Gantry type cleaning, feeding and discharging device

Abstract

The application provides a gantry cleaning feeding and discharging device, which comprises a rack arranged at the front end of a gantry cleaning machine, a workbench arranged at the top of the rack, and a buffer position arranged on the workbench; a feeding unit installed on the rack away from the side of the gantry cleaning machine; a feeding manipulator installed on the workbench; a discharging unit installed on the workbench close to the side of the gantry cleaning machine and used for receiving products transferred by the feeding manipulator; a discharging manipulator arranged between the rack and the gantry cleaning machine; and a control cabinet. The device is cooperated with the key structures, which not only simplifies the operation steps and saves the labor cost, but also significantly improves the production efficiency of the cleaning process. The precision and flexibility of the feeding and discharging device in stacking and positioning ensure the efficient cleaning operation of the gantry cleaning machine, reduce the failure rate and unstable factors in the equipment operation process, and effectively improve the quality control level of the products and the overall automation level of the production line.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment technology, specifically to a gantry cleaning and loading / unloading device. Background Technology

[0002] In automated production lines, the automation of material loading / unloading and cleaning processes has become a crucial technological means to improve production efficiency and reduce labor costs. This is particularly true in industries such as semiconductors, electronic components, and precision instruments, where high surface quality requirements dictate that no contaminants can adhere during cleaning. Therefore, cleaning equipment typically needs to be equipped with precise positioning and reliable transport devices to avoid manual handling and reduce the risk of surface contamination and damage. Currently, most traditional cleaning equipment still relies on manual labor in conjunction with mechanical devices for loading / unloading operations, leading to production efficiency being affected by factors such as the speed and error of manual operation. Even when some equipment achieves a certain degree of mechanized loading / unloading, its automation level is low, often making it difficult to handle large-volume material transfers and multi-layer stacking. Especially when material baskets or pallets need to have their lids opened and are stacked for storage, the design of traditional devices fails to adequately consider the combination of automation and high precision, easily leading to problems such as unstable stacking, lid damage, material tilting, or movement.

[0003] Existing automated cleaning devices often employ a single loading / unloading robot, which has limited functionality and restricts its operational range, making it unsuitable for complex loading / unloading requirements. For example, existing pallet handling robots are mostly used for horizontal movement, making it difficult to perform precise vertical stacking and lid opening operations, particularly in multi-layer material stacking and sealing. To improve the stability, flexibility, and precision of the loading / unloading process, an innovative design is urgently needed that can stably stack, open, and transfer sub-baskets, achieving seamless integration with the gantry cleaning machine, thereby ensuring efficient connection and automation of the loading / unloading and cleaning processes. Summary of the Invention

[0004] To address the aforementioned technical shortcomings, the purpose of this invention is to provide a gantry cleaning and loading / unloading device that can complete multi-layer stacking of materials, precise positioning, and automatic opening and closing of the lid, thereby further improving the efficiency and reliability of the automated cleaning system.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A gantry cleaning and loading / unloading device includes:

[0007] The frame is located at the front end of the gantry cleaning machine, and a worktable is set on the top. A buffer position is set on the worktable for placing the sub-material basket. A mother material basket for holding the sub-material basket is installed on the gantry cleaning machine.

[0008] The feeding unit, installed on the side of the frame away from the gantry washing machine, is used to transport materials to the upper part of the worktable;

[0009] The loading robot is installed on the workbench and is used to grab and transfer materials on the loading unit.

[0010] The unloading unit is installed on the side of the workbench near the gantry washing machine and is used to receive products transferred by the loading robot.

[0011] The unloading robot is positioned between the frame and the gantry washing machine to transfer products between the unloading unit and the gantry washing machine.

[0012] The control cabinet is used to control the operation of the feeding unit, the feeding robot, the unloading unit, and the unloading robot.

[0013] Preferably, the feeding unit includes a conveyor, a vertical linear motion module, and a feeding bracket; the conveyor is installed inside the frame; the vertical linear motion module is installed at the rear end of the conveyor on the frame; the feeding bracket is placed on the upper part of the conveyor, with one end installed on the vertical linear motion module; the workbench is provided with an opening adapted to the vertical linear motion module and the feeding bracket.

