transfer trolley

Abstract

The transfer trolley of the present invention includes: a travel unit having travel wheels and connected to a housing; a robotic arm unit for holding the transfer object; and a lifting assembly disposed inside the housing and connected to the robotic arm unit. The lifting assembly includes: a lifting unit disposed in the housing and having a lifting belt connected to the robotic arm unit; a lifting drive unit configured to wind or unwind the lifting belt; and a fixing unit for attaching and detaching the robotic arm unit from the lifting unit depending on whether magnetic force is generated.

Description

Technical Field

[0001] This invention relates to a transfer trolley. Background Technology

[0002] A semiconductor or display manufacturing line can be configured with multiple layers, each equipped with equipment for performing processes such as evaporation, exposure, etching, ion implantation, and cleaning. By repeatedly performing a series of unit processes on semiconductor wafers used as semiconductor substrates or glass substrates used as display substrates, semiconductor devices or display devices can be manufactured. Transfer between layers is achieved via tracks for moving transfer trolleys, which can be used to transport containers containing substrates.

[0003] In addition, although containers containing substrates can be directly transferred from one substrate processing unit to another via a transfer trolley that moves between substrate processing units, they can also be temporarily stored in storage facilities or stored in storage facilities for transfer to other manufacturing facilities or other plants.

[0004] However, the transfer trolley not only consumes electricity during travel and loading / unloading operations, but also requires the robotic arm unit to operate continuously to prevent it from falling due to the load, which may increase the load rate. Summary of the Invention

[0005] The problem the invention aims to solve

[0006] The problem to be solved by the present invention is to provide a transfer trolley that can reduce the load rate of the lifting motor of the transfer trolley.

[0007] The problems to be solved by the present invention are not limited to those mentioned above. Based on the following description, those skilled in the art should be able to clearly understand other problems not mentioned.

[0008] Technical solutions for solving the problem

[0009] According to one aspect of the transfer trolley of the present invention for solving the above-mentioned problems, it includes: a travel unit having travel wheels and connected to a housing; a robotic arm unit for holding a transfer object; and a lifting assembly disposed in the housing and connected to the robotic arm unit, the lifting assembly including a lifting unit having a lifting belt connected to the robotic arm unit; a lifting drive unit configured to wind or unwind the lifting belt; and a fixing unit for attaching and detaching the robotic arm unit from the lifting unit depending on whether magnetic force is generated.

[0010] According to another aspect of the transfer trolley of the present invention for solving the above-mentioned problems, it includes: a travel unit having travel wheels and connected to a housing; a robotic arm unit for holding a transfer object; and a lifting assembly disposed in the housing and connected to the robotic arm unit, the lifting assembly including: a lifting unit having a lifting belt connected to the robotic arm unit; a lifting drive unit configured to wind or unwind the lifting belt; and a fixing unit for attaching and detaching the robotic arm unit from the lifting unit depending on whether magnetic force is generated; if no power is supplied, the magnetic force is activated to attach the robotic arm unit to the lifting unit; if power is supplied, the magnetic force is deactivated.

[0011] According to another aspect of the transfer trolley of the present invention for solving the above-mentioned problems, it includes: a travel unit having travel wheels and connected to a housing; a robotic arm unit for holding a transfer object; and a lifting assembly connected to the housing and the robotic arm unit, the lifting assembly including: a lifting unit disposed on the housing and having a lifting belt connected to the robotic arm unit; a lifting drive unit configured to wind or unwind the lifting belt; a fixing unit for attaching and detaching the robotic arm unit from the lifting unit depending on whether magnetic force is generated, and for attaching the robotic arm unit to the lifting unit when the travel unit is traveling; and a power supply unit for supplying power to the fixing unit and the lifting drive unit, wherein when the travel unit is traveling, the power supply unit switches the power supply of the fixing unit so that power is not supplied to the lifting drive unit, and the fixing unit attaches the robotic arm unit to the lifting unit by magnetic force.

[0012] Specific details of other embodiments are included in the detailed description and accompanying drawings.

[0013] Invention Effects

[0014] According to the transfer trolley of the present invention, the lifting assembly that enables the robotic arm unit to move up and down does not need to be driven when the traveling unit is moving, thereby reducing the load on the lifting motor and the power consumption. Furthermore, the robotic arm unit can be stably fixed to the lifting assembly, reducing the shaking of the robotic arm unit when the traveling unit is moving, thereby reducing the risk of damage to items caused by shaking. Attached Figure Description

[0015] Figure 1 This is a diagram illustrating a manufacturing plant equipped with transfer trolleys according to several embodiments of the present invention.

[0016] Figure 2 This is a diagram illustrating how a transfer trolley according to several embodiments of the present invention has the transfer object arranged inside its housing.

