Robotic system

Abstract

The present application provides a robot system, including: a vehicle body; a gripping mechanism provided on the vehicle body, used to grip and convey articles; a cargo tray provided on the vehicle body, including a fixed cargo tray fixed on the vehicle body and a sliding cargo tray slidably provided on the vehicle body along a first direction, both the fixed cargo tray and the sliding cargo tray are provided with a loading station, the vehicle body has an initial position directly below the fixed cargo tray, and a loading position on one side of the fixed cargo tray in the first direction, and the sliding cargo tray is configured to move between the initial position and the loading position; while the gripping mechanism grips the articles, the sliding cargo tray moves from the initial position to the loading position, and the gripping mechanism places the gripped articles on the loading station of the sliding cargo tray located at the loading position. The robot system introduces a slidable cargo tray, which effectively solves the low transportation efficiency and safety problems caused by the traditional cargo tray structure.

Description

Technical Field

[0001] The present application relates to the technical field of object handling, and in particular to a robot system. Background Art

[0002] Wafers are the basic raw materials for manufacturing semiconductor devices. High-purity semiconductors are prepared into wafers through processes such as crystal pulling and slicing. Wafers undergo a series of semiconductor manufacturing processes to form extremely small circuit structures, which are then cut, packaged, and tested to become IC chips, which are widely used in various electronic devices.

[0003] A tray is a container for holding semiconductor devices, usually molded from conductive or electrically dissipative plastic or carbon fiber materials to protect electrostatic sensitive devices. Trays are usually used to pick up and place IC chips. Their outer structure has standardized dimensions, and their inner structure has neatly arranged cavities, which are used to hold a single IC chip of a specific package. Trays can be stacked, and multiple trays can be stacked by adding multiple new trays to the top structure of the tray, and then packaged for shipment.

[0004] A tray carrier is used to carry multiple pallets for batch processing during production and transportation. The size and shape of the tray carrier are adapted to the pallet to ensure that the pallet fits tightly within the inner structure of the tray carrier during transportation.

[0005] In the existing robot system, a mechanical claw is used to grab the pallet and the pallet carrier. The mechanical claw is driven by the manipulator to transport the pallet or the pallet carrier to the top of the receiving plate, and the claw is released to place the pallet or the pallet carrier on the receiving plate. Since the upper and lower receiving plates of the robot are fixed structures and their positions cannot be adjusted, when the pallet or the pallet carrier needs to be placed on the receiving plate on the lower layer, the robot arm needs to move a long distance to drive the gripper to the position of the receiving plate and then perform the lowering action, which increases the time cost of transportation. In addition, the position of the receiving plate is narrow, and the gripper driven by the robot arm may scratch the components around the receiving plate during the movement, causing damage to the robot, which is not conducive to the safety of the robot.

[0006] Therefore, how to provide a high-efficiency robot system is a technical problem that technical personnel in this field need to solve urgently. Summary of the invention

[0007] In order to solve the problems of the prior art, the present application provides a robot system to solve one or more technical problems existing in the prior art.

[0008] The present application provides a robot system, comprising:

[0009] Vehicle body;

[0010] A gripping mechanism provided on the vehicle body, the gripping mechanism being used to grip and convey objects;

[0011] A cargo pallet provided on the vehicle body, the cargo pallet comprising a fixed cargo pallet fixed on the vehicle body and a sliding cargo pallet slidably provided on the vehicle body along a first direction, the fixed cargo pallet and the sliding cargo pallet are both provided with a loading station, the vehicle body has an initial position located directly below the fixed cargo pallet, and a loading position located on one side of the fixed cargo pallet in the first direction, the sliding cargo pallet is configured to move between the initial position and the loading position;

[0012] When the grabbing mechanism grabs the article, the sliding cargo tray moves from the initial position to the loading position, and the grabbing mechanism places the grabbed article on the loading station of the sliding cargo tray located at the loading position.

[0013] Among them, the robot system introduces a sliding pallet, which effectively solves the low transportation efficiency and safety problems caused by the traditional pallet structure. While the grasping mechanism grasps the items, the sliding pallet moves outward, making the sliding pallet closer to the grasping mechanism, thereby reducing the moving distance of the grasping mechanism, improving transportation efficiency, and optimizing the operation process. At the same time, such a setting also reduces the risk of scratches between the grasping mechanism and the surrounding components of the pallet, thereby enhancing the safety and durability of the robot system.