[0014] Preferably, the feeding unit further includes two first positioning electric cylinders and two second positioning electric cylinders; the two first positioning electric cylinders are symmetrically arranged on both sides of the opening, and the two second positioning electric cylinders are symmetrically arranged on both sides of the opening, and the first positioning electric cylinders and the second positioning electric cylinders are alternately installed on the worktable; a feeding positioning plate is installed on the piston rod of each of the first positioning electric cylinders and the second positioning electric cylinders.

[0015] Preferably, both the loading robot and the unloading robot are equipped with grippers.

[0016] Preferably, the sub-basket includes a frame and a frame cover, with the frame cover hinged to the top of the frame cover.

[0017] Preferably, the unloading unit includes a support platform, a lifting electric cylinder, an unloading tray, an unloading guide rod, a cover-opening motor, a cover-opening electric cylinder, a cover-opening chuck, a third positioning electric cylinder, and two fourth positioning electric cylinders; the support platform is fixed to the workbench; the support platform is provided with a storage slot for accommodating the sub-material basket; the unloading guide rod is slidably mounted on the support platform, with its upper end extending into the storage slot and its lower end extending to the lower part of the support platform; the unloading tray is fixedly connected to the lower end of the unloading guide rod; the lifting electric cylinder and the cover-opening electric cylinder are fixed to the support platform; the lifting electric cylinder... The piston rod is fixedly connected to the unloading tray; the cover-opening electric cylinder is located on the outer side of the storage tank; the cover-opening motor is fixed on the piston rod of the cover-opening electric cylinder; the cover-opening chuck is fixed on the output shaft of the cover-opening motor; the cover-opening chuck is equipped with grippers adapted to the frame cover; the third positioning electric cylinder is fixed on a support platform on one side of the storage tank, and the fourth positioning electric cylinder is fixed on a support platform on the other side of the storage tank; the two fourth positioning electric cylinders are symmetrically arranged on both sides of the storage tank; unloading positioning plates are installed on the piston rods of the third and fourth positioning electric cylinders.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] The gantry cleaning and loading / unloading device described in this application realizes automatic loading, unloading, conveying, opening, and stacking of sub-material baskets. It not only overcomes the limitations of manual assistance or single robotic arm operation in existing technologies but also improves the automation level and cleaning efficiency of the production line. The device, through the combination of a conveyor, a vertical linear motion module, and a loading robotic arm, efficiently and stably transports the sub-material baskets and precisely positions them vertically, solving problems such as tilting and sliding that may occur during material transport. The vertical linear motion module provides vertical positioning support during transport, ensuring that the sub-material baskets accurately stop at a designated height, facilitating quick and stable gripping by the loading robotic arm, thus improving the stability and accuracy of the sub-material baskets from transport to transfer. Multiple loading units are compatible with products from different manufacturing processes. By scanning the QR code SN information of products from different processes, products are classified and processed, improving the equipment's compatibility.

[0020] The optimized design of the unloading unit, through the coordinated action of the unloading robot, positioning electric cylinder, lifting electric cylinder, and lid-opening electric cylinder, achieves precise positioning of the sub-material baskets and automatic lid opening. The cooperation between the lid-opening motor and the lid-opening chuck allows for precise clamping and rotation of the lid, ensuring smooth opening and closing without damage. The slow retraction function of the lifting electric cylinder ensures the stability of the sub-material baskets during stacking, effectively preventing tilting or shifting when multiple layers of materials are stacked. Furthermore, during the stacking operation of the sub-material baskets, the device maintains multiple trays stably stacked within the baskets, providing highly uniform material stacking for subsequent cleaning processes and improving the consistency of cleaning results.

[0021] This device, through the coordinated operation of its key structures, not only simplifies the operation process and saves labor costs, but also significantly improves the production efficiency of the cleaning process. The precision and flexibility of the loading and unloading devices in stacking and positioning ensure the efficient cleaning operation of the gantry cleaning machine, reducing the failure rate and instability factors during equipment operation, thereby effectively improving the quality control level of products and the overall automation level of the production line. Attached Figure Description

[0022] Figure 1 This is a schematic diagram illustrating the usage state of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the present invention;

[0024] Figure 3 This is a schematic diagram of the feeding unit in this invention;

[0025] Figure 4 This is a schematic diagram of the feeding unit in this invention.