[0017] Figure 3This is a diagram illustrating the descent of the robotic arm unit of a transfer trolley according to several embodiments of the present invention.

[0018] Figure 4 This is a diagram illustrating how the robotic arm unit of a transfer trolley unloads the transferred object according to several embodiments of the present invention.

[0019] Figure 5 It's a diagram. Figure 4 The graph of region A.

[0020] Figure 6 This is a perspective view illustrating the descent of the robotic arm unit of a transfer trolley according to several embodiments of the present invention.

[0021] Figure 7 This is a diagram illustrating the structure of a lifting assembly of a transfer trolley according to several embodiments of the present invention.

[0022] Figure 8 This diagram illustrates the power switching of the power supply unit of the transfer trolley according to the first embodiment of the present invention.

[0023] Figure 9 This diagram illustrates the state in which the lifting motor of the transfer trolley according to the first embodiment of the present invention is stopped.

[0024] Figure 10 This diagram illustrates the state in which the lifting motor of the transfer trolley according to the first embodiment of the present invention is driven by a third torque.

[0025] Figure 11 This diagram illustrates the state in which the lifting motor of the transfer trolley according to the first embodiment of the present invention is driven by a first torque. Detailed Implementation

[0026] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. (Refer to the following and accompanying drawings...) Figure 1 The advantages and features of the invention, and the methods for achieving these advantages and features, will become clear from the detailed embodiments described below. However, the invention is not limited to the embodiments disclosed below and can be implemented in many different ways. These embodiments are provided only to make the disclosure of the invention complete and to enable those skilled in the art to fully understand the scope of the invention, which is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same constituent elements.

[0027] The terminology used in this specification is for illustrative purposes and is not intended to limit the invention. In this specification, singular statements are always accompanied by plural statements unless otherwise specified. The terms "comprises" and / or "comprising" as used in this specification do not preclude the presence or addition of one or more other constituent elements, steps, operations, and / or components.

[0028] Figure 1 This is a diagram illustrating a manufacturing plant equipped with transfer trolleys according to several embodiments of the present invention.

[0029] Reference Figure 1 In this embodiment, the manufacturing plant 10 can be a factory for manufacturing semiconductors (or displays). The manufacturing plant 10 can be configured with multiple manufacturing facilities (fabs, not shown). The multiple manufacturing facilities can be configured as clean rooms and can be equipped with multiple substrate processing devices (not shown) for performing semiconductor manufacturing processes.

[0030] As an example, multiple substrate processing devices can perform multiple manufacturing processes on a substrate (e.g., a wafer), such as a deposition process, a lithography process, and an etching process.

[0031] Furthermore, after a substrate manufacturing process is performed in a substrate processing apparatus, the substrate can be transferred to another substrate processing apparatus for the next manufacturing process. The substrate processing apparatus can pull the substrate from a transfer object 30 mounted in a mounting location such as a loading port and process the substrate. Additionally, the substrate processing apparatus can accommodate the processed substrate in the transfer object 30 mounted in the mounting location.

[0032] That is, the substrates can be transferred in a state where they are stored in a transfer object 30 capable of accommodating multiple substrates. For example, the transfer object 30 may be a FOUP (Front Opening Unified Pod) that accommodates multiple substrates. However, the transfer object 30 may be a Front Opening Unified Pod (FOUP), a Front Opening Shipping Box (FOSB), a Multi Application Carrier (MAC), and / or a Pod that accommodates items such as photomasks, substrates, and / or semiconductor chips.

[0033] The transfer object 30, which holds a substrate or chip, can be transferred via the transfer trolley 100. In order to transfer the transfer object 30 between multiple substrate processing devices in the manufacturing plant 10, or to transfer the transfer object 30 to multiple manufacturing facilities, the track unit 20 can form a movement path within the manufacturing plant 10.

[0034] The transfer trolley 100 can move along a movement path formed by the track unit 20. That is, a transfer path for transferring the transfer object 30 between multiple substrate processing devices can be formed, and the transfer path, as the movement path of the transfer trolley 100, can constitute the setting path of the track unit 20. Examplely, the track unit 20 can be arranged on the ceiling.

[0035] The track unit 20 configured in the manufacturing facility can have a structure that combines straight lines and curves. For the utilization of the work space and the ease of management of the transfer trolley 100, the track unit 20 can be configured with multiple bays for performing transfer operations, and the multiple bays can be connected into one. The transfer trolley 100 does not move only in one of the multiple bays, but moves to multiple bays that are adjacent to each other.

[0036] The track unit 20 may be configured with a power supply cable (not shown) that supplies power to the transfer trolley 100 in a non-contact manner (either HID (high-efficiency inductive power distribution) or CPS (contactless power supply)). The power supply cable may be laid in the entirety or part of the track unit 20.