[0014] Preferably, the sliding cargo trays are provided in plurality, and each of the sliding cargo trays is provided with a plurality of loading stations.

[0015] Among them, by arranging multiple loading stations on the sliding pallet, multiple items can be processed at the same time, which improves work efficiency and increases the flexibility and processing capacity of the system.

[0016] Preferably, the robot system further comprises a first detection mechanism, which is disposed at the loading station and is used to emit a first detection signal along a second direction to detect whether the object is located on the loading station; wherein a preset angle is maintained between the second direction and the first direction.

[0017] Among them, the setting of the first detection mechanism can detect whether there are objects on the loading station, thereby improving the accuracy and reliability of the operation and executing subsequent operations.

[0018] Preferably, the robot system further comprises a main controller and a second detection mechanism, wherein the second detection mechanism is used to detect the number of the objects located on the loading station of the sliding pallet;

[0019] The first detection mechanism detects that the object is located at the loading station, and transmits a presence signal to the second detection mechanism. The second detection mechanism counts the number of the presence signals received within a preset time and transmits the count to the main controller. The main controller determines whether the number of the objects located at the loading station of the sliding pallet meets the preset number value according to the number of the presence signals.

[0020] If it does, the sliding pallet on which the articles are placed is reset from the loading position to the initial position.

[0021] Among them, through the coordinated work of the first detection mechanism and the second detection mechanism, the system can detect and count the number of items on the loading station. Only when the number of items placed on the loading station of the sliding pallet reaches a preset value, the sliding pallet will be reset to the initial position.

[0022] Preferably, if the number of items on the loading station of the sliding pallet does not meet the preset number value, the grabbing mechanism continues to grab the items and place them on the loading station of the sliding pallet at the loading position until the main controller determines that the number of items on the loading station of the sliding pallet reaches the preset number value, and the grabbing mechanism stops.

[0023] Among them, when the number of items placed on the loading station of the sliding pallet does not reach the preset value, the grabbing mechanism continues to grab the items and transport them to the loading station until the number of items reaches the preset value, and the sliding pallet returns to its initial position, thus realizing a fully automated process of handling and storing items. In addition, the system ensures that the sliding pallet will only return to its initial position when the number of items reaches the preset value, thus avoiding unnecessary mechanical movement and reducing wear on the robot.

[0024] Preferably, the article comprises a first article and a second article;

[0025] A plurality of first blocking members and a plurality of second blocking members are provided in the loading station, wherein the first blocking members are arranged to form a first position for limiting the first object, and the second blocking members are arranged around the periphery of the first blocking members, and the second blocking members are arranged to form a second position for limiting the second object, and at least part of the second blocking members extends above the first blocking members.

[0026] Among them, through the setting of the first blocking member and the second blocking member, different types of articles can be fixed, thereby improving the utilization efficiency of the pallet and enhancing the flexibility and adaptability of the loading station; at the same time, the setting of the first blocking member and the second blocking member helps to improve the positioning accuracy of the articles on the loading station and ensure the accuracy of the articles in the predetermined position.

[0027] Preferably, the grasping mechanism includes a robotic arm assembly and a robotic arm assembly, the robotic arm assembly is used to grasp the item, the robotic arm assembly includes a plurality of serially connected shafts, one end of the shaft is disposed at the top of the vehicle body, and the other end is connected to the robotic arm assembly, and the different shafts all have a degree of freedom greater than 0 to drive the robotic arm assembly to move in any direction.

[0028] Among them, the robotic arm assembly adopts a design of multiple serial axes, so that the robotic arm assembly can move in any direction, improving the operational flexibility and adaptability of the robot; different axes have a degree of freedom greater than 0, which increases the working range of the robotic arm, allowing the robotic arm assembly to perform precise position control and motion coordination, thereby improving the efficiency of the operation.

[0029] Preferably, the manipulator assembly includes at least one pair of gripping units, and adjacent gripping units move in similar directions to clamp the clamping structure at the top of the object, or move in separate directions to disconnect the gripping unit and the clamping structure to put down the object.

[0030] Among them, the grabbing unit can move in a similar direction to clamp the clamping structure at the top of the object, or move in a separate direction to release the object, ensuring the reliability of grabbing and releasing the object, avoiding damage or falling of the object due to improper operation, and improving the safety of the system.