[0026] in:

[0027] 1. Gantry cleaning machine; 2. Frame; 3. Unloading robot; 4. Mother material basket; 5. Workbench; 6. Loading unit; 7. Loading robot; 8. Unloading unit; 9. Vertical linear motion module; 10. Loading bracket; 11. Conveyor; 12. Lifting electric cylinder; 13. Storage tank; 14. Support platform; 15. Frame; 16. Fourth positioning electric cylinder; 17. Cover opening chuck; 18. Cover opening motor; 19. Cover opening electric cylinder; 20. Frame cover; 21. Third positioning electric cylinder; 22. Unloading guide rod. Detailed Implementation

[0028] The invention will now be further described with reference to the accompanying drawings.

[0029] like Figures 1 to 4 As shown, a gantry cleaning and loading / unloading device includes:

[0030] The frame 2 is set at the front end of the gantry cleaning machine 1, and a worktable 5 is set on the top. The worktable 5 is set with a buffer position for placing the sub-material basket. The gantry cleaning machine 1 is equipped with a mother material basket for holding the sub-material basket.

[0031] Specifically, frame 2, serving as the supporting structure for the gantry cleaning loading and unloading device, is securely positioned at the front end of the gantry cleaning machine 1, providing the mounting base for the workbench 5. On the workbench 5, buffer positions are used to temporarily hold multiple sub-material baskets, facilitating their transfer from the loading unit 6 to the gantry cleaning machine 1 for cleaning. Simultaneously, the rational layout of the buffer positions supports continuous loading and unloading processes, improving the operating efficiency of the workbench 5. The gantry cleaning machine 1 is internally equipped with a master material basket, which accommodates the sub-material baskets transferred from the workbench 5, eliminating manual operation and ensuring automated connection in the cleaning process.

[0032] The feeding unit 6 is installed on the side of the frame 2 away from the gantry washing machine 1, and is used to transport materials to the upper part of the workbench 5;

[0033] Specifically, the feeding unit 6 is located at the far end of the frame 2, ensuring that the material entering the worktable 5 is not disturbed by the cleaning area. Through precise conveying path design, the feeding unit 6 can stably convey materials to the opening position of the worktable 5, supporting the subsequent loading and unloading operations of the feeding robot 7, ensuring smooth material feeding. Multiple feeding units 6 are configured to convey products of different processes, improving product compatibility.

[0034] The loading robot 7 is installed on the workbench 5 and is used to grab and transfer materials on the loading unit 6.

[0035] Specifically, the loading robot 7 is installed above the workbench 5 and is responsible for grabbing the sub-material trays from the loading bracket 10 of the loading unit 6 and transferring them securely to the unloading unit 8, further improving the automation level of the material transfer process. The loading robot 7 is designed with high stability and precision, and is suitable for grabbing sub-material trays of different sizes, achieving high efficiency and reliability in the loading action.

[0036] The unloading unit 8 is installed on the workbench 5 on the side near the gantry cleaning machine 1, and is used to receive products transferred by the loading robot 7;

[0037] Specifically, the unloading unit 8 is located near the gantry washing machine 1, opposite the loading unit 6, facilitating the transfer of materials to the washing area by the loading robot 7. The unloading unit 8 provides a stable structure for supporting the sub-material basket, ensuring the stability of the materials during transfer, thus laying the foundation for the smooth operation of the subsequent washing process.

[0038] The unloading robot 3 is set between the frame 2 and the gantry washing machine 1 and is used to transfer products between the unloading unit 8 and the gantry washing machine 1.

[0039] Specifically, the unloading robot 3 is positioned between the worktable 5 and the gantry washing machine 1 to receive the sub-material baskets from the unloading unit 8. The precise operation of the unloading robot 3 supports automated transfer, ensuring the sub-material baskets are smoothly transferred from the unloading unit 8 into the parent material basket, preventing tilting or sliding. Its multi-dimensional clamping and releasing functions ensure the continuity and efficiency of the sub-material baskets entering the washing process.