[0037] The transfer trolley 100, which moves along the track unit 20 mounted on the ceiling, can be configured as an overhead hoist transport (OHT). Example: When the transfer trolley 100 transfers the transfer object 30 between multiple substrate processing units, it can transfer the transfer object 30 directly from one substrate processing unit to another, or it can transfer the transfer object 30 to another substrate processing unit after storing it in the storage device 40.

[0038] The following description refers to the attached drawings of the transfer trolley 100.

[0039] Figure 2 This diagram illustrates how a transfer cart, according to several embodiments of the present invention, has the transfer object arranged within its housing. Figure 3 This diagram illustrates the descent of the robotic arm unit of a transfer cart according to several embodiments of the present invention. Figure 4 This diagram illustrates how the robotic arm unit of a transfer trolley unloads a transferred object according to several embodiments of the present invention. Figure 5 It's a diagram. Figure 4 The graph of region A.

[0040] and then, Figure 6 This is a perspective view illustrating the descent of the robotic arm unit of the transfer cart according to several embodiments of the present invention. Figure 7 This is a perspective view illustrating the structure of the lifting assembly of the transfer trolley according to the first embodiment of the present invention.

[0041] also, Figure 8 This diagram illustrates the power switching of the power supply unit of the transfer cart according to the first embodiment of the present invention. Figure 9 This diagram illustrates the state in which the lifting motor of the transfer trolley according to the first embodiment of the present invention is stopped. Figure 10 This diagram illustrates the state in which the lifting motor of the transfer cart according to the first embodiment of the present invention is driven by a third torque. Figure 11 This diagram illustrates the state in which the lifting motor of the transfer trolley according to the first embodiment of the present invention is driven by a first torque.

[0042] First, refer to Figures 2 to 7 The transfer trolley 100 involved in the embodiments of the present invention may include a driving unit 110, a housing 130, a horizontal moving unit 140, a lifting assembly 150, and a robotic arm unit 160.

[0043] The travel unit 110 can be equipped with a travel wheel 111 that rotates via a motor 113, allowing the travel unit 110 to travel along the travel track 20. As the travel wheel 111 rotates in contact with the travel track 20, the travel unit 110 is able to travel.

[0044] A steering wheel (not shown) may be disposed on the upper surface of the travel unit 110. The steering wheel may be configured to move along a direction 2 that is perpendicular to the travel direction 1 of the travel unit 110 in the horizontal direction (i.e., the direction 2 in which the horizontal moving unit 140 slides). The steering wheel may selectively contact a straight-line steering track (not shown) for guiding straight-line travel and a branch-line steering track (not shown) for guiding branch-line travel.

[0045] The outer casing 130 can be connected to the travel unit 110 below the travel track 20. The outer casing 130 can form an internal space 130S. For the vertical and horizontal movement of the transferred object 30, the outer casing 130 can have a lower side and two side sides (to accommodate vertical and horizontal movement). Figure 2 (Based on the front and back) or one side (with) Figure 2The structure is open (with the front as the reference). Here, the two sides of the outer casing 130 can be in the direction 2 of the horizontal movement unit 140 sliding.

[0046] When it is necessary to move the object 30 from the loading area to the internal space 130S or from the internal space 130S to the loading area, the horizontal moving unit 140, the lifting assembly 150, and the robotic arm unit 160 can move the object 30 through the open bottom surface of the housing 130. That is, the horizontal moving unit 140, the lifting assembly 150, and the robotic arm unit 160 can be installed in the housing 130 to load and unload the object 30.

[0047] The horizontal movement unit 140 can be configured on the inner upper surface of the housing 130. The horizontal movement unit 140 is capable of horizontal movement, such as sliding, through the open side of the housing 130. As an example, the horizontal movement unit 140 may include a guide rail (not shown) and a movement module (not shown), or have multiple sliding plates (not shown) and rolling bearings, etc., to allow sliding in the horizontal direction.

[0048] Such a horizontal moving unit 140 can move between the housing 130 and the lifting assembly 150 in a direction perpendicular to the driving direction 1 of the driving unit 110 (i.e., the sliding direction 2), thereby causing the lifting assembly 150 to move relative to the housing 130.

[0049] The lifting assembly 150 can be configured below the horizontal movement unit 140 and can move horizontally via the horizontal movement unit 140. The lifting assembly 150 enables the robotic arm unit 160 to be raised and lowered.

[0050] The lifting assembly 150 may include a lifting unit 151P, a lifting belt 151, a lifting drive unit 155, a fixing unit 156, and a power supply unit 157.