[0031] Preferably, the gripping mechanism further comprises a plurality of connection mechanisms, one end of the connection mechanism is connected to an end of the shaft body away from the vehicle body, and the other end is connected to the manipulator assembly with different specifications.

[0032] Among them, the setting of multiple sets of connection mechanisms allows the robot system to adapt to different specifications of gripping mechanisms, so that the robot can quickly adjust and replace the manipulator components according to the type of object during work to meet specific operation requirements. In addition, multiple sets of connection mechanisms can work with multiple pairs of gripping mechanisms at the same time to improve operation efficiency.

[0033] Preferably, the robot system further comprises a platform and a sliding mechanism, wherein the sliding cargo tray is arranged below the fixed cargo tray and is mounted on the surface of the platform through the sliding mechanism;

[0034] The sliding mechanism comprises a sliding rail and a sliding platform arranged on the sliding rail, and the sliding pallet moves along the sliding rail via the sliding platform.

[0035] Among them, the sliding pallet is located below the fixed pallet, realizing multi-level cargo storage in a limited space and optimizing the utilization efficiency of space; the sliding mechanism includes a slide rail and a slide table, ensuring that the sliding pallet can move between the initial position and the loading position along a predetermined trajectory.

[0036] Preferably, the cargo pallets are symmetrically arranged on both sides of the vehicle body, and on one side of the vehicle body, at least three loading stations are arranged on the sliding cargo pallet and the fixed cargo pallet.

[0037] The cargo pallets are symmetrically arranged on both sides of the vehicle body, and there are at least three loading stations on each side, which significantly improves the utilization of space, allowing the robot system to accommodate more cargo in a limited space, while providing greater flexibility to handle different types of items.

[0038] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0039] In the technical solution of the present application, a robot system is provided, including: a vehicle body; a gripping mechanism arranged on the vehicle body, the gripping mechanism being used to grip and convey articles; a cargo pallet arranged on the vehicle body, the cargo pallet comprising a fixed cargo pallet fixed on the vehicle body and a sliding cargo pallet slidably arranged on the vehicle body along a first direction, the fixed cargo pallet and the sliding cargo pallet are both provided with loading stations, the vehicle body has an initial position directly below the fixed cargo pallet, and a loading position located on one side of the fixed cargo pallet in the first direction, the sliding cargo pallet is configured to move between the initial position and the loading position; when the gripping mechanism grips the article, the sliding cargo pallet moves from the initial position to the loading position, and the gripping mechanism places the gripped article on the loading station of the sliding cargo pallet located at the loading position. In the solution, the robot system introduces a sliding pallet, which effectively solves the low transportation efficiency and safety problems caused by the traditional pallet structure. While the grasping mechanism grasps the items, the sliding pallet moves outward, making the sliding pallet closer to the grasping mechanism, thereby reducing the moving distance of the grasping mechanism and improving transportation efficiency. At the same time, such a setting also reduces the risk of scratches between the grasping mechanism and the surrounding components of the pallet, thereby enhancing the safety and durability of the robot system. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1is a schematic diagram of a sliding cargo tray of a robot system provided by an embodiment of the present application in a state where the sliding cargo tray has not slid out;

[0042] Figure 2 is a schematic diagram of a sliding pallet of a robot system provided by an embodiment of the present application in a sliding out state;

[0043] Figure 3 is a schematic diagram of a first object being carried on a loading station provided in an embodiment of the present application;

[0044] Figure 4 is a schematic diagram of a second object being loaded on a loading station provided in an embodiment of the present application;

[0045] Figure 5 is a schematic diagram of a sliding cargo tray provided in an embodiment of the present application;

[0046] Figure 6 It is a schematic diagram of the gripping mechanism provided in the embodiment of the present application.

[0047] Description of the drawings: 10. Vehicle body; 20. Grabbing mechanism; 30. Pallet; 31. Loading station; 40. Connecting mechanism; 50. Carrier; 51. Slide rail; 52. Slide; 200. Robot arm assembly; 201. First axis; 202. Second axis; 203. Third axis; 204. Fourth axis; 210. Robot arm assembly; 211. Grabbing unit; 300. Fixed pallet; 310. Sliding pallet; 311. First blocking member; 312. Second blocking member; 313. Wafer box; 314. Tray carrier; 3130. Snap-on structure. DETAILED DESCRIPTION

[0048] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0049] As described in the background technology, in the existing robot system, a mechanical claw is used to grab the pallet and the pallet carrier. Driven by the manipulator, the mechanical claw transports the pallet or the pallet carrier to the top of the receiving plate, and releases the claw to place the pallet or the pallet carrier on the receiving plate. Since the upper and lower receiving plates of the robot are fixed structures and their positions cannot be adjusted, when the pallet or the pallet carrier needs to be placed on the receiving plate on the lower layer, the robot arm needs to move a long distance to drive the gripper to the position of the receiving plate, and then perform the lowering action, which increases the time cost of transportation. In addition, the position of the receiving plate is narrow, and the robot arm may cause scratches on the components around the receiving plate when the gripper is driven to move, causing damage to the robot, which is not conducive to the safety of the robot.

