Multi-layer clamp handling mechanism

Abstract

The present application relates to battery handling technical field, specifically to a kind of multilayer clamp handling mechanism, comprising: ground rail;Handling device, comprising: moving mechanism, lifting mechanism and taking and placing mechanism;Taking and placing mechanism includes: support frame and taking and placing module, support frame is installed in lifting mechanism, and taking and placing module is installed in support frame;Taking and placing module includes: first-stage drive motor, first-stage guide rail, first-stage moving plate, first-stage drive belt, first-stage transmission screw, first-stage transmission nut and first-stage hooking component, first-stage hooking component includes: second-stage drive motor, two second-stage guide rails, wheel group, second-stage drive belt and second-stage hooking component, second-stage hooking component includes: first hooking module and second hooking module, first hooking module and second hooking module are slidably connected to two second-stage guide rails respectively, and are respectively located at the two ends of first-stage moving plate, and second-stage drive motor is connected first hooking module and second hooking module by second-stage drive belt.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery handling, in particular to a multi-layer clamp handling mechanism. BACKGROUND

[0002] In the production process of lithium ion batteries, the battery cells need to be loaded into clamps, and the multiple clamps are stacked and transported in various devices (such as ovens, cooling furnaces, feeding devices, and discharging devices, etc.). However, it is extremely inconvenient to load and unload the clamps during the transportation process, which affects the work efficiency, and the number of clamps that need to be transported at one time is large, which increases the labor intensity of workers. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application provides a multi-layer clamp handling mechanism to solve the problem of low handling efficiency of multi-layer clamps between various devices.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0005] A multi-layer clamp handling mechanism, comprising:

[0006] A ground rail;

[0007] A handling device, comprising a moving mechanism, a lifting mechanism, and a taking and placing mechanism;

[0008] The moving mechanism is installed on the ground rail, and the moving mechanism is used for moving in the X-axis direction on the ground rail;

[0009] The lifting mechanism is installed on the moving mechanism, and the lifting mechanism is used to drive the taking and placing mechanism to move in the Z-axis direction;

[0010] The taking and placing mechanism comprises a support frame and a taking and placing module, the support frame is installed on the lifting mechanism, and the taking and placing module is installed on the support frame;

[0011] The taking and placing module comprises a first-stage driving motor, a first-stage guide rail, a first-stage moving plate, a first-stage driving belt, a first-stage transmission screw, a first-stage transmission nut, and a first-stage hooking assembly, the first-stage driving motor is installed on the support frame, the first-stage guide rail is installed on the support frame and extends along the Y-axis direction, the first-stage moving plate is in sliding connection with the first-stage guide rail, the first-stage driving motor is in transmission connection with the first-stage transmission screw through the first-stage driving belt, the first-stage moving plate is connected with the first-stage transmission screw through the first-stage transmission nut, and the first-stage hooking assembly is installed on the first-stage moving plate;

[0012] The first level hooking assembly comprises a second level driving motor, two second level guide rails, a wheel set, a second level driving belt and a second level hooking assembly. The second level driving motor is installed on the first level moving plate. The second level guide rails are installed on the first level moving plate and extend along the Y-axis direction. The wheel set is installed on the first level moving plate. The second level driving belt surrounds the wheel set. The second level hooking assembly comprises a first hooking module and a second hooking module. The first hooking module and the second hooking module are respectively connected to the two second level guide rails in a sliding manner. The first hooking module and the second hooking module are respectively located at the two ends of the first level moving plate. The second level driving motor connects the first hooking module and the second hooking module through the second level driving belt.

[0013] Further, the first hooking module and the second hooking module each comprise a driving belt fixing seat, a hook wheel lifting rack, a hook wheel lifting guide rail, a driving motor fixing seat, a hook wheel lifting driving motor, a hook wheel lifting piece, a hook wheel rotating driving motor and a hook wheel assembly. The driving belt fixing seat comprises a first fixing piece and a second fixing piece. The first fixing piece and the second fixing piece are respectively fixed on the two sides of the second level driving belt. The hook wheel lifting rack and the hook wheel lifting guide rail are installed on the first fixing piece and extend along the Z-axis direction. The second fixing piece is connected to the second level guide rail in a sliding manner through a sliding block. The driving motor fixing seat is connected to the hook wheel lifting guide rail in a sliding manner through a sliding block. The hook wheel lifting driving motor is installed on the driving motor fixing seat. An output shaft of the hook wheel lifting driving motor is provided with a driving gear. The driving gear is engaged with the hook wheel lifting rack. The hook wheel lifting piece is fixedly connected to the driving motor fixing seat. The hook wheel rotating driving motor is installed on the hook wheel lifting piece. The hook wheel assembly comprises a hook wheel mounting piece and two hook wheels. The hook wheel mounting seat is drivingly connected to the hook wheel rotating driving motor. The two hook wheels are installed on the hook wheel mounting seat.

[0014] Further, the wheel set comprises four idler wheels, one tensioning wheel, one driving wheel and one driven wheel. Two idler wheels are respectively located at the two ends of one second level guide rail. Two idler wheels are respectively located at the two ends of the other second level guide rail. The tensioning wheel, the driving wheel and the driven wheel are located between the two second level guide rails. The driving wheel is drivingly connected to the second level driving motor. The gear part of the driven wheel is engaged with the gear part of the driving wheel.