[0040] The control cabinet is used to control the operation of the feeding unit 6, the feeding robot 7, the unloading unit 8, and the unloading robot 3.

[0041] Specifically, the control cabinet serves as the central control system for the entire device, centrally controlling the operation of each unit, including the loading and unloading actions of the robotic arms 3 and the operation of the positioning electric cylinders, ensuring coordinated operation of each unit. Through the control cabinet, the cycle time for cleaning loading and unloading can be set, and the motion parameters of the robotic arms can be adjusted, thereby improving the automation level and operational flexibility of the cleaning loading and unloading device. The workbench 5 is also equipped with a barcode scanner for scanning QR codes on products for product classification. Multiple products from different processes are placed into the same sub-material basket by the loading robotic arm 7, and then the product information is identified by the barcode scanner.

[0042] In this embodiment, the feeding unit 6 includes a conveyor 11, a vertical linear motion module 9, and a feeding bracket 10; the conveyor 11 is installed inside the frame 2; the vertical linear motion module 9 is installed at the rear end of the frame 2 of the conveyor 11; the feeding bracket 10 is placed on the upper part of the conveyor 11, and one end is installed on the vertical linear motion module 9; the workbench 5 is provided with an opening that is compatible with the vertical linear motion module 9 and the feeding bracket 10.

[0043] Specifically, the conveyor 11 in the feeding unit 6 serves as the initial feeding device, smoothly delivering the tray to the feeding bracket 10. The vertical linear motion module 9 then moves the bracket to the opening of the worktable 5, enabling precise conveying of materials at different heights. The design of the feeding bracket 10 matches the conveyor 11 and the opening of the worktable 5, ensuring that the sub-material basket does not tilt or slide on the bracket. The addition of the vertical linear motion module 9 meets the requirement for a smooth transition in height between the sub-material baskets, improving the safety of the feeding process.

[0044] In this embodiment, the feeding unit 6 further includes two first positioning electric cylinders and two second positioning electric cylinders; the two first positioning electric cylinders are symmetrically arranged on both sides of the opening, and the two second positioning electric cylinders are symmetrically arranged on both sides of the opening. The first positioning electric cylinders and the second positioning electric cylinders are alternately installed on the worktable 5; feeding positioning plates are installed on the piston rods of the first positioning electric cylinders and the second positioning electric cylinders.

[0045] Specifically, the first and second positioning electric cylinders in the feeding unit 6 are arranged alternately and symmetrically to clamp and fix the tray. Each cylinder piston rod is equipped with a feeding positioning plate for accurately positioning the sub-material basket during the conveying process. This design prevents the material from shifting during movement, ensuring that the material is accurately positioned and stably oriented when it reaches the opening of the worktable 5, laying the foundation for the subsequent gripping action of the feeding robot 7.

[0046] In this embodiment, both the loading robot 7 and the unloading robot 3 are equipped with grippers.

[0047] Specifically, both the loading robot 7 and the unloading robot 3 are equipped with grippers that can stably hold the sub-material trays. The gripper's structural design ensures that the materials do not slip or shift during gripping and releasing, while also meeting the functional requirements for stacking and gripping multiple sub-material trays.

[0048] In this embodiment, the sub-basket includes a frame 15 and a frame cover 20, with the frame cover 20 hinged to the top of the frame cover 20.

[0049] Specifically, the sub-material basket comprises a frame 15 and a cover 20. The cover 20 is hinged to the top of the frame 15, ensuring smooth operation when opening. The frame 15 is designed to accommodate the stacking of multiple sub-material baskets, while the hinged design of the cover 20 makes opening and closing operations during loading, unloading, and cleaning more convenient, reducing the need for human intervention.