[0050] In order to solve one or more of the above-mentioned technical problems, the present application provides a robot system, aiming to improve the efficiency of operations.

[0051] Embodiment 1

[0052] Embodiment 1 of the present application provides a robot system, referring to Figure 1 and Figure 2 The schematic diagram of the robot system shown includes: a vehicle body 10; a gripping mechanism 20 provided on the vehicle body 10, the gripping mechanism 20 is used to grip and transport items; a cargo tray 30 provided on the vehicle body 10, the cargo tray 30 includes a fixed cargo tray 300 fixed on the vehicle body 10 and a sliding cargo tray 310 slidably provided on the vehicle body 10 along a first direction, and a loading station 31 is provided on both the fixed cargo tray 300 and the sliding cargo tray 310, the vehicle body 10 has an initial position directly below the fixed cargo tray 300, and a loading position located on one side of the fixed cargo tray 300 in the first direction, and the sliding cargo tray 310 is configured to move between the initial position and the loading position; when the gripping mechanism 20 grabs the item, the sliding cargo tray 310 moves from the initial position to the loading position, and the gripping mechanism 20 places the grabbed item on the loading station of the sliding cargo tray 310 located at the loading position.

[0053] Among them, the robot system introduces a sliding pallet, which effectively solves the low transportation efficiency and safety problems caused by the traditional pallet structure. While the grasping mechanism 20 grasps the items, the sliding pallet 310 moves outward, making the sliding pallet 310 closer to the grasping mechanism 20, thereby reducing the moving distance of the grasping mechanism 20, improving the transportation efficiency, and optimizing the operation process. At the same time, such a setting also reduces the risk of scratches on the grasping mechanism 20 and the surrounding components of the pallet 30, thereby enhancing the safety and durability of the robot system.

[0054] In some embodiments of the present application, the grasping mechanism 20 is composed of a robotic arm and a robotic hand, the robotic hand is used to grasp objects, and the robotic arm is used to drive the robotic hand to move to a specified position.

[0055] In some embodiments of the present application, the sliding cargo pallet 310 may adopt a sliding mechanism, such as a combination of a slide rail and a slide table, or a sliding limiting device, such as a combination of a limit seat and a limit assembly, to achieve sliding of the cargo pallet.

[0056] In some embodiments of the present application, the first direction is a height direction perpendicular to the vehicle body 10 .

[0057] Preferably, a plurality of sliding cargo trays 310 are provided, and each sliding cargo tray 310 is provided with a plurality of loading stations 31 .

[0058] Among them, by setting up multiple sliding pallets 310 and setting up multiple loading stations 31 on the sliding pallets 310, multiple items can be processed at the same time, which improves work efficiency and increases the flexibility and processing capacity of the system.

[0059] In some embodiments of the present application, the vehicle body 10 is approximately a rectangular parallelepiped as a whole, a fixed cargo pallet 300 is arranged at the top of the vehicle body 10, and a plurality of sliding cargo pallets 310 are arranged in sequence below the fixed cargo pallet 300, and each sliding cargo pallet 310 has a plurality of loading stations 31.

[0060] Preferably, the robot system also includes a first detection mechanism (not shown in the figure), which is arranged at the loading station 31 and is used to emit a first detection signal along the second direction to detect whether the object is located on the loading station 31; wherein a preset angle is maintained between the second direction and the first direction.

[0061] Among them, the setting of the first detection mechanism can detect whether there are objects on the loading station 31, thereby improving the accuracy and reliability of the operation and executing subsequent operations.

[0062] In some embodiments of the present application, the first detection mechanism is a laser sensor, the first detection signal is a laser signal emitted by the laser sensor, and the second direction maintains an angle of 90° with the first direction.