[0015] Further, the support frame comprises a bottom frame, a first frame and a second frame. The taking and placing module is installed on the bottom frame. The first frame and the second frame are respectively installed on the two ends of the bottom frame.

[0016] Further, the support frame further comprises: a roller set, the roller set comprising: a plurality of lateral rollers and a plurality of longitudinal rollers, the plurality of lateral rollers being evenly arranged on the first frame and the second frame respectively, and the plurality of longitudinal rollers being evenly arranged on the first frame and the second frame respectively.

[0017] Further, the support frame further comprises: a latch assembly, the latch assembly being used for cooperating with a recess of a sealing door of an oven, the latch assembly comprising: a latch mounting seat, a latch driving motor, a latch, and a latch guide sleeve, the latch mounting seat being mounted on the first frame, the latch driving motor being mounted on the latch mounting seat, the latch being in transmission connection with the latch driving motor, and the latch guide sleeve being mounted on the first frame, the latch penetrating through the latch guide sleeve.

[0018] Further, the support frame further comprises: an unlocking mechanism, the unlocking mechanism being mounted on the taking-and-placing mechanism, and the unlocking mechanism being used for releasing a locking structure between the oven and the clamp.

[0019] Further, the unlocking mechanism comprises: an unlocking mounting seat, an unlocking driving motor, a guide sleeve, a guide shaft, and an inclined pressing block, the unlocking mounting seat being mounted on the first-stage moving plate, the unlocking driving motor and the guide sleeve being mounted on the unlocking mounting seat, the guide shaft being mounted on the guide sleeve, the inclined pressing block being in transmission connection with the unlocking driving motor, and the guide shaft being connected with the inclined pressing block.

[0020] Further, the lifting mechanism comprises: a top frame, a first lifting device, and a second lifting device, the first lifting device and the second lifting device being symmetrically arranged, the first lifting device and the second lifting device each comprising: a fixed frame, a lifting frame, a lifting driving motor, a lifting transmission screw, a lifting transmission nut, and a second lifting guide rail, two ends of the top frame being respectively connected with the fixed frame of the first lifting device and the fixed frame of the second lifting device, the fixed frame being mounted on the moving mechanism, the lifting driving motor, the second lifting guide rail, and the lifting transmission screw being mounted on the fixed frame, the lifting driving motor being in transmission connection with the lifting transmission screw, the lifting frame being connected with the lifting transmission screw through the lifting transmission nut, the lifting frame being in sliding connection with the second lifting guide rail through a sliding block, and two ends of the support frame being respectively connected with the lifting frame of the first lifting device and the lifting frame of the second lifting device.

[0021] Further, the ground rail comprises two straight rails, a plurality of fixing plates, a slide contact line, four limiting pieces and a first communication module, the two straight rails extend along the X-axis direction, the plurality of fixing plates are used for fixing the two straight rails, the slide contact line is arranged between the two straight rails, the four limiting pieces are respectively arranged at two ends of the two straight rails, the first communication module is arranged at one end of the straight rail, and the straight rail is in the shape of an I-beam.

[0022] The moving mechanism comprises a ground rail moving frame, a ground rail driving motor installed on the ground rail moving frame, a pair of ground rail driving wheels, a pair of ground rail driven wheels, a guide roller assembly, an anti-toppling roller assembly, a cleaning brush assembly, an anti-collision detection sensor and a second communication module, the ground rail driving wheels are in transmission connection with the ground rail driving motor, the ground rail driving wheels and the ground rail driven wheels roll on the straight rail, the guide roller assembly comprises two pairs of guide rollers, any pair of the guide rollers is located on the two sides of the middle vertical plate of the straight rail in the shape of an I-beam, the anti-toppling roller assembly comprises four anti-toppling rollers, the four anti-toppling rollers are located at the four corners of the ground rail moving frame, and the anti-toppling rollers are in abutment with the bottom of the top plate of the straight rail in the shape of an I-beam.

[0023] The multi-layer clamp carrying mechanism has the beneficial effects that:

[0024] The moving mechanism can move along the X-axis on the ground rail to move the conveying device to the corresponding equipment position. The lifting mechanism can lift the pick-and-place mechanism along the Z-axis to the height of the fixture to be picked up or placed. The first-stage drive motor drives the first-stage drive belt to drive the first-stage transmission screw to rotate, so that the first-stage moving plate connected to the first-stage transmission screw via the first-stage transmission nut moves along the first-stage guide rail to the fixture to be picked up or placed. If the conveying device is for placing multi-layer fixtures, the second hook module, which is away from the fixture to be picked up or placed, is connected to the hook groove at the bottom of the multi-layer fixture. The second-stage drive motor drives the second-stage drive belt to drive the second hook module to move along the second-stage guide rail to the fixture to be picked up or placed, thereby placing the multi-layer fixture on the oven support frame. After placement, the second hook module disengages from the hook groove at the bottom of the multi-layer fixture, and the first-stage drive motor drives the first-stage moving plate to move along the first-stage guide rail to the fixture to be picked up or placed. The first-stage drive belt drives the first-stage transmission screw to rotate, causing the first-stage moving plate, connected to the first-stage transmission screw via the first-stage transmission nut, to move along the first-stage guide rail away from the position of the fixture to be picked up or placed. If the handling device is for picking up multi-layer fixtures, the first hook module near the position of the fixture to be picked up or placed is connected to the hook groove at the bottom of the multi-layer fixture. The second-stage drive motor drives the second-stage drive belt to move the first hook module along the second-stage guide rail away from the position of the fixture to be picked up or placed, thereby placing the multi-layer fixture on the support frame. The first-stage drive motor drives the first-stage drive belt to rotate the first-stage transmission screw, causing the first-stage moving plate, connected to the first-stage transmission screw via the first-stage transmission nut, to move along the first-stage guide rail away from the position of the fixture to be picked up or placed, so that the multi-layer fixture is completely placed on the support frame, improving the handling efficiency of multi-layer fixtures between various devices. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the multi-layer clamping and handling mechanism according to an embodiment of the present invention;

[0026] Figure 2 This is an assembly diagram of the ground track and the moving mechanism according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the moving mechanism according to an embodiment of the present invention from one perspective;

[0028] Figure 4 This is a schematic diagram of the moving mechanism from another perspective of an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the lifting mechanism according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the picking and placing mechanism according to an embodiment of the present invention;

[0031] Figure 7 yes Figure 6a structural exploded view of the pick-and-place mechanism;

[0032] Figure 8 a structural view of a support frame of the pick-and-place mechanism of the embodiment of the present application;

[0033] Figure 9 a structural view of a pick-and-place module of the pick-and-place mechanism of the embodiment of the present application from one perspective;

[0034] Figure 10 a structural view of the pick-and-place module of the pick-and-place mechanism of the embodiment of the present application from another perspective;

[0035] Figure 11 a structural view of a first pick-up module of the embodiment of the present application from a first perspective;

[0036] Figure 12 a structural view of the first pick-up module of the embodiment of the present application from a second perspective;

[0037] Figure 13 a structural view of the first pick-up module of the embodiment of the present application from a third perspective;

[0038] Figure 14 a structural view of an unlocking mechanism of the embodiment of the present application.

[0039] BRIEF DESCRIPTION OF THE DRAWINGS:

[0040] 1, ground rail; 11, straight rail; 12, fixed plate; 13, slide wire; 14, limiting piece; 15, first communication module; 2, carrying device; 3, moving mechanism; 31, ground rail moving frame; 32, ground rail driving motor; 33, ground rail driving wheel; 34, ground rail driven wheel; 35, guide roller assembly; 351, guide roller; 36, anti-toppling roller assembly; 361, anti-toppling roller; 37, cleaning brush assembly; 38, anti-collision detection sensor; 39, second communication module; 4, lifting mechanism; 41, top frame; 42, first lifting device; 43, second lifting device; 431, fixed frame; 432, lifting frame; 433, lifting driving motor; 434, lifting transmission screw; 435, lifting transmission nut; 436, second lifting rail; 5, taking and placing mechanism; 51, support frame; 511, bottom frame; 512, first frame; 513, second frame; 514, transverse roller; 515, longitudinal roller; 52, taking and placing module; 521, first stage driving motor; 522, first stage rail; 523, first stage moving plate; 524, first stage driving belt; 525, first stage transmission screw; 526, first stage transmission nut; 527, first stage hooking assembly; 5271, second stage driving motor; 5272, second stage rail; 5273, wheel set; 52731, tension wheel; 52732, idler wheel; 52733, driving wheel; 52734, driven wheel; 5274, second stage driving belt; 5275, second stage hooking assembly; 52751, first hooking module; 52752, second hooking module; 61, driving belt fixing seat; 611, first fixing piece; 612, second fixing piece; 62, hook wheel lifting rack; 63, hook wheel lifting rail; 64, driving motor fixing seat; 65, hook wheel lifting driving motor; 66, hook wheel lifting piece; 67, hook wheel rotation driving motor; 68, hook wheel assembly; 681, hook wheel mounting piece; 682, hook wheel; 7, bolt assembly; 71, bolt mounting seat; 72, bolt driving motor; 73, bolt; 74, bolt guide sleeve; 8, unlocking mechanism; 81, unlocking mounting seat; 82, unlocking driving motor; 83, guide sleeve; 84, guide shaft; 85, inclined surface pressing block; 9, control box; 10, CCD camera. DETAILED DESCRIPTION

[0041] The application will be further described below in conjunction with the drawings and specific examples.