[0050] In this embodiment, the unloading unit 8 includes a support platform 14, a lifting electric cylinder 12, an unloading tray, an unloading guide rod 22, a cover-opening motor 18, a cover-opening electric cylinder 19, a cover-opening clamp 17, a third positioning electric cylinder 21, and two fourth positioning electric cylinders 16. The support platform 14 is fixed on the workbench 5. A storage slot 13 for accommodating sub-material baskets is provided on the support platform 14. The unloading guide rod 22 is slidably mounted on the support platform 14, with its upper end extending into the storage slot 13 and its lower end extending to the lower part of the support platform 14. The unloading tray is fixedly connected to the lower end of the unloading guide rod 22. The lifting electric cylinder 12 and the cover-opening electric cylinder 19 are fixed on the support platform 14. The piston rod of cylinder 12 is fixedly connected to the unloading tray; the cover-opening electric cylinder 19 is located on the outer side of the storage tank 13; the cover-opening motor 18 is fixed on the piston rod of the cover-opening electric cylinder 19; the cover-opening chuck 17 is fixed on the output shaft of the cover-opening motor 18; the cover-opening chuck 17 is provided with grippers that are compatible with the frame cover 20; the third positioning electric cylinder 21 is fixed on the support platform 14 on one side of the storage tank 13, and the fourth positioning electric cylinder 16 is fixed on the support platform 14 on the other side of the storage tank 13; the two fourth positioning electric cylinders 16 are symmetrically arranged on both sides of the storage tank 13; the piston rods of the third positioning electric cylinder 21 and the fourth positioning electric cylinder 16 are both equipped with unloading positioning plates.

[0051] Specifically, the support platform 14 in the unloading unit 8 is equipped with a dedicated storage slot 13 for temporary storage of sub-material baskets, avoiding contamination caused by random stacking. The addition of the lifting electric cylinder 12 and the lid-opening electric cylinder 19 enables the device to perform multiple actions such as opening, closing, and vertical movement. Furthermore, the third positioning electric cylinder 21 and the fourth positioning electric cylinder 16 achieve precise positioning of the sub-material baskets, ensuring smooth operation of the cleaning process. Simultaneously, the lid-opening motor 18 drives the lid-opening clamp 17 to rotate, allowing the frame cover 20 to open and close smoothly. The slow retraction function of the lifting electric cylinder 12 ensures the stability of multi-layer sub-material basket stacking, improving the ease of operation of the unloading unit 8.

[0052] In this embodiment, the workflow of the loading unit 6 is as follows: First, the tray is transported by the conveyor 11 to the position of the loading bracket 10; the vertical linear motion module 9 drives the loading bracket 10 to move upward, transporting the tray to the opening of the workbench 5; the loading robot 7 then grabs the tray from the loading bracket 10 and performs a transfer operation.

[0053] Specifically, in the material loading process, the conveyor 11 realizes the initial material transfer, and the vertical linear motion module 9 ensures that the bracket smoothly lifts the tray to the opening position of the worktable 5, accurately meeting the gripping height requirements of the loading robot 7, forming an efficient automated material loading process.

[0054] The workflow of the unloading unit 8 is as follows: The unloading robot 3 places the sub-material basket into the storage slot 13 of the support platform 14; then, the third positioning electric cylinder 21 and the fourth positioning electric cylinder 16 drive the unloading positioning plate to clamp and fix the position of the sub-material basket; subsequently, the opening electric cylinder 19 drives the opening chuck 17 to move to the side of the frame cover 20 of the sub-material basket, the gripper grabs one side of the frame cover 20, and the opening motor 18 drives the frame cover 20 to rotate and open it; the piston rod of the lifting electric cylinder 12 extends outward, driving the unloading guide rod 22 to move upward and catch the tray lowered by the loading robot 7; when the trays are stacked in multiple layers, the piston rod of the lifting electric cylinder 12 slowly retracts, so that the trays are stacked stably in the sub-material basket; after cleaning, the opening motor 18 actuates to close the frame cover 20, and finally the unloading robot 3 transfers the sub-material basket filled with trays to the mother material basket for cleaning by the gantry cleaning machine 1.

[0055] In the material unloading process, automation is fully utilized. The unloading robot 3 places the sub-material basket into the storage slot 13, and the third and fourth positioning electric cylinders 16 achieve precise positioning and clamping of the sub-material basket, ensuring the stability of the sub-material basket's position during the opening and stacking process. The opening motor 18 works in conjunction with the opening electric cylinder 19 to smoothly open the frame cover 20. The lifting electric cylinder 12 pushes the tray to receive the tray lowered by the loading robot 7. After completing multi-layer stacking, the sub-material basket is transferred to the mother material basket, achieving effective connection with the gantry washing machine 1.

