A mechanism for positioning and locking a vehicle body using a vacuum assisted lifting mechanism

Abstract

This invention relates to the field of conveying technology, and more particularly to a mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism. The mechanism includes a vehicle body, with driven wheels installed at two corners on one side of the lower surface of the vehicle body, and drive wheels installed at two corners on the other side of the lower surface of the vehicle body. A parking mechanism is provided on the lower surface of the vehicle body. A top plate is fixedly installed at the upper end of the vehicle body. Several sets of movable plates are provided on the upper surface of the top plate. Each set of movable plates consists of two plates connected by a telescopic mechanism. Several contact rollers are connected below the movable plates via horizontal and vertical moving mechanisms. When the suction cup of this invention is pressed against the ground, it serves to park the vehicle body, improving stability during parking. The contact rollers on both sides approach each other, pushing against the surface of the arc-shaped portion. Simultaneously, under the limiting guidance of the movable plates on both sides, the frame box is ensured to move vertically upwards, facilitating gripping and movement by the robotic arm.

Description

Technical Field

[0001] This invention relates to the field of conveying technology, and in particular to a mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism. Background Technology

[0002] In the semiconductor manufacturing industry, the use of AGVs (Automated Guided Vehicles) for transporting wafer frame boxes is a common and efficient material handling method. Wafer frame boxes can be seamlessly moved between machines, buffer areas, and production lines via AGVs. For example, an integrated architecture combining an AGV mobile chassis, a collaborative robotic arm, and a high-precision vision system can achieve automated handling of wafer boxes between different locations, with a gripping accuracy of ±0.5mm, meeting the positioning requirements of 12-inch wafer boxes. In a precision wafer manufacturing workshop application, this has significantly improved production efficiency.

[0003] The AGV's carrying platform uses a special structural design to directly restrict the displacement of the frame box, ensuring that it does not loosen during transportation. However, this design can only be used for frame boxes of a certain size, resulting in poor adaptability. Alternatively, the frame box can be positioned using an automatic clamping mechanism, but this makes it inconvenient for the subsequent gripping by the robotic arm.

[0004] Currently, when the vehicle is parked, it relies solely on the friction between the casters and the ground to ensure stability. However, during operation, accidental touches by personnel or collisions at the end of the vehicle's movement can cause the vehicle to shift, resulting in errors. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of the prior art by proposing a mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a mechanism for positioning and locking a vehicle body using a vacuum-coordinated lifting mechanism, comprising a vehicle body, driven wheels respectively installed at two corners on one side of the lower surface of the vehicle body, drive wheels respectively installed at two corners on the other side of the lower surface of the vehicle body, a parking mechanism provided on the lower surface of the vehicle body, a top plate fixedly installed on the upper end of the vehicle body, a plurality of sets of movable plates provided on the upper surface of the top plate, each set of movable plates consisting of two plates with a telescopic mechanism between them, and a plurality of contact rollers connected below the movable plates via horizontal and vertical moving mechanisms;

[0007] The two moving plates in each group position the two sides of the frame box. When the contact roller pushes the arc-shaped part, the frame box moves upward along the space between the two moving plates.

[0008] Preferably, the parking mechanism includes a pressure column that is slidably inserted into the lower surface of the vehicle body along the vertical direction, a pressure rod that is slidably inserted into the lower end of the pressure column, a suction cup that is fixedly connected to the lower end of the pressure rod, a buffer spring that is sleeved on the outer surface of the pressure rod and the buffer spring is located between the pressure column and the pressure rod, and a pressing mechanism is provided on one side of the pressure column.

[0009] Preferably, the pressing mechanism includes a telescopic cylinder disposed under the vehicle body. One end of the telescopic cylinder is rotatably connected to a first connecting seat, which is fixedly connected to the lower surface of the vehicle body. The other end of the telescopic cylinder is rotatably connected to a prying frame. A second connecting seat is rotatably sleeved on the outer side of the prying frame. The upper end of the second connecting seat is fixedly connected to the lower surface of the vehicle body. One side of the prying frame is rotatably connected to the outer surface of the pressing column.