[0042] As Figures 1 to 14 shown, the embodiment of the application provides a multi-layer clamp carrying mechanism, which comprises:

[0043] a ground rail 1;

[0044] a carrying device 2, which comprises a moving mechanism 3, a lifting mechanism 4 and a taking and placing mechanism 5;

[0045] The moving mechanism 3 is installed on the ground rail 1, and is used for moving in the X-axis direction on the ground rail 1;

[0046] The lifting mechanism 4 is installed on the moving mechanism 3, and is used for driving the taking and placing mechanism 5 to move in the Z-axis direction;

[0047] The taking and placing mechanism 5 comprises a support frame 51 and a taking and placing module 52, wherein the support frame 51 is installed on the lifting mechanism 4, and the taking and placing module 52 is installed on the support frame 51;

[0048] The taking and placing module 52 comprises a first-stage driving motor 521, a first-stage guide rail 522, a first-stage moving plate 523, a first-stage driving belt 524, a first-stage transmission screw 525, a first-stage transmission nut 526 and a first-stage hooking assembly 527, wherein the first-stage driving motor 521 is installed on the support frame 51, the first-stage guide rail 522 is installed on the support frame 51 and extends along the Y-axis direction, the first-stage moving plate 523 is slidably connected with the first-stage guide rail 522, the first-stage driving motor 521 is in transmission connection with the first-stage transmission screw 525 through the first-stage driving belt 524, the first-stage moving plate 523 is connected with the first-stage transmission screw 525 through the first-stage transmission nut 526, and the first-stage hooking assembly 527 is installed on the first-stage moving plate 523;

[0049] The first-stage hooking assembly 527 comprises a second-stage driving motor 5271, two second-stage guide rails 5272, a wheel set 5273, a second-stage driving belt 5274 and a second-stage hooking assembly 5275, wherein the second-stage driving motor 5271 is installed on the first-stage moving plate 523, the second-stage guide rails 5272 are installed on the first-stage moving plate 523 and extend along the Y-axis direction, the wheel set 5273 is installed on the first-stage moving plate 523, the second-stage driving belt 5274 is wound around the wheel set 5273, the second-stage hooking assembly 5275 comprises a first hooking module 52751 and a second hooking module 52752, the first hooking module 52751 and the second hooking module 52752 are slidably connected with the two second-stage guide rails 5272 respectively, and the first hooking module 52751 and the second hooking module 52752 are respectively located at two ends of the first-stage moving plate 523, and the second-stage driving motor 5271 connects the first hooking module 52751 and the second hooking module 52752 through the second-stage driving belt 5274.

[0050] The moving mechanism 3 can move the carrying device 2 to the corresponding equipment position along the X-axis direction on the ground rail 1, the lifting mechanism 4 can lift the taking and placing mechanism 5 to the height of the to-be-taken-and-placed clamp position along the Z-axis direction, the first-stage driving motor 521 drives the first-stage driving belt 524 to drive the first-stage transmission screw 525 to rotate, so that the first-stage moving plate 523 connected to the first-stage transmission screw 525 through the first-stage transmission nut 526 moves along the first-stage guide rail 522 to the to-be-taken-and-placed clamp position; if the carrying device 2 is to place the multi-layer clamp, the second hooking module 52752 far away from the to-be-taken-and-placed clamp position is connected with the hook groove at the bottom of the multi-layer clamp, the second-stage driving motor 5271 drives the second-stage driving belt 5274 to drive the second hooking module 52752 to move along the second-stage guide rail 5272 to the to-be-taken-and-placed clamp position, so as to place the multi-layer clamp on the oven support frame 51, after the placement is completed, the second hooking module 52752 is disconnected with the hook groove at the bottom of the multi-layer clamp, the first-stage driving motor 521 drives the first-stage driving belt 524 to drive the first-stage transmission screw 525 to rotate, so that the first-stage moving plate 523 connected to the first-stage transmission screw 525 through the first-stage transmission nut 526 moves along the first-stage guide rail 522 away from the to-be-taken-and-placed clamp position; if the carrying device 2 is to take the multi-layer clamp, the first hooking module 52751 close to the to-be-taken-and-placed clamp position is connected with the hook groove at the bottom of the multi-layer clamp, the second-stage driving motor 5271 drives the second-stage driving belt 5274 to drive the first hooking module 52751 to move away from the to-be-taken-and-placed clamp position along the second-stage guide rail 5272, so as to place the multi-layer clamp on the support frame 51, the first-stage driving motor 521 drives the first-stage driving belt 524 to drive the first-stage transmission screw 525 to rotate, so that the first-stage moving plate 523 connected to the first-stage transmission screw 525 through the first-stage transmission nut 526 moves along the first-stage guide rail 522 away from the to-be-taken-and-placed clamp position, so that the multi-layer clamp is completely placed on the support frame 51, and the carrying efficiency of the multi-layer clamp between various equipment is improved.

[0051] As Figures 9 to 13As shown, in some embodiments, the first hooking module 52751 and the second hooking module 52752 each include a driving belt fixing seat 61, a hook wheel lifting rack 62, a hook wheel lifting guide rail 63, a driving motor fixing seat 64, a hook wheel lifting driving motor 65, a hook wheel lifting piece 66, a hook wheel rotating driving motor 67, and a hook wheel assembly 68. The driving belt fixing seat 61 includes a first fixing piece 611 and a second fixing piece 612, which are respectively fixed to the two sides of the second-stage driving belt 5274. The hook wheel lifting rack 62 and the hook wheel lifting guide rail 63 are installed on the first fixing piece 611 and extend along the Z-axis direction. The second fixing piece 612 is slidingly connected to the second-stage guide rail 5272 through a sliding block. The driving motor fixing seat 64 is slidingly connected to the hook wheel lifting guide rail 63 through a sliding block. The hook wheel lifting driving motor 65 is installed on the driving motor fixing seat 64, and the output shaft of the hook wheel lifting driving motor 65 is installed with a driving gear. The driving gear is engaged with the hook wheel lifting rack 62. The hook wheel lifting piece 66 is fixedly connected to the driving motor fixing seat 64. The hook wheel rotating driving motor 67 is installed on the hook wheel lifting piece 66. The hook wheel assembly 68 includes a hook wheel mounting piece 681 and two hook wheels 682. The hook wheel mounting seat is drivingly connected to the hook wheel rotating driving motor 67. The two hook wheels 682 are installed on the hook wheel mounting seat.