[0051] The lifting unit 151P may contain a lifting belt 151 connected to the robotic arm unit 160 and a base for setting the lifting drive unit 155 within the internal space 130S of the housing 130. For example, the lifting unit 151P may be constructed by a combination of plates, frames and / or covers.

[0052] The lifting belt 151 can move the robotic arm unit 160 up and down by the driving force of the lifting drive unit 155.

[0053] The lifting belt 151 can be connected to the robotic arm unit 160. For example, the end of the lifting belt 151 can be fixed to the robotic arm unit 160 so that it will not rub off, or it can be fixed by bolts or by adhesive. In this way, it can be fixed in a variety of ways.

[0054] The lifting belt 151 may include a first belt 151A, a second belt 151B, and a third belt 151C, which are connected to three fulcrums of the robotic arm unit 160. The first belt 151A, the second belt 151B, and the third belt 151C are connected to the robotic arm unit 160 at each vertex of an imaginary triangle, thus forming a three-fulcrum configuration.

[0055] The lifting drive unit 155 can be configured to wind or unwind the lifting belt 151. For example, the lifting drive unit 155 may include a lifting motor 155M. The operation of the lifting motor 155M can be achieved by switching the power supply in the power supply unit 157.

[0056] The lifting motor 155M can generate driving force to wind or unwind the lifting belt 151, that is, it can adjust the length of the lifting belt 151, thereby allowing the robotic arm unit 160 to move up and down to adjust the height.

[0057] For example, the lifting drive unit 155 includes a drive pulley connected to the shaft of the lifting motor 155M and a lifting drum 155DR that rotates in conjunction with the drive pulley. It can use the first driven pulley 155P1, the second driven pulley 155P2 and the third driven pulley 155P3 corresponding to the drive pulley to wind or unwind the lifting belt 151.

[0058] Here, the lifting drum 155DR is a structure that is wound with the lifting belt 151, and can be equipped with three belts corresponding to the three belts (the first belt 151A, the second belt 151B, and the third belt 151C).

[0059] Furthermore, the first driven pulley 155P1, the second driven pulley 155P2, and the third driven pulley 155P3 can respectively support these belts at the downward positions of the first belt 151A, the second belt 151B, and the third belt 151C (see reference). Figure 7 ).

[0060] Such a lifting motor 155M can be driven by a first torque (Torque) to wind or unwind the lifting belt 151 along the rotation direction of the shaft, or it can be driven by a third torque in a first scenario where the robot arm unit 160 does not lift and the height of the robot arm unit 160 is fixed.

[0061] Here, the third torque is greater than the second torque for arbitrarily unwinding the lifting belt 151 and less than the first torque, which means that there is a force that prevents the lifting belt 151 from being wound or unwound and from being arbitrarily unwound.

[0062] In other words, the robotic arm unit 160 not only includes the gripper 161 and the gripper motor, but also holds the transfer object 30, which contains multiple substrates and constitutes a heavy object, as described above. If the lifting motor 155M is stopped, the lifting belt 151 connected to the robotic arm unit 160 will idle due to the load of the robotic arm unit 160 and / or the transfer object 30, which may cause the lifting belt 151 to unwind. To prevent this, the lifting motor 155M needs to be driven with a third torque greater than the second torque required to arbitrarily unwind the lifting belt 151.

[0063] However, if the lifting motor 155M continues to be driven during the driving scenario of the driving unit 110, it will not only consume power that is not necessary for driving, but also the lifting motor 155M may start and increase the load rate in scenarios that are not loading / unloading operations (e.g., the driving scenario of the driving unit 110).

[0064] To improve this problem, according to several embodiments, the fixing unit 156 can magnetically restrain the robotic arm unit 160, so that when the driving unit 110 is driving, there is no need to supply power to the lifting motor 155M, that is, so that the load rate of the lifting motor 155M driven by the third torque will not increase.

[0065] The fixed unit 156 can detach and install the robotic arm unit 160 from the lifting unit 151P depending on whether magnetic force is generated.

[0066] The fixing unit 156 can change whether magnetic force is generated. If magnetic force is generated, the robot arm unit 160 is attached to the lifting unit 151P. If no magnetic force is generated, the attachment is released, and the robot arm unit 160 descends from the lifting unit 151P.

[0067] The fixing unit 156 can activate or deactivate the magnetic force depending on whether a power supply is provided. For example, the magnetic force can be deactivated if no power supply is provided, and the magnetic force can be activated if no power supply is provided.

[0068] One example of a fixing unit 156 may include an electromagnet and an attachment module 156B that can be detached from the electromagnet. Thus, if the power supply to the fixing unit 156 is disconnected, the magnetic force can be neutralized. However, even when the fixing unit 156 is equipped with an electromagnet and powered, the electrical force supplied to the electromagnet is lower than the power required to drive the lifting motor 155M, thus reducing the load on the lifting motor 155M.