Claims

1. A gantry cleaning and loading / unloading device, characterized in that, include: A frame (2) is set at the front end of the gantry cleaning machine (1), and a worktable (5) is set on the top. A buffer position is set on the worktable (5) for placing the sub-material basket. A mother material basket (4) for holding the sub-material basket is installed on the gantry cleaning machine (1). The sub-material basket includes a frame (15) and a frame cover (20). The feeding unit (6) is installed on the side of the frame (2) away from the gantry washing machine (1) and is used to transport materials to the upper part of the workbench (5); The loading robot (7) is installed on the workbench (5) and is used to grab and transfer materials on the loading unit (6); The unloading unit (8) is installed on the workbench (5) near the gantry washing machine (1) and is used to receive products transferred by the loading robot (7). The unloading unit (8) includes a support platform (14), a lifting electric cylinder (12), an unloading tray, an unloading guide rod (22), a cover opening motor (18), a cover opening electric cylinder (19), a cover opening chuck (17), a third positioning electric cylinder (21), and two fourth positioning electric cylinders (16). The support platform (14) is fixed on the workbench (5). The support platform (14) is provided with a storage slot (13) for accommodating sub-material baskets. The unloading guide rod (22) is slidably installed on the support platform (14), with its upper end extending into the storage slot (13) and its lower end extending to the lower part of the support platform (14). The unloading tray is fixedly connected to the lower end of the unloading guide rod (22). The lifting electric cylinder (12) The lid-opening electric cylinder (19) is fixed on the support platform (14); the piston rod of the lifting electric cylinder (12) is fixedly connected to the unloading tray; the lid-opening electric cylinder (19) is located on the outer side of the storage tank (13); the lid-opening motor (18) is fixed on the piston rod of the lid-opening electric cylinder (19); the lid-opening chuck (17) is fixed on the output shaft of the lid-opening motor (18); the lid-opening chuck (17) is provided with a gripper adapted to the frame cover (20); the third positioning electric cylinder (21) is fixed on the support platform (14) on one side of the storage tank (13), and the fourth positioning electric cylinder (16) is fixed on the support platform (14) on the other side of the storage tank (13); the two fourth positioning electric cylinders (16) are symmetrically arranged on both sides of the storage tank (13); the piston rods of the third positioning electric cylinder (21) and the fourth positioning electric cylinder (16) are both equipped with unloading positioning plates; The unloading robot (3) is set between the frame (2) and the gantry washing machine (1) for transferring products between the unloading unit (8) and the gantry washing machine (1); The control cabinet is used to control the operation of the loading unit (6), the loading robot (7), the unloading unit (8), and the unloading robot (3).

2. The gantry cleaning and loading / unloading device as described in claim 1, characterized in that, The feeding unit (6) includes a conveyor (11), a vertical linear motion module (9), and a feeding bracket (10); the conveyor (11) is installed inside the frame (2); the vertical linear motion module (9) is installed at the rear end of the conveyor (11) on the frame (2); the feeding bracket (10) is placed on the upper part of the conveyor (11), and one end is installed on the vertical linear motion module (9); the workbench (5) is provided with an opening that is compatible with the vertical linear motion module (9) and the feeding bracket (10).

3. The gantry cleaning and loading / unloading device as described in claim 2, characterized in that, The feeding unit (6) also includes two first positioning electric cylinders and two second positioning electric cylinders; the two first positioning electric cylinders are symmetrically arranged on both sides of the opening, and the two second positioning electric cylinders are symmetrically arranged on both sides of the opening. The first positioning electric cylinders and the second positioning electric cylinders are alternately installed on the worktable (5); feeding positioning plates are installed on the piston rods of the first positioning electric cylinders and the second positioning electric cylinders.

4. The gantry cleaning and loading / unloading device as described in claim 1, characterized in that, Both the loading robot (7) and the unloading robot (3) are equipped with grippers.

5. The gantry cleaning and loading / unloading device as described in claim 1, characterized in that, The cover (20) is hinged to the top of the frame (15).

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