Feeding and discharging composite robot

Abstract

The utility model relates to the technical field of robots, in particular to a feeding and discharging composite robot. The feeding and discharging composite robot comprises a mechanical arm and a clamping mechanism. The clamping mechanism is mounted on the mechanical arm, the clamping mechanism comprises a clamping jaw and a first guide structure, the clamping jaw comprises a first power source and two sets of clamping pieces arranged oppositely, and the first power source is connected with the clamping pieces and used for driving the two sets of clamping pieces to move in the direction close to each other or away from each other; the first guiding structure is matched with the clamping piece, the guiding direction of the first guiding structure is consistent with the moving direction of the clamping piece, and the first guiding structure can limit the clamping piece to move in the direction perpendicular to the moving direction of the clamping piece. According to the feeding and discharging composite robot, the turnover cost can be reduced, manpower is saved, and efficiency is high; the professional requirements on workers can be reduced, and large-scale development is facilitated; in addition, the clamping mechanism is high in structural reliability, the action of the clamping jaw is stable, and the service life is long.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a loading and unloading composite robot. Background Art

[0002] At present, the main way of turnover of material boxes used to hold wafers is manual turnover. The material boxes are manually placed on a hand-push material rack, and the hand-push material rack is manually pushed to move between different workstations. This method has the following problems: the value of wafers is extremely high, and manual handling can easily damage the wafers, resulting in high turnover costs; the manual handling process is laborious and inefficient; manual transportation is more dependent on experience and has high professional requirements for workers. The current recruitment and training cycle for manual workers is long, which is not conducive to the large-scale development of the industry. Utility Model Content

[0003] The utility model aims to provide a loading and unloading composite robot to alleviate the technical problems of high transportation cost, time-consuming and labor-intensive, and difficult large-scale development in the prior art wafer box loading and unloading methods.

[0004] The utility model provides a loading and unloading composite robot, which comprises a mechanical arm and a clamping mechanism.

[0005] The clamping mechanism is installed on the robotic arm, and the robotic arm can drive the clamping mechanism to move to the target position; the clamping mechanism includes a clamping claw and a first guide structure, and the clamping claw includes a first power source and two groups of clamping members arranged opposite to each other, and the first power source is connected to the clamping member, and is used to drive the two groups of clamping members to move in directions close to or away from each other to clamp or release the material box; the first guide structure cooperates with the clamping member, and the guiding direction of the first guide structure is consistent with the moving direction of the clamping member, and the first guide structure can limit the movement of the clamping member in a direction perpendicular to the moving direction of the clamping member.

[0006] Preferably, as an implementable embodiment, the moving direction of the clamping member is horizontal.

[0007] Preferably, as an implementable embodiment, the clamping member includes a finger and a clamping plate, the finger is connected to the first power source, the clamping plate is connected to the first guide structure, the clamping plate and the finger are connected through a second guide structure, and the clamping plate is used to clamp the material box; the guiding direction of the second guide structure is perpendicular to the moving direction of the finger, and the second guide structure can limit the movement of the clamping plate along the moving direction of the finger.

[0008] Preferably, as an implementable embodiment, the second guide structure includes a waist-shaped hole opened in the finger and a first pin installed on the clamping plate, or the second guide structure includes a waist-shaped hole opened in the clamping plate and a first pin installed on the finger.

[0009] The length direction of the waist-shaped hole is perpendicular to the moving direction of