[0069] According to another example of the fixing unit 156, if no power is supplied, the magnetic force is activated, that is, a magnetic force is generated, so that the robotic arm unit 160 is attached to the lifting unit 151P. If power is supplied, the magnetic force is deactivated, that is, the magnetic force disappears, thereby releasing the restraint on the robotic arm unit 160, so that the robotic arm unit 160 can be lifted.

[0070] As such an example, the fixing unit 156 may include an electro-permanent magnet 156A, and correspondingly, may include an attachment module 156B that can be attached to and detached from the electro-permanent magnet 156A.

[0071] Unlike electromagnets, electro-permanent magnets 156A generate magnetic force when current flows through them. This allows the robotic arm unit 160 to attach to the lifting unit 151P without power supply when the driving unit 110 is in motion. When power is supplied, the magnetic force is lost, and the robotic arm unit 160 will not attach to the attachment module 156B. This releases the force that binds the robotic arm unit 160.

[0072] Here, it is known that the electro-permanent magnet 156A generates magnetic force through a combination of a permanent magnet and an electromagnet. In contrast to an electromagnet, it is achieved by the following principle: magnetic force will appear even without power supply, and the magnetic force will disappear if power supply is provided. Such an electro-permanent magnet 156A is provided so that the fixing unit 156 can generate magnetic force to fix the robot arm unit 160.

[0073] The attachment module 156B can be configured to attach when the electro-permanent magnet 156A generates a magnetic force. For example, the attachment module 156B can contain a magnetic substance.

[0074] The electro-permanent magnet 156A and the attachment module 156B can be configured in a position where they abut against each other for assembly and disassembly, thereby forming a unit on the lower side of the lifting unit 151P and the upper side of the robotic arm unit 160.

[0075] The following description uses the case where the electro-permanent magnet 156A is disposed on the lower side of the lifting unit 151P and the attachment module 156B is disposed on the upper side of the robotic arm unit 160 as an example. However, it goes without saying that the positions can also be configured in the opposite way. That is, it can be configured such that the electro-permanent magnet 156A is disposed on either the robotic arm unit 160 or the lifting unit 151P, and the attachment module 156B is disposed on the other, thereby allowing them to be attached and detached from each other.

[0076] The electro-permanent magnet 156A and the attachment module 156B can be configured at three fulcrums spaced apart from each other, so that the lifting unit 151P and the robotic arm unit 160 can be uniformly attached across the entire surface. For example, the electro-permanent magnet 156A can be configured to be adjacent to the first driven pulley 155P1, the second driven pulley 155P2, and the third driven pulley 155P3.

[0077] The electro-permanent magnets 156A, positioned at three fulcrums, are configured to attach the lifting unit 151P and the robotic arm unit 160 evenly at the three fulcrums, rather than attaching them to a single fulcrum, thereby achieving a stable magnetic bond. In other words, the most stable magnetic bond can be achieved with the fewest possible components.

[0078] The power supply unit 157 can supply power to the stationary unit 156 and the lifting motor 155M. However, for the sake of explanation, the case where the power supply unit 157 supplies power to the stationary unit 156 and the lifting drive unit 155 will be described, but power can be supplied to all structures in the transfer trolley 100 that require power.

[0079] For example, the power supply unit 157 can be supplied with power from the power supply cable of the track unit 20 to transfer power to the stationary unit 156 and the lifting drive unit 155. Alternatively, the power supply unit 157 can be modified in various ways, for example, it can be made of batteries.

[0080] When the traveling unit 110 is in motion, the power supply unit 157 can switch the power supply to the fixed unit 156, so that the robotic arm unit 160 is attached to the lifting unit 151P by the fixed unit 156 through magnetic force. For example, if the fixed unit 156 includes an electro-permanent magnet 156A, then power may not be supplied to the electro-permanent magnet 156A. In contrast, if the fixed unit 156 includes an electromagnet, then power may be supplied to the electromagnet. Hereinafter, the case where the fixed unit 156 is an electro-permanent magnet 156A will be described as an example.

[0081] Furthermore, before explaining the power switching of the power supply unit 157, for ease of explanation and understanding, in this embodiment, the first scenario in which the height of the robot arm unit 160 is fixed without lifting or lowering is described in terms of a first sub-scenario and a second sub-scenario.

[0082] like Figure 3 As shown, the first sub-scenario can mean that the robotic arm unit 160 is located at the first height of the position constituting the descent of the robotic arm unit 160. For example... Figure 2 As shown, the second sub-scenario can mean that the robotic arm unit 160 is located at a second height corresponding to the position where the robotic arm unit 160 and the lifting unit 151P are in contact or close proximity.

