fixing seat 493 is fixed to the lower shell 44, the connecting rod 492 is liftably disposed on the lifting and fixing seat 493, and the elastic member 494 contacts the connecting rod 492. The elastic member 494 can push the connecting rod 492 and the pressing member 491 downward, so that the pressing member 491 elastically presses against the carrier 100, thereby firmly positioning the carrier 100.

[0042] The clamping mechanism of the present invention has a simplified structure, can reduce costs, reduce failures, and is simple and convenient to maintain.

[0043] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the scope of protection of the present invention.

Claims

1. A clamping mechanism, applied to a handling device, capable of clamping a carrier, the clamping mechanism being disposed below a lifting mechanism of the handling device, and characterized by: include: Lower the shell; a gripper power unit, the gripper power unit being disposed on the lower housing; Two clamping jaws, the two clamping jaws are disposed on the lower housing, the two clamping jaws are connected to the clamping jaw power unit, and the clamping jaw power unit can drive the two clamping jaws to clamp or release the carrier; and A brake device, which is connected to the clamping jaw power group to provide a braking function; it also includes a horizontal adjustment mechanism to adjust the horizontality of the clamping jaw mechanism; the horizontal adjustment mechanism includes a belt connector, a first base, a first axis, a second base, a second axis, a horizontal sensor and an adjustment screw, the first base is connected to the belt connector with the first axis, the second base is connected to the first base with the second axis, the second base is fixed to a fixed base on the lower shell, the first axis and the second axis are horizontally arranged and perpendicular to each other, the adjustment screw passes through the second base and is screwed to the fixed base, and the horizontal sensor is arranged on the second base; the belt connector is connected to one end of the lifting belt of the lifting mechanism.

2. The clamping mechanism according to claim 1, characterized in that: The clamping jaw power group includes a driving motor and a transmission belt group. The transmission belt group is connected between the driving motor and the two clamping jaws. The driving motor and the brake device are respectively arranged at two ends of the transmission belt group.

3. The clamping mechanism according to claim 1, characterized in that: A guide structure is provided between the clamping mechanism and the lifting mechanism. The guide structure includes a plurality of guide posts and a plurality of guide seats. Each of the guide seats is provided with a guide hole. The guide posts and the guide seats can be set on the clamping mechanism or the lifting mechanism. When the clamping mechanism rises, the guide posts can be respectively inserted into the guide holes.

4. The clamping mechanism according to claim 3, characterized in that: One end of each of the guide posts is in a cone or arc shape, and one end of each of the guide holes is provided with a cone hole.

5. The clamping mechanism according to claim 1, characterized in that: The horizontal adjustment mechanisms are arranged on the lower shell near the edge or corner.

6. The clamping mechanism according to claim 1, characterized in that: It also includes an elastic downward pressing mechanism, which includes a pressing piece, a connecting rod, a lifting fixed seat and an elastic piece. The pressing piece is connected to the lower end of the connecting rod, and the lifting fixed seat is fixed to the lower shell. The connecting rod can be lifted and lowered on the lifting fixed seat. The elastic piece is in contact with the connecting rod. The elastic piece can push the connecting rod and the pressing piece to move downward, so that the pressing piece elastically presses the carrier.

7. The clamping mechanism according to claim 1, characterized in that: At least one guide rail is provided on the lower shell body. The two clamping claws are respectively connected to at least one guide slide block. The guide slide block is slidably matched with the guide rail.

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