[0063] Preferably, the robot system also includes a main controller (not shown in the figure) and a second detection mechanism (not shown in the figure), the second detection mechanism is used to detect the number of items on the loading station 31 of the sliding pallet 310; the first detection mechanism detects that the items are on the loading station 31, and transmits a presence signal to the second detection mechanism, the second detection mechanism counts the number of received presence signals within a preset time and transmits the count to the main controller, the main controller determines whether the number of items on the loading station 31 of the sliding pallet 310 meets the preset number value based on the number of presence signals; if yes, the sliding pallet 310 with the items placed thereon is reset from the loading position to the initial position.

[0064] Among them, through the coordinated work of the first detection mechanism and the second detection mechanism, the system can detect and count the number of items on the loading station 31. Only when the number of items placed on the loading station 31 of the sliding pallet 310 reaches a preset value, the sliding pallet 310 will be reset to the initial position.

[0065] Preferably, if the number of items on the loading station 31 of the sliding pallet 310 does not meet the preset number value, the gripping mechanism 20 continues to grab items and place them on the loading station 31 of the sliding pallet 310 located at the loading position until the main controller determines that the number of items on the loading station 31 of the sliding pallet 310 reaches the preset number value, and the gripping mechanism 20 stops.

[0066] Among them, when the number of items placed on the loading station 31 of the sliding pallet 310 does not reach the preset value, the grabbing mechanism 20 continues to grab the items and transport them to the loading station until the number of items reaches the preset value, and the sliding pallet 310 returns to the initial position, thus realizing a fully automated process of handling and storing items. In addition, the system ensures that the sliding pallet 310 will only return to the initial position when the number of items reaches the preset value, thus avoiding unnecessary mechanical movement and reducing wear and tear on the robot.

[0067] Preferably, reference Figures 3 to 5 The articles include a first article and a second article; a plurality of first blocking members 311 and a plurality of second blocking members 312 are provided in the loading station 31, the first blocking members 311 are arranged to form a first position for limiting the first article, the second blocking members 312 are arranged on the periphery of the first blocking members 311, the second blocking members 312 are arranged to form a second position for limiting the second article, and at least part of the second blocking members 312 extends above the first blocking members 311.

[0068] Among them, through the setting of the first blocking member 311 and the second blocking member 312, different types of articles can be fixed, thereby improving the utilization efficiency of the pallet and enhancing the flexibility and adaptability of the loading station 31; at the same time, the setting of the first blocking member 311 and the second blocking member 312 helps to improve the positioning accuracy of the articles on the loading station 31 and ensure the accuracy of the articles in the predetermined position.

[0069] In some embodiments of this application, reference is made to Figure 3 The schematic diagram of the first object carried on the loading station shown is a wafer box 313. The wafer box 313 is placed at the first position formed by the first blocking members 311. The four corners of the wafer box 313 are respectively in contact with the four first blocking members 311. The four first blocking members 311 are all hollow structures, and a third detection mechanism is provided inside them for detecting whether the position of the wafer box 313 is aligned with the first blocking members 311.

[0070] In some embodiments of this application, reference is made to Figure 4The schematic diagram of the second object carried on the loading station shown in the figure, the second object is a tray or a tray carrier 314, the tray or tray carrier 314 is placed at the second position formed by the second blocking member 312, and the four corners of the tray or tray carrier 314 are respectively in contact with the four second blocking members 312. The four second blocking members 312 are all hollow structures, and a fourth detection mechanism is provided inside them for detecting whether the position of the tray or tray carrier 314 is properly placed on the second blocking member 312.

[0071] Preferably, the grasping mechanism 20 includes a robotic arm assembly 200 and a robotic arm assembly 210. The robotic arm assembly 210 is used to grasp objects. The robotic arm assembly 200 includes a plurality of serially connected shafts, one end of which is disposed at the top of the vehicle body 10, and the other end is connected to the robotic arm assembly 210. Different shafts have a degree of freedom greater than 0 to drive the robotic arm assembly 210 to move in any direction.

[0072] Among them, the robot arm assembly 200 adopts a design of multiple serial axes, so that the robot hand assembly 210 can move in any direction, thereby improving the operational flexibility and adaptability of the robot; different axes have a degree of freedom greater than 0, thereby increasing the working range of the robot arm, enabling the robot hand assembly 210 to perform precise position control and motion coordination, thereby improving the efficiency of the operation.