[0010] Preferably, the upper surface of the top plate is provided with a sliding opening, and a support plate is fixedly embedded in the inner bottom surface of the sliding opening. The telescopic mechanism includes a bidirectional cylinder fixedly installed on the upper surface of the support plate, and a mounting base is fixedly installed between the bidirectional cylinder and the support plate. The two telescopic ends of the bidirectional cylinder are respectively fixedly connected to a movable frame, and the upper end of the movable frame is fixedly connected to the side surface of the movable plate.

[0011] Preferably, the lower end of the movable frame is fixedly connected to a base plate, the lower surface of the base plate is in sliding contact with the upper surface of the support plate, and the edge of the movable frame is provided with a latch, which is slidably fitted onto the edge of the sliding opening.

[0012] Preferably, the horizontal and vertical moving mechanism includes a connecting plate fixedly connected to the side surface of the moving plate, a bending plate connected to the lower surface of the connecting plate via a vertical servo mechanism, a side plate fixedly connected to the lower end of the bending plate, an adjusting plate connected to one side surface of the side plate via a horizontal servo mechanism, a concave frame fixedly installed on one side surface of the adjusting plate, and a rotating shaft fixedly passing through the central shaft of the contact roller, with both ends of the rotating shaft rotatably passing through the inner wall of the concave frame.

[0013] Preferably, the vertical servo mechanism includes a threaded rod rotatably mounted on the lower surface of the receiving plate. The threaded rod is threaded through the upper surface of the bent plate. A vertical guide rod is fixedly connected to the lower surface of the receiving plate near the threaded rod. The vertical guide rod slides through the upper surface of the bent plate. A servo motor is fixedly mounted on the edge of the lower surface of the receiving plate via a motor mount. Transmission gears are fixedly sleeved on the upper end of the outer surface of the threaded rod and the output shaft of the servo motor, and the two transmission gears mesh with each other.

[0014] Preferably, the lateral servo mechanism includes a horizontal guide rod that slides through the side surface of the side plate, one end of the horizontal guide rod being fixedly connected to the side surface of the adjusting plate, and a short-pitch cylinder being fixedly installed on one side surface of the side plate, the telescopic end of the short-pitch cylinder sliding through the side plate and being fixedly connected to the side surface of the adjusting plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. In this invention, when the vehicle needs to stop, the vehicle control telescopic cylinder retracts, pulling the pry bar, causing the pry bar to rotate and press down on the pressure column. As the pressure column moves down, it drives the suction cup down, and after the suction cup is pressed firmly onto the ground, it serves to park the vehicle, improving stability when parking. During this process, the buffer spring acts as a buffer to prevent the reaction force of the pressure bar from pushing the vehicle body, ensuring parking stability. By controlling the extension of the telescopic cylinder, the pry bar is pushed up, causing the pressure column to move up, causing the suction cup to move off the ground. Afterward, the vehicle can move mechanically, completing one work cycle.

[0017] 2. In the present invention, after the robot arm grasps the frame box in the conveyor line, it places it between two moving plates and at the position corresponding to the two contact rollers. Then, it is transported by the vehicle body. After the frame box is transported to the designated position, the short-pitch cylinder is extended to move the adjusting plate. The contact rollers on both sides move closer to each other and push the surface of the arc-shaped part. At the same time, under the limiting guidance of the moving plates on both sides, the frame box is ensured to move vertically, which facilitates the robot arm to grasp and move it.