[0083] When switching from the second sub-scenario to the first sub-scenario, the power supply unit 157 can switch the power supply, so that the magnetic force of the fixing unit 156 is disabled when the power supply to the lifting motor 155M is turned on.

[0084] Furthermore, when changing from the first sub-scenario to the second sub-scenario, the power supply unit 157 can disconnect the power supplied to the lifting motor 155M after the magnetic force of the fixing unit 156 takes effect, that is, after disconnecting the power supply to the electro-permanent magnet 156A.

[0085] Here, according to several embodiments, in order to prevent the robot arm unit 160 from falling during power switching, the power supply unit 157 can be powered during downtime as follows.

[0086] According to several embodiments, when switching between the first sub-scene and the second sub-scene, a downtime can be provided between the first sub-scene and the second sub-scene. The power supply unit 157 can supply power to the lifting motor 155M during the downtime.

[0087] Here, the downtime can mean the interval of the initial height state of the robotic arm unit 160 before the height change, temporarily formed in the context of a height change. In other words, the downtime can mean, for example, when descending from the second height to the first height, the second height state stops for a few seconds; the downtime can also mean, for example, when ascending from the first height to the second height, the first height state stops for a few seconds. Here, as an example, the downtime is assumed to be an interval of a few seconds, but this is only an assumption for ease of explanation and understanding, and therefore the technical concept of the present invention can be considered to set the time.

[0088] The reason for setting a downtime is to ensure that the power supplied to the lifting motor 155M stops after the magnetic failure of the fixing unit 156, so that the robot arm unit 160 will not fall arbitrarily due to the load of the robot arm unit 160 when the fixing unit 156 is not fixing it.

[0089] In other words, when switching between the first sub-scene and the second sub-scene, in order to prevent the robot arm unit 160 from falling instantly when it is not fixed by the magnetic force of the fixing unit 156, for example, the lifting motor 155M can be driven with a third torque during the downtime.

[0090] For example, when changing from the first sub-scenario to the second sub-scenario, that is, in the scenario where the robot arm unit 160 rises and changes from the first height to the second height, after the robot arm unit 160 is at the second height, the lifting motor 155M does not stop immediately, but disconnects the power supply to the lifting motor 155M after the fixing unit 156 generates magnetic force to fix the robot arm unit 160 by magnetic force to prevent the robot arm unit 160 from falling.

[0091] Hereinafter, the operation of the power supply unit 157, the lifting motor 155M, and the fixing unit 156 will be described with reference to the accompanying drawings. Regarding the electro-permanent magnet 156A described below, it will be described as follows: unlike an electromagnet, the magnetic force is activated when the power is turned off. However, as mentioned above, the fixing unit 156 of this embodiment may also be modified to include an electromagnet instead of an electro-permanent magnet.

[0092] Reference Figures 8 to 11 In the transfer trolley 100, the power supply state of the power supply unit 157 can be set differently according to the travel and loading / unloading operations. That is, the power supply unit 157 can switch the power supply to the stationary unit 156 and / or the lifting drive unit 155 on / off according to the travel operation and / or loading / unloading operation of the transfer trolley 100.

[0093] For example, the transfer trolley 100 can have a driving scenario, a first sub-scenario, a second sub-scenario, and a lifting scenario.

[0094] Reference Figure 8 Assuming the driving scenario is between the first operation time T1 and the second operation time T2, and between the seventh operation time T7 and the eighth operation time T8, the first transformation scenario in which the first sub-scenario and the second sub-scenario change occurs is between the second operation time T2 and the fourth operation time T4. The lifting scenario, as the interval in which the robotic arm unit 160 lifts and lowers, is between the fourth operation time T4 and the fifth operation time T5. The second transformation scenario in which the first sub-scenario and the second sub-scenario change occurs is between the fifth operation time T5 and the seventh operation time T7, this will be explained.

[0095] Under driving scenarios T1-T2 and T7-T8, such as Figure 8 as well as Figure 9 As shown, the state can be such that the magnetic force of the fixing unit 156 is activated, thereby attaching the robotic arm unit 160 to the lifting unit 151P. At this time, the fixing unit 156, which includes an electro-permanent magnet 156A, is in a state where the power supply is disconnected in order to generate magnetic force.

[0096] In driving scenarios T1-T2 and T7-T8, the robotic arm unit 160 is fixed to the lifting unit 151P by the fixing unit 156. Therefore, the lifting motor 155M does not need to be driven to prevent the robotic arm unit 160 from falling. That is, the lifting motor 155M does not need to be driven by a third torque that prevents the lifting belt 151 from unwinding arbitrarily.

[0097] Therefore, the transfer trolley 100, which completes most of the driving operations in the manufacturing plant 10, can reduce the load on the lifting motor 155M and reduce power consumption.

[0098] Furthermore, under the first transformation scenarios T2 to T4, the robotic arm unit 160 can descend from the second height to the first height. Furthermore, under the second transformation scenarios T5 to T7, the robotic arm unit 160 can ascend from the first height to the second height.

[0099] In the first transformation scenario T2-T4 and the second transformation scenario T5-T7, downtimes T2-T3 and T6-T7 can be set respectively. During downtimes T2-T3 and T6-T7, such as... Figure 8 as well as Figure 10 As shown, arbitrary unwinding of the lifting belt 151, which could occur due to the failure of the magnetic force of the fixed unit 156, can be prevented. That is, the lifting motor 155M can be driven with a third torque before the power supply to the fixed unit 156 is switched, thereby preventing arbitrary unwinding of the lifting belt 151.

[0100] Furthermore, referring to Figure 8 as well as Figure 11 In scenarios T4 to T5, for the lifting of the robotic arm unit 160, the transfer trolley 100 can conduct power to the electro-permanent magnet 156A to disable the magnetic force, and the lifting motor 155M can be powered so that it is driven with the first torque.

[0101] Refer again Figures 2 to 7 The robotic arm unit 160 can move vertically via the lifting assembly 150, moving away from or into the housing 130, and can pick up and transfer the object 30. For example, the robotic arm unit 160 can be fixed to the lower end of the lifting belt 151 and connected to the lifting assembly 150 via the lifting belt 151. The robotic arm unit 160 can be configured to be parallel to the ground. That is, it can be configured such that the lower ends of the three lifting belts (the first belt 151A, the second belt 151B, and the third belt 151C) are at the same height, thereby making the robotic arm unit 160 parallel to the ground.

[0102] The robotic arm unit 160 may include a gripper 161 for holding and transferring an object and a gripper motor (not shown) for driving the gripper 161. The gripper 161 may be configured to slide via the gripper motor, thereby interfering with or de-interfering with the object 30 being transferred.

[0103] For example, the clamping action can be achieved as follows: if the guide 163 disposed in the robotic arm unit 160 is clamped in the slot 31H of the transfer object 30 and the guide 163 comes into contact with the slot 31H, then the sensor (not shown) provided with the guide 163 determines that the transfer object 30 has been sensed, and the gripper 161 slides to approach the plate 31 of the transfer object 30. Here, the guide 163 may have a guiding function and / or a sensor function.

[0104] According to the transfer trolley 100 of such an embodiment, the lifting assembly 150 that enables the robotic arm unit 160 to move up and down does not need to be driven by the lifting motor 155M when the travel unit 110 is moving. Therefore, the load on the lifting motor 155M and the power consumption can be reduced. Furthermore, the robotic arm unit 160 can be stably fixed to the lifting assembly 150 by magnetic force. Therefore, the shaking of the robotic arm unit 160 is reduced when the travel unit 110 is moving, thereby reducing the risk of damage to items caused by shaking.

[0105] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, those skilled in the art should understand that the present invention can be implemented in other specific ways without changing its technical concept and essential features. Therefore, the embodiments described above should be considered illustrative in all respects and not restrictive.

Claims

1. A transfer trolley, comprising: The driving unit has wheels and is connected to the outer shell; The robotic arm unit holds and transfers the object; and The lifting assembly, disposed within the housing, is connected to the robotic arm unit. The lifting assembly includes: The lifting unit includes a lifting belt that is connected to the robotic arm unit. The lifting drive unit is configured to wind or unwind the lifting belt; and The fixed unit is used to assemble and disassemble the robotic arm unit based on whether magnetic force is generated.

2. The transfer trolley according to claim 1, wherein, If the fixing unit is not powered, the magnetic force is activated, causing the robotic arm unit to attach to the lifting unit; if powered, the magnetic force is deactivated.

3. The transfer trolley according to claim 2, wherein, The fixed unit is not powered when the traveling unit is in motion, but uses magnetic force to attach the robotic arm unit to the lifting unit.

4. The transfer trolley according to claim 2, wherein, The fixing unit is configured in the robotic arm unit or the lifting unit and includes an electro-permanent magnet.

5. The transfer trolley according to claim 4, wherein, The fixing unit further includes: An attachment module is positioned vertically opposite the electro-permanent magnet; if the electro-permanent magnet generates a magnetic force, the module is attached. The electro-permanent magnet is provided in either the robotic arm unit or the lifting unit, and the attachment module is provided in the other.

6. The transfer trolley according to claim 1, wherein, The lifting drive unit includes a lifting motor. The lifting motor is driven by a first torque to wind or unwind the lifting belt along the rotation direction of the shaft, or, in a first scenario where the robot unit does not lift and the height of the robot unit is fixed, it is driven by a third torque. The third torque is greater than the second torque at which the lifting belt is arbitrarily unwound and less than the first torque, thereby providing a force that prevents the lifting belt from being wound or unwound and from being arbitrarily unwound.