[0073] In some embodiments of this application, reference is made to Figure 6 As shown in the schematic diagram of the grasping mechanism, the robot arm assembly 200 is composed of a first axis 201, a second axis 202, a third axis 203 and a fourth axis 204 connected in sequence end to end, and the degrees of freedom of the four axes are all greater than 0, and they cooperate with each other to realize the movement of the robot arm assembly 210 in any direction.

[0074] Preferably, reference Figure 3 The schematic diagram of the first object being loaded on the loading station shown, Figure 6 As shown in the schematic diagram of the gripping mechanism, the manipulator assembly 210 includes at least one pair of gripping units 211, and the adjacent gripping units 211 move in similar directions to clamp the clamping structure 3130 at the top of the first object, or move in separate directions to disconnect the gripping unit 211 and the clamping structure 3130 to put down the object.

[0075] Among them, the grabbing unit 211 can move in a similar direction to clamp the clamping structure 3130 at the top of the object, or move in a separate direction to release the object, ensuring the reliability of grabbing and releasing the object, avoiding damage or falling of the object due to improper operation, and improving the safety of the system.

[0076] Preferably, the gripping mechanism 20 further includes a plurality of connection mechanisms 40 , one end of the connection mechanism 40 is connected to the end of the shaft away from the vehicle body 10 , and the other end is connected to a manipulator assembly 210 with different specifications.

[0077] Among them, the setting of multiple sets of connection mechanisms 40 allows the robot system to adapt to different specifications of the grasping mechanisms 20, so that the robot can quickly adjust and replace the manipulator components according to the type of objects during work to meet specific work requirements. In addition, multiple sets of connection mechanisms 40 can work with multiple pairs of manipulator components 210 at the same time to improve work efficiency.

[0078] Preferably, reference Figure 2 The schematic diagram of the sliding pallet of the robot system shown in the figure is in the sliding out state. The robot system also includes a carrier 50 and a sliding mechanism. The sliding pallet 310 is arranged below the fixed pallet 300 and is installed on the surface of the carrier 50 through the sliding mechanism; the sliding mechanism includes a slide rail 51 and a slide table 52 arranged on the slide rail 51, and the sliding pallet 310 moves along the slide rail 51 through the slide table.

[0079] Among them, the sliding pallet 310 is located below the fixed pallet 300, which realizes multi-level cargo storage in a limited space and optimizes the utilization efficiency of space; the sliding mechanism includes a slide rail 51 and a slide table 52, ensuring that the sliding pallet 310 can move between the initial position and the loading position along a predetermined trajectory.

[0080] Preferably, reference Figure 1 and Figure 2 A schematic diagram of the robot system shown and Figure 5 As shown in the schematic diagram of the sliding cargo pallet, the cargo pallets 30 are symmetrically arranged on both sides of the vehicle body 10. On one side of the vehicle body 10, at least three loading stations 31 are arranged on the sliding cargo pallet 310 and the fixed cargo pallet 300.

[0081] Among them, cargo pallets 30 are symmetrically arranged on both sides of the vehicle body 10, and there are at least three loading stations 31 on each side, which significantly improves the utilization rate of space, allows the robot system to accommodate more items in a limited space, and provides greater flexibility to handle different types of items.

[0082] Embodiment 2

[0083] Embodiment 2 of the present application provides an interactive method between a sliding pallet and a grabbing mechanism based on Embodiment 1, including:

[0084] S1: The grasping mechanism grasps the object;

[0085] S2: The sliding pallet moves from the initial position of the vehicle body to the loading position;

[0086] S3: The grabbing mechanism places the grabbed items on the loading station of the sliding pallet at the loading position.