[0018] 3. This invention controls the operation of the servo motor by the vehicle body, which in turn causes the two transmission gears to drive each other, which in turn causes the threaded rod to rotate, which in turn causes the bending plate to move up or down, which in turn causes the side plate to move vertically. This changes the distance between the contact roller and the moving plate, ensuring that the contact roller can be aligned with one side of the arc-shaped part near the upper end, so that the contact roller can push the arc-shaped part and cause the frame box to move a large distance vertically. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a mechanism for positioning and locking a vehicle body using a vacuum-coordinated lifting mechanism according to the present invention;

[0020] Figure 2 This invention relates to a mechanism for positioning and locking a vehicle body using a vacuum-coupled lifting mechanism. Figure 1 Enlarged view of point A in the middle;

[0021] Figure 3 This is another schematic diagram of a mechanism for positioning and locking a vehicle body using a vacuum-coordinated lifting mechanism according to the present invention;

[0022] Figure 4 This is a schematic diagram of the upper end of a mechanism for positioning and locking a vehicle body using a vacuum-coordinated lifting mechanism according to the present invention;

[0023] Figure 5 This is a sectional view of the top plate of a mechanism for positioning and locking a vehicle body using a vacuum-coordinated lifting mechanism according to the present invention.

[0024] Figure 6 This is a schematic diagram of the moving plate of a mechanism for positioning and locking a vehicle body using a vacuum-coordinated lifting mechanism according to the present invention;

[0025] Figure 7 This invention relates to a mechanism for positioning and locking a vehicle body using a vacuum-coupled lifting mechanism. Figure 6 Enlarged view at point B in the middle;

[0026] Figure 8 This is a front view of a mechanism for positioning and locking a vehicle body using a vacuum-coordinated lifting mechanism according to the present invention;

[0027] Figure 9 This invention relates to a mechanism for positioning and locking a vehicle body using a vacuum-coupled lifting mechanism. Figure 8 Enlarged view of point C.

[0028] The components are as follows: 1. Car body; 2. Driven wheel; 3. Drive wheel; 4. Telescopic cylinder; 5. First connecting seat; 6. Prying frame; 7. Second connecting seat; 8. Pressure column; 9. Buffer spring; 10. Pressure rod; 11. Suction cup; 12. Top plate; 13. Sliding mouth; 14. Moving frame; 15. Bayonet; 16. Moving plate; 17. Support plate; 18. Mounting seat; 19. Bidirectional cylinder; 20. Base plate; 21. Side plate; 22. Adjustable distance plate; 23. Concave frame; 24. Contact roller; 25. Rotating shaft; 26. Horizontal guide rod; 27. Short distance cylinder; 28. Bending plate; 29. ​​Connecting plate; 30. Vertical guide rod; 31. Threaded rod; 32. Transmission gear; 33. Servo motor; 34. Motor base; 35. Frame box; 36. Arc-shaped part. Detailed Implementation

[0029] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0030] like Figures 1-9 The mechanism shown uses a vacuum-assisted lifting mechanism to position and lock the vehicle body, including a vehicle body 1. Driven wheels 2 are installed at two corners on one side of the lower surface of the vehicle body 1, and drive wheels 3 are installed at two corners on the other side of the lower surface of the vehicle body 1. A parking mechanism is provided on the lower surface of the vehicle body 1. A top plate 12 is fixedly installed at the upper end of the vehicle body 1. Several sets of movable plates 16 are provided on the upper surface of the top plate 12. Each set of movable plates 16 consists of two plates and is connected to each other by a telescopic mechanism. Several contact rollers 24 are connected to the lower part of the movable plates 16 by horizontal and vertical moving mechanisms.

[0031] The two movable plates 16 in each group position the two side surfaces of the frame box 35. When the contact roller 24 pushes the arc-shaped part 36, the frame box 35 moves upward between the two movable plates 16. The shape of the frame box 35 is as follows: Figure 4 As stated above.

[0032] The parking mechanism includes a pressure column 8 that slides vertically onto the lower surface of the vehicle body 1. The pressure column 8 has a T-shaped cross-section and will not detach from the lower surface of the vehicle body 1 after downward movement. A pressure rod 10 is slidably inserted into the lower end of the pressure column 8. The pressure rod 10 also has a T-shaped cross-section, with its upper end slidingly inserted into the inside of the pressure column 8, preventing it from detaching due to gravity. A suction cup 11 is fixedly connected to the lower end of the pressure rod 10. A buffer spring 9 is fitted onto the outer surface of the pressure rod 10, located between the pressure column 8 and the pressure rod 10. A downward pressing mechanism is provided on one side of the pressure column 8. After the suction cup 11 is lowered, it can adhere to the ground, thereby maintaining the stability of the vehicle body 1.

[0033] The pressing mechanism includes a telescopic cylinder 4 located below the vehicle body 1. One end of the telescopic cylinder 4 is rotatably connected to a first connecting seat 5, which is fixedly connected to the lower surface of the vehicle body 1. The other end of the telescopic cylinder 4 is rotatably connected to a prying frame 6. A second connecting seat 7 is rotatably sleeved on the outer side of the prying frame 6. The upper end of the second connecting seat 7 is fixedly connected to the lower surface of the vehicle body 1. One side of the prying frame 6 is rotatably connected to the outer surface of the pressure column 8. The telescopic cylinder 4 can be a pneumatic cylinder, which can quickly extend and retract, thereby driving the prying frame 6 to rotate and quickly control the suction cup 11 to move downward or upward.

[0034] The upper surface of the top plate 12 has a sliding opening 13, and a support plate 17 is fixedly embedded in the inner bottom surface of the sliding opening 13. The telescopic mechanism includes a bidirectional cylinder 19 fixedly installed on the upper surface of the support plate 17. A mounting base 18 is fixedly installed between the bidirectional cylinder 19 and the support plate 17. The two telescopic ends of the bidirectional cylinder 19 are respectively fixedly connected to a movable frame 14, and the upper end of the movable frame 14 is fixedly connected to the side surface of the movable plate 16. The mounting base 18 can improve the stability of the bidirectional cylinder 19. The bidirectional cylinder 19 can synchronously control the two movable frames 14 to move synchronously, controlling the movable frames 14 to move closer or further apart, thereby adapting to the placement of frame boxes 35 of different sizes and improving the applicability of use.

[0035] The lower end of the movable frame 14 is fixedly connected to a base plate 20. The lower surface of the base plate 20 slides in contact with the upper surface of the support plate 17. A latch 15 is provided on the edge of the movable frame 14, and the latch 15 is slidably fitted onto the edge of the sliding opening 13. This can improve the stability of the movable frame 14 when it moves along the inner side of the sliding opening 13.

[0036] The horizontal and vertical moving mechanism includes a receiving plate 29 fixedly connected to the side surface of the moving plate 16. A bending plate 28 is connected to the lower surface of the receiving plate 29 via a vertical servo mechanism. A side plate 21 is fixedly connected to the lower end of the bending plate 28. An adjusting plate 22 is connected to one side surface of the side plate 21 via a horizontal servo mechanism. A concave frame 23 is fixedly mounted on one side surface of the adjusting plate 22. A rotating shaft 25 is fixedly passed through the central shaft of the contact roller 24. Both ends of the rotating shaft 25 rotatably pass through the inner wall of the concave frame 23. The contact roller 24 can be made of hard rubber to prevent scratching the arc-shaped portion 36 on the surface of the frame box 35.

[0037] The vertical servo mechanism includes a threaded rod 31 rotatably mounted on the lower surface of the receiving plate 29. The threaded rod 31 is threaded through the upper surface of the bending plate 28. A vertical guide rod 30 is fixedly connected to the lower surface of the receiving plate 29 near the threaded rod 31. The vertical guide rod 30 slides through the upper surface of the bending plate 28. A servo motor 33 is fixedly mounted on the edge of the lower surface of the receiving plate 29 via a motor mount 34. Transmission gears 32 are fixedly sleeved on the upper end of the outer surface of the threaded rod 31 and the output shaft of the servo motor 33, and the two transmission gears 32 mesh with each other. When driven by the servo motor 33, the threaded rod 31 can rotate, thereby controlling the up-and-down movement of the bending plate 28. The vertical guide rod 30 can improve the stability of the bending plate 28 during up-and-down movement.

[0038] The lateral servo mechanism includes a horizontal guide rod 26 that slides through the side surface of the side plate 21. One end of the horizontal guide rod 26 is fixedly connected to the side surface of the adjusting plate 22. A short-pitch cylinder 27 is fixedly installed on one side surface of the side plate 21. The telescopic end of the short-pitch cylinder 27 slides through the side plate 21 and is fixedly connected to the side surface of the adjusting plate 22. The telescopic extension of the short-pitch cylinder 27 controls the movement of the adjusting plate 22, and the horizontal guide rod 26 improves the stability of the adjusting plate 22 during movement.

[0039] The vehicle body 1 moves flexibly by driving and steering the drive wheels 3 to transport the frame box 35. When it needs to stop, the vehicle body 1 controls the telescopic cylinder 4 to retract, pulling the pry bar 6. This causes the pry bar 6 to rotate and press down on the pressure column 8. As the pressure column 8 moves down, it drives the suction cup 11 down. After the suction cup 11 presses firmly onto the ground, it serves to park the vehicle body 1, improving stability when parked. During this process, the buffer spring 9 acts as a buffer to prevent the reaction force of the pressure rod 10 from pushing the vehicle body 1, ensuring parking stability.

[0040] By controlling the extension of the telescopic cylinder 4, the prying frame 6 is pushed, causing the pressure column 8 to move upward, which causes the suction cup 11 to be removed from the ground. After that, the vehicle body 1 can move mechanically, and one work cycle is completed.

[0041] In the conveyor line, after the robotic arm grasps the frame box 35, it is placed between two moving plates 16, corresponding to the position between two contact rollers 24. Then, it is transported by the vehicle body 1. After the frame box 35 is transported to the designated position, the short-pitch cylinder 27 is extended, causing the adjusting plate 22 to move. The contact rollers 24 on both sides move closer to each other, and the contact rollers 24 push against the surface of the arc-shaped part 36. At the same time, under the limiting guidance of the moving plates 16 on both sides, the frame box 35 is ensured to move vertically, which facilitates the robotic arm's grasping and movement.

[0042] The vehicle body 1 controls the operation of the servo motor 33, which in turn causes the two transmission gears 32 to drive each other, which in turn causes the threaded rod 26 to rotate, which in turn causes the bending plate 28 to move up or down, which in turn causes the side plate 21 to move vertically, changing the distance between the contact roller 24 and the moving plate 16, ensuring that the contact roller 24 can be aligned with one side of the arc-shaped part 36 near the upper end, so that the contact roller 24 can push the arc-shaped part 36 to make the frame box 35 move a large distance vertically.

[0043] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism, comprising a vehicle body (1), characterized in that: Two driven wheels (2) are installed at two corners on one side of the lower surface of the vehicle body (1), and two drive wheels (3) are installed at two corners on the other side of the lower surface of the vehicle body (1). A parking mechanism is provided on the lower surface of the vehicle body (1). A top plate (12) is fixedly installed on the upper end of the vehicle body (1). Several sets of movable plates (16) are provided on the upper surface of the top plate (12). Each set of movable plates (16) consists of two plates and a telescopic mechanism is provided between them. Several contact rollers (24) are connected to the lower part of the movable plates (16) through horizontal and vertical moving mechanisms. The two moving plates (16) of each group position the two sides of the frame box (35). When the contact roller (24) pushes the arc-shaped part (36) of the frame box (35), the frame box (35) moves upward between the two moving plates (16). The parking mechanism includes a pressure column (8) that is vertically slidably inserted into the lower surface of the vehicle body (1). A pressure rod (10) is slidably inserted into the lower end of the pressure column (8). A suction cup (11) is fixedly connected to the lower end of the pressure rod (10). A buffer spring (9) is sleeved on the outer surface of the pressure rod (10), and the buffer spring (9) is located between the pressure column (8) and the pressure rod (10). A pressing mechanism is provided on one side of the pressure column (8). The pressing mechanism includes a telescopic cylinder (4) located below the vehicle body (1). One end of the telescopic cylinder (4) is rotatably connected to a first connecting seat (5), which is fixedly connected to the lower surface of the vehicle body (1). The other end of the telescopic cylinder (4) is rotatably connected to a prying frame (6). A second connecting seat (7) is rotatably sleeved on the outer side of the prying frame (6). The upper end of the second connecting seat (7) is fixedly connected to the lower surface of the vehicle body (1). One side of the prying frame (6) is rotatably connected to the outer surface of the pressure column (8).

2. The mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism according to claim 1, characterized in that: The top plate (12) has a sliding opening (13) on its upper surface. A support plate (17) is fixedly embedded in the inner bottom surface of the sliding opening (13). The telescopic mechanism includes a two-way cylinder (19) fixedly installed on the upper surface of the support plate (17). An installation seat (18) is fixedly installed between the two-way cylinder (19) and the support plate (17). The two telescopic ends of the two-way cylinder (19) are respectively fixedly connected to a moving frame (14). The upper end of the moving frame (14) is fixedly connected to the side surface of the moving plate (16).

3. The mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism according to claim 2, characterized in that: The lower end of the movable frame (14) is fixedly connected to a base plate (20). The lower surface of the base plate (20) slides in contact with the upper surface of the support plate (17). The edge of the movable frame (14) is provided with a slot (15), which is slidably fitted onto the edge of the sliding opening (13).

4. The mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism according to claim 1, characterized in that: The horizontal and vertical moving mechanism includes a connecting plate (29) fixedly connected to the side surface of the moving plate (16). The lower surface of the connecting plate (29) is connected to a bending plate (28) via a vertical servo mechanism. The lower end of the bending plate (28) is fixedly connected to a side plate (21). One side surface of the side plate (21) is connected to an adjusting plate (22) via a horizontal servo mechanism. A concave frame (23) is fixedly installed on one side surface of the adjusting plate (22). The central shaft of the contact roller (24) is fixedly penetrated by a rotating shaft (25). The two ends of the rotating shaft (25) respectively rotate through the inner wall of the concave frame (23).

5. A mechanism for positioning and locking a vehicle body using a vacuum-assisted lifting mechanism according to claim 4, characterized in that: The vertical servo mechanism includes a threaded rod (31) rotatably mounted on the lower surface of the connecting plate (29). The threaded rod (31) is threaded through the upper surface of the bent plate (28). A vertical guide rod (30) is fixedly connected to the lower surface of the connecting plate (29) near the threaded rod (31). The vertical guide rod (30) slides through the upper surface of the bent plate (28). A servo motor (33) is fixedly mounted on the lower edge of the connecting plate (29) via a motor mount (34). A transmission gear (32) is fixedly sleeved on the upper end of the outer surface of the threaded rod (31) and the output shaft of the servo motor (33), and the two transmission gears (32) mesh with each other.

6. The mechanism for positioning and locking a vehicle body using a vacuum-coupled lifting mechanism according to claim 4, characterized in that: The transverse servo mechanism includes a transverse guide rod (26) that slides through the side surface of the side plate (21). One end of the transverse guide rod (26) is fixedly connected to the side surface of the adjusting plate (22). A short-pitch cylinder (27) is fixedly installed on one side surface of the side plate (21). The telescopic end of the short-pitch cylinder (27) slides through the side plate (21) and is fixedly connected to the side surface of the adjusting plate (22).

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