7. The transfer trolley according to claim 6, wherein, The first scenario includes: In the first sub-scenario, the robotic arm unit is located at a first height constituting the descent position of the robotic arm unit; and In the second sub-scenario, the robotic arm unit is located at a second height corresponding to the position where it abuts against or is close to the lifting unit. The lifting assembly also includes: The power supply unit supplies power to the fixing unit and the lifting drive unit. In the second sub-scenario, the power supply unit switches the power supply, thereby generating a magnetic force in the fixed unit.

8. The transfer trolley according to claim 7, wherein, In the second sub-scenario, the power supply unit does not supply power to the fixing unit, so that the fixing unit attaches the robotic arm unit to the lifting unit by magnetic force.

9. The transfer trolley according to claim 7, wherein, When transitioning between the first sub-scenario and the second sub-scenario, there is a downtime between the two sub-scenarios. The power supply unit supplies power to the lifting motor during the downtime.

10. The transfer trolley according to claim 9, wherein, The lifting motor is driven by the third torque during the downtime.

11. The transfer trolley according to claim 7, wherein, When switching from the second sub-scenario to the first sub-scenario, the power supply unit switches the power supply so that the magnetic force of the fixing unit is disabled while the power supply to the lifting motor is on.

12. The transfer trolley according to claim 7, wherein, When transitioning from the first sub-scenario to the second sub-scenario, the power supply unit disconnects the power supplied to the lifting motor after the magnetic force of the fixing unit takes effect.

13. The transfer trolley according to claim 7, wherein, The second sub-scenario includes the scenario of the driving unit driving. When the driving unit is driving under the second sub-scenario, the power supply unit does not supply power to the lifting motor.

14. The transfer trolley according to claim 1, wherein, The lifting belt includes a first belt, a second belt, and a third belt arranged spaced apart from each other. The first, second, and third bands are connected to the robotic arm unit at each vertex of the imaginary triangle.

15. The transfer trolley according to claim 14, wherein, The fixing unit includes: Three electro-permanent magnets are respectively adjacent to a first driven pulley supporting the first belt, a second driven pulley supporting the second belt, and a third driven pulley supporting the third belt.

16. A transfer trolley, comprising: The driving unit has wheels and is connected to the outer shell; The robotic arm unit holds and transfers the object; and The lifting assembly, disposed within the housing, is connected to the robotic arm unit. The lifting assembly includes: The lifting unit includes a lifting belt that is connected to the robotic arm unit. The lifting drive unit is configured to wind or unwind the lifting belt; and The fixed unit detaches and attaches the robotic arm unit to the lifting unit depending on whether magnetic force is generated. If no power is supplied, the magnetic force is activated and the robotic arm unit is attached to the lifting unit. If power is supplied, the magnetic force is deactivated.

17. A transfer trolley, comprising: The driving unit has wheels and is connected to the outer shell; The robotic arm unit holds and transfers the object; and The lifting assembly is connected to the housing and the robotic arm unit. The lifting assembly includes: A lifting unit, disposed in the housing, has a lifting belt connected to the robotic arm unit; The lifting drive unit is configured to wind or unwind the lifting belt; A fixed unit is used to attach and detach the robotic arm unit from the lifting unit depending on whether magnetic force is generated, and the robotic arm unit is attached to the lifting unit when the traveling unit is moving. as well as The power supply unit supplies power to the fixing unit and the lifting drive unit. When the traveling unit is in motion, the power supply unit switches the power supply to the fixed unit so that no power is supplied to the lifting drive unit, and the fixed unit attaches the robotic arm unit to the lifting unit by magnetic force.

18. The transfer trolley according to claim 17, wherein, The lifting drive unit includes a lifting motor. The lifting motor is driven by a first torque to wind or unwind the lifting belt along the rotation direction of the shaft, or, in a first scenario where the robot unit does not lift and the height of the robot unit is fixed, it is driven by a third torque. The third torque is greater than the second torque at which the lifting belt is arbitrarily unwound and less than the first torque, thereby providing a force that prevents the lifting belt from being wound or unwound and from being arbitrarily unwound. The first scenario includes: In the first sub-scenario, the robotic arm unit is located at a first height constituting the descent position of the robotic arm unit; and In the second sub-scenario, the robotic arm unit is located at a second height corresponding to the position where it abuts against or is close to the lifting unit. In the second sub-scenario, the power supply unit switches the power supply to the fixing unit, so that the fixing unit attaches the robotic arm unit to the lifting unit by magnetic force.

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