[0087] Among them, the robot system introduces a sliding pallet, which effectively solves the low transportation efficiency and safety problems caused by the traditional pallet structure. While the grasping mechanism grasps the items, the sliding pallet moves outward, making the sliding pallet closer to the grasping mechanism, thereby reducing the moving distance of the grasping mechanism, improving transportation efficiency, and optimizing the operation process. At the same time, such a setting also reduces the risk of scratches between the grasping mechanism and the surrounding components of the pallet, thereby enhancing the safety and durability of the robot system.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0089] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0090] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A robot system, characterized in that: The robot system comprises: Vehicle body (10); A gripping mechanism (20), comprising a mechanical arm assembly (200) and a mechanical hand assembly (210), wherein the mechanical hand assembly (210) is used to grip an object, and the mechanical arm assembly (200) comprises a first shaft body (201), a second shaft body (202), a third shaft body (203), and a fourth shaft body (204) connected in end to end order, wherein the first shaft body (201) is arranged at the top end of the vehicle body (10), and the fourth shaft body (204) is connected to the mechanical hand assembly (210), and the degrees of freedom of the four shaft bodies are all greater than 0, so as to drive the mechanical hand assembly (210) to move in any direction; Cargo trays (30) are symmetrically arranged on both sides of the vehicle body (10), the cargo trays (30) comprising a fixed cargo tray (300) fixedly arranged on the vehicle body (10) and a plurality of sliding cargo trays (310) slidably arranged on the vehicle body (10) along a first direction, the fixed cargo tray (300) and the sliding cargo tray (310) are each provided with at least three loading stations (31), the vehicle body (10) has an initial position located directly below the fixed cargo tray (300) and a loading position located on one side of the fixed cargo tray (300) in the first direction, and the sliding cargo tray (310) is configured to move between the initial position and the loading position; When the gripping mechanism (20) grips the object, the sliding cargo tray (310) moves from the initial position to the loading position, and the gripping mechanism (20) places the gripped object on the loading station (31) of the sliding cargo tray (310) located at the loading position; The article comprises a wafer box (313) and a tray carrier (314); a plurality of first blocking members (311) and a plurality of second blocking members (312) are arranged in the loading station (31); the first blocking members (311) are arranged to form a first position for limiting the wafer box (313); the second blocking members (312) are arranged to form a second position for limiting the tray carrier (314); at least a portion of the second blocking members (312) extends above the first blocking members (311); The corner of the wafer box (313) abuts against the first blocking member (311), and the first blocking member (311) has a first hollow structure in which a third detection mechanism is arranged for detecting whether the position of the wafer box (313) is aligned with the first blocking member (311); The corners of the pallet carrier (314) abut against the second blocking member (312); the second blocking member (312) has a second hollow structure in which a fourth detection mechanism is arranged for detecting whether the position of the pallet carrier (314) is aligned with the second blocking member (312); The robot system further comprises a first detection mechanism, which is disposed at the loading station (31) and is used to emit a first detection signal along a second direction to detect whether the object is located on the loading station (31); Wherein, a preset angle is maintained between the second direction and the first direction.

2. The robot system according to claim 1, characterized in that: The robot system further comprises a main controller and a second detection mechanism, wherein the second detection mechanism is used to detect the number of the objects on the loading station (31) of the sliding pallet (310); The first detection mechanism detects that the object is located on the loading station (31), and transmits a presence signal to the second detection mechanism, the second detection mechanism counts the number of the presence signals received within a preset time and transmits the count to the main controller, and the main controller determines whether the number of the objects located on the loading station (31) of the sliding pallet (310) meets a preset number value based on the number of the presence signals; If it is met, the sliding tray (310) on which the articles are placed is reset from the loading position to the initial position.

3. The robot system according to claim 2, characterized in that: If the number of the items on the loading station (31) of the sliding pallet (310) does not meet the preset number value, the gripping mechanism (20) continues to grip the items and place them on the loading station (31) of the sliding pallet (310) located at the loading position until the main controller determines that the number of the items on the loading station (31) of the sliding pallet (310) reaches the preset number value, and the gripping mechanism (20) stops.

4. The robot system according to claim 1, characterized in that: The manipulator assembly (210) comprises at least one pair of gripping units (211), and adjacent gripping units (211) move in similar directions to grip the clamping structure (3130) at the top of the object, or move in separate directions to disconnect the gripping unit (211) from the clamping structure (3130) and place the object.

5. The robot system according to claim 1, characterized in that: The grasping mechanism (20) further comprises a plurality of groups of connecting mechanisms (40), one end of the connecting mechanism (40) being connected to an end of the shaft body away from the vehicle body (10), and the other end being connected to the manipulator assembly (210) having different specifications.

6. The robot system according to any one of claims 1 to 5, characterized in that: The robot system further comprises a platform (50) and a sliding mechanism, wherein the sliding cargo tray (310) is arranged below the fixed cargo tray (300) and is mounted on the surface of the platform (50) via the sliding mechanism; The sliding mechanism comprises a sliding rail (51) and a sliding platform (52) arranged on the sliding rail (51); the sliding cargo tray (310) moves along the sliding rail (51) via the sliding platform (52).

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