[0052] The hook wheel lifting driving motor 65 drives the driving gear to rotate, so that the driving gear cooperates with the hook wheel lifting rack 62, thereby causing the driving motor fixing seat 64 to lift. When the driving motor fixing seat 64 lifts along the hook wheel lifting guide rail 63, the hook wheel lifting piece 66 also lifts synchronously, thereby causing the hook wheel rotating driving motor 67 to lift. When it is needed to connect the hook wheels 682 with the hook grooves at the bottom of the clamp, the hook wheel rotating driving motor 67 is caused to ascend. When it is needed to disconnect the hook wheels 682 from the hook grooves at the bottom of the clamp, the hook wheel rotating driving motor 67 is caused to descend. When the hook wheels 682 are connected with the hook grooves at the bottom of the clamp, in order to ensure that the hook wheels 682 abut against the inner walls of the hook grooves in the Y-axis direction, the hook wheel rotating driving motor 67 is caused to rotate, thereby causing the two hook wheels 682 to rotate from the X-axis direction arrangement to the Y-axis direction arrangement, and further causing the two hook wheels 682 to abut against the two inner walls of the hook grooves in the Y-axis direction, respectively. The initial distribution of the two hook wheels 682 is arranged in the X-axis direction, so that the hook wheels 682 can enter the hook grooves even if there is an error after reaching the preset position. After the connection of the hook wheels 682 and the hook grooves is completed, the second-stage driving belt 5274 is driven by the second-stage driving motor 5271, thereby causing the clamp to move in the Y-axis direction.

[0053] As Figure 9As shown, in some embodiments, the wheel set 5273 comprises: 4 idler wheels 52732, 1 tension wheel 52731, 1 driving wheel 52733 and 1 driven wheel 52734, two idler wheels 52732 are respectively located at the two ends of one second level guide rail 5272, two idler wheels 52732 are respectively located at the two ends of another second level guide rail 5272, the tension wheel 52731, the driving wheel 52733 and the driven wheel 52734 are located between the two second level guide rails 5272, the driving wheel 52733 is in transmission connection with the second level driving motor 5271, and the gear part of the driven wheel 52734 is in meshing with the gear part of the driving wheel 52733. The second level driving belt 5274 passes through the driven wheel 52734, the two idler wheels 52732 located at the two ends of the second level guide rail 5272 on one side, the tension wheel 52731, the two idler wheels 52732 located at the two ends of the second level guide rail 5272 on the other side in turn, and finally returns to the driven wheel 52734. The second level driving motor 5271 drives the driving wheel 52733 to rotate, the driving wheel 52733 drives the meshing driven wheel 52734 to rotate, thereby driving the second level driving belt 5274 to drive around the wheel set 5273, and further moving the first hooking module 52751 and the second hooking module 52752.

[0054] As shown, Figure 8 in some embodiments, the support frame 51 comprises: a bottom frame 511, a first frame 512 and a second frame 513, and the taking and placing module 52 is installed on the bottom frame 511, and the first frame 512 and the second frame 513 are respectively installed at the two ends of the bottom frame 511.

[0055] As shown, Figure 8 in some embodiments, the support frame 51 further comprises: a roller set, the roller set comprises: a plurality of transverse rollers 514 and a plurality of longitudinal rollers 515, the plurality of transverse rollers 514 are respectively and uniformly arranged on the first frame 512 and the second frame 513, and the plurality of longitudinal rollers 515 are respectively and uniformly arranged on the first frame 512 and the second frame 513.

[0056] During the taking and placing process of the clamp, the transverse rollers 514 of the first frame 512 and the second frame 513 can respectively abut from the two side surfaces of the clamp, thereby limiting the moving direction of the clamp, and the longitudinal rollers 515 can support the bottom surface of the clamp and roll with the movement of the clamp, thereby enabling the clamp to reduce the friction with the support frame 51.

[0057] As shown, Figure 8As shown, in some embodiments, it further includes: a pin assembly 7, which is used to engage with the recess of the sealing door of the oven. The pin assembly 7 includes: a pin mounting base 71, a pin drive motor 72, a pin 73, and a pin guide sleeve 74. The pin mounting base 71 is mounted on the first frame 512, the pin drive motor 72 is mounted on the pin mounting base 71, the pin 73 is connected to the pin drive motor 72 in a driving connection, and the pin guide sleeve 74 is mounted on the first frame 512, with the pin 73 passing through the pin guide sleeve 74.

[0058] When the moving mechanism 3 moves the conveying device 2 to the corresponding position in the oven, the pin drive motor 72 drives the pin 73 to move along the Y-axis, so that the pin 73 engages with the recess of the oven sealing door. At this time, the moving mechanism 3 moves, thereby pushing the oven sealing door open, and at the same time, the pin 73 passes through the pin guide sleeve 74 to ensure that the pin 73 will not deviate in direction during the movement.

[0059] like Figure 6 and Figure 7 As shown, in some embodiments, it further includes: an unlocking mechanism 8, which is installed on the pick-and-place mechanism 5, and is used to release the locking structure between the oven and the clamp.

[0060] The oven support frame is equipped with a locking structure to prevent the multi-layer clamps from sliding off. The locking structure may include a baffle, a pulley, a guide rail, and a return spring. The baffle is slidably connected to the guide rail via a slider. The guide rail is installed on the oven support frame. The pulley is installed on the baffle. One end of the return spring is connected to the baffle, and the other end is connected to the oven support frame.

[0061] like Figure 14 As shown, in some embodiments, the unlocking mechanism 8 includes: an unlocking mounting base 81, an unlocking drive motor 82, a guide sleeve 83, a guide shaft 84, and an inclined pressure block 85. The unlocking mounting base 81 is mounted on the first-stage moving plate 523. The unlocking drive motor 82 and the guide sleeve 83 are mounted on the unlocking mounting base 81. The guide shaft 84 is mounted on the guide sleeve 83. The inclined pressure block 85 is connected to the unlocking drive motor 82 in a transmission manner. The guide shaft 84 is connected to the inclined pressure block 85.

[0062] When the moving mechanism 3 moves to the corresponding position in the oven, the unlocking drive motor 82 can drive the inclined pressure block 85 to move along the Y-axis, so that the inclined push block abuts against the anti-slip device provided on the oven support frame 51. As the inclined push block moves, the baffle of the locking structure gradually descends, thereby unlocking the locking structure and enabling the pick-and-place mechanism 5 to take out or place the multi-layer fixture. Through the cooperation of the guide sleeve 83 and the guide shaft 84, the running direction of the inclined pressure block 85 can be prevented from deviating. When the unlocking drive motor 82 drives the inclined pressure block 85 to reset, the reset spring also provides a reset force for the baffle.

[0063] As Figure 5 shown in the figure, in some embodiments, the lifting mechanism 4 comprises: a top frame 41, a first lifting device 42 and a second lifting device 43, the first lifting device 42 and the second lifting device 43 are symmetrically arranged, and each of the first lifting device 42 and the second lifting device 43 comprises: a fixed frame 431, a lifting frame 432, a lifting drive motor 433, a lifting transmission screw 434, a lifting transmission nut 435 and a second lifting guide rail 436, both ends of the top frame 41 are respectively connected with the fixed frame 431 of the first lifting device 42 and the fixed frame 431 of the second lifting device 43, the fixed frame 431 is installed on the moving mechanism 3, the lifting drive motor 433, the second lifting guide rail 436 and the lifting transmission screw 434 are installed on the fixed frame 431, the lifting drive motor 433 is in transmission connection with the lifting transmission screw 434, the lifting frame 432 is connected with the lifting transmission screw 434 through the lifting transmission nut 435, the lifting frame 432 is in sliding connection with the second lifting guide rail 436 through a sliding block, and both ends of the support frame 51 are respectively connected with the lifting frame 432 of the first lifting device 42 and the lifting frame 432 of the second lifting device 43.

[0064] The lifting drive motor 433 can drive the lifting transmission screw 434 to rotate, so that the lifting transmission nut 435 rises or falls, thereby enabling the lifting frame 432 to slide up and down along the second lifting guide rail 436, and since both ends of the support frame 51 are respectively connected with the lifting frame 432 of the first lifting device 42 and the lifting frame 432 of the second lifting device 43, the support frame 51 can be lifted, the lifting speed and the lifting height of the first lifting device 42 and the second lifting device 43 are synchronized, and the support frame 51 can be prevented from tilting.

[0065] As Figures 2 to 4 shown in the figure, in some embodiments, the ground rail 1 comprises: two straight rails 11, a plurality of fixed plates 12, a slide wire 13, four limiting pieces 14 and a first communication module 15, the two straight rails 11 extend along the X-axis direction, the plurality of fixed plates 12 are used for fixing the two straight rails 11, the slide wire 13 is arranged between the two straight rails 11, the four limiting pieces 14 are respectively arranged at both ends of the two straight rails 11, the first communication module 15 is arranged at one end of the straight rail 11, and the straight rail 11 is in the shape of an I-beam.

[0066] The moving mechanism 3 comprises a ground rail moving frame 31, a ground rail driving motor 32, a pair of ground rail driving wheels 33, a pair of ground rail driven wheels 34, a guide roller assembly 35, an anti-toppling roller assembly 36, a cleaning brush assembly 37, an anti-collision detection sensor 38 and a second communication module 39 installed on the ground rail moving frame 31, the ground rail driving wheels 33 are in transmission connection with the ground rail driving motor 32, the ground rail driving wheels 33 and the ground rail driven wheels 34 roll on the linear rail, the guide roller assembly 35 comprises two pairs of guide rollers 351, any one pair of the guide rollers 351 is located on the two sides of the middle vertical plate of the I-shaped linear rail 11, the anti-toppling roller assembly 36 comprises four anti-toppling rollers 361, the four anti-toppling rollers 361 are located at the four corners of the ground rail moving frame 31, and the anti-toppling rollers 361 abut against the bottom of the top plate of the I-shaped linear rail 11.

[0067] Since the four anti-toppling rollers 361 are located at the four corners of the ground rail moving frame 31 and abut against the bottom of the top plate of the I-shaped linear rail 11, the anti-toppling rollers 361 can limit the derailment and toppling of the moving mechanism 3 when the moving mechanism 3 moves on the ground rail 1, and since any one pair of the guide rollers 351 is located on the two sides of the middle vertical plate of the I-shaped linear rail 11 and abuts against the middle vertical plate of the I-shaped linear rail 11, the guide rollers 351 can limit the shaking of the moving mechanism 3 when the moving mechanism 3 moves on the ground rail 1, so that the moving mechanism 3 moves stably along a straight line.

[0068] It should be noted that the two pairs of guide rollers 351 can be installed on the same side of the ground rail moving frame 31 or on different sides of the ground rail moving frame 31.

[0069] Information is transmitted through the first communication module 15 and the second communication module 39, so that the staff can directly understand the carrying state of the multi-layer clamp carrying mechanism in the background.

[0070] The slide wire 13 can supply power to the carrying device 2, so that the carrying device 2 completes movement and carrying, and the anti-collision detection sensor 38 can detect whether there is foreign matter in the moving direction of the moving mechanism 3, when there is foreign matter, the controller can be fed back in time, so that the controller controls the moving mechanism 3 to stop moving, thereby avoiding injury to the staff and the carrying device 2.

[0071] It should be noted that the carrying device 2 further comprises a control box 9 installed on the lifting mechanism 4, and the control box 9 is provided with a controller, which controls the moving mechanism 3, the lifting mechanism 4 and the taking and placing mechanism 5. Meanwhile, the CCD camera 10 is arranged on the taking and placing mechanism 5, and the CCD camera 10 is used to determine whether the moving mechanism 3 and the lifting mechanism 4 move the taking and placing mechanism 5 to the position of the multi-layer clamp to be taken and placed.

[0072] The above merely describes preferred embodiments of the present application, and is not intended to limit the technical scope of the present application in any way. Any minor modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application shall still fall within the technical scope of the present application.

Claims

1. A multi-layer gripper handling mechanism, characterized by, The utility model relates to a ground rail, a carrying device and a method for carrying a wafer. The carrying device comprises a moving mechanism, a lifting mechanism and a pick-and-place mechanism. The moving mechanism is installed on the ground rail and is used for moving in the X-axis direction on the ground rail. The lifting mechanism is installed on the moving mechanism and is used for driving the pick-and-place mechanism to move in the Z-axis direction. The pick-and-place mechanism comprises a support frame and a pick-and-place module. The pick-and-place module comprises a first-stage driving motor, a first-stage guide rail, a first-stage moving plate, a first-stage driving belt, a first-stage transmission screw, a first-stage transmission nut and a first-stage hooking assembly. The first-stage driving motor is installed on the support frame. The first-stage guide rail is installed on the support frame and extends in the Y-axis direction. The first-stage moving plate is in sliding connection with the first-stage guide rail. The first-stage driving motor is in transmission connection with the first-stage driving belt and the first-stage transmission screw. The first-stage moving plate is connected with the first-stage transmission screw through the first-stage transmission nut. The first-stage hooking assembly is installed on the first-stage moving plate. The first-stage hooking assembly comprises a second-stage driving motor, two second-stage guide rails, a wheel set, a second-stage driving belt and a second-stage hooking assembly. The second-stage driving motor is installed on the first-stage moving plate. The second-stage guide rails are installed on the first-stage moving plate and extend in the Y-axis direction. The wheel set is installed on the first-stage moving plate. The second-stage driving belt surrounds the wheel set. The second-stage hooking assembly comprises a first hooking module and a second hooking module. The first hooking module and the second hooking module are in sliding connection with the two second-stage guide rails respectively. The first hooking module and the second hooking module are located at two ends of the first-stage moving plate respectively. The second-stage driving motor connects the first hooking module and the second hooking module through the second-stage driving belt. The first hooking module and the second hooking module each comprise a driving belt fixing seat, a hook wheel lifting rack, a hook wheel lifting guide rail, a driving motor fixing seat, a hook wheel lifting driving motor, a hook wheel lifting piece, a hook wheel rotating driving motor and a hook wheel assembly. The driving belt fixing seat comprises a first fixing piece and a second fixing piece. The first fixing piece and the second fixing piece are fixed to the two sides of the second stage driving belt respectively. The hook wheel lifting rack and the hook wheel lifting guide rail are installed on the first fixing piece and extend along the Z-axis direction. The second fixing piece is connected with the second stage guide rail through a sliding block. The driving motor fixing seat is connected with the hook wheel lifting guide rail through a sliding block. The hook wheel lifting driving motor is installed on the driving motor fixing seat. The output shaft of the hook wheel lifting driving motor is provided with a driving gear. The driving gear is engaged with the hook wheel lifting rack. The hook wheel lifting piece is fixedly connected with the driving motor fixing seat. The hook wheel rotating driving motor is installed on the hook wheel lifting piece. The hook wheel assembly comprises a hook wheel mounting piece and two hook wheels. The hook wheel mounting seat is drivingly connected with the hook wheel rotating driving motor. The two hook wheels are installed on the hook wheel mounting seat.

2. The multi-layer gripper handling mechanism of claim 1, wherein, The wheel set comprises four idler wheels, one tension wheel, one driving wheel and one driven wheel. Two idler wheels are respectively located at the two ends of one second stage guide rail. Two idler wheels are respectively located at the two ends of another second stage guide rail. The tension wheel, the driving wheel and the driven wheel are located between the two second stage guide rails. The driving wheel is drivingly connected with the second stage driving motor. The gear part of the driven wheel is engaged with the gear part of the driving wheel.

3. The multi-layer gripper handling mechanism of claim 1, wherein, The support frame comprises a bottom frame, a first frame and a second frame. The taking and placing module is installed on the bottom frame. The first frame and the second frame are respectively installed at the two ends of the bottom frame.

4. The multi-layer gripper handling mechanism of claim 3, wherein, The support frame further comprises a roller set. The roller set comprises a plurality of transverse rollers and a plurality of longitudinal rollers. The plurality of transverse rollers are evenly installed on the first frame and the second frame respectively. The plurality of longitudinal rollers are evenly installed on the first frame and the second frame respectively.

5. The multi-layer gripper handling mechanism of claim 3, wherein, Further comprising: A latch assembly is used to cooperate with the recess of the sealing door of the oven. The latch assembly comprises a latch mounting seat, a latch driving motor, a latch and a latch guide sleeve. The latch mounting seat is installed on the first frame. The latch driving motor is installed on the latch mounting seat. The latch is drivingly connected with the latch driving motor. The latch guide sleeve is installed on the first frame. The latch passes through the latch guide sleeve.

6. The multi-layer gripper handling mechanism of claim 1, wherein, Further comprising: An unlocking mechanism is installed on the taking and placing mechanism. The unlocking mechanism is used to release the locking structure between the oven and the clamp.

7. The multi-tiered gripper handling mechanism of claim 6, wherein, The unlocking mechanism comprises an unlocking mounting seat, an unlocking driving motor, a guide sleeve, a guide shaft and an inclined pressing block, the unlocking mounting seat is mounted on the first-stage moving plate, the unlocking driving motor and the guide sleeve are mounted on the unlocking mounting seat, the guide shaft is mounted on the guide sleeve, the inclined pressing block is in transmission connection with the unlocking driving motor, and the guide shaft is connected with the inclined pressing block.

8. The multi-layer gripper handling mechanism of claim 1, wherein, The lifting mechanism comprises a top frame, a first lifting device and a second lifting device, the first lifting device and the second lifting device are symmetrically arranged, and each of the first lifting device and the second lifting device comprises a fixing frame, a lifting frame, a lifting driving motor, a lifting transmission screw, a lifting transmission nut and a second lifting guide rail, the two ends of the top frame are connected with the fixing frame of the first lifting device and the fixing frame of the second lifting device respectively, the fixing frame is mounted on the moving mechanism, the lifting driving motor, the second lifting guide rail and the lifting transmission screw are mounted on the fixing frame, the lifting driving motor is in transmission connection with the lifting transmission screw, the lifting frame is connected with the lifting transmission screw through the lifting transmission nut, and the lifting frame is in sliding connection with the second lifting guide rail through a sliding block, and the two ends of the support frame are connected with the lifting frame of the first lifting device and the lifting frame of the second lifting device respectively.

9. The multi-layer gripper handling mechanism of claim 1, wherein, The ground rail comprises two straight rails, a plurality of fixing plates, a slide wire, four limiting pieces and a first communication module, the two straight rails extend along the X-axis direction, the plurality of fixing plates are used for fixing the two straight rails, the slide wire is arranged between the two straight rails, the four limiting pieces are arranged at the two ends of the two straight rails respectively, the first communication module is arranged at one end of the straight rail, and the straight rail is in the shape of an I-beam. The moving mechanism comprises a ground rail moving frame, a ground rail driving motor mounted on the ground rail moving frame, a pair of ground rail driving wheels, a pair of ground rail driven wheels, a guide roller assembly, an anti-toppling roller assembly, a cleaning brush assembly, an anti-collision detection sensor and a second communication module, the ground rail driving wheels are in transmission connection with the ground rail driving motor, the ground rail driving wheels and the ground rail driven wheels roll on the straight rail, the guide roller assembly comprises two pairs of guide rollers, any pair of the guide rollers is located on the two sides of the middle vertical plate of the I-shaped straight rail, the anti-toppling roller assembly comprises four anti-toppling rollers, the four anti-toppling rollers are located at the four corners of the ground rail moving frame, and the anti-toppling rollers abut against the bottom of the top plate of the I-shaped straight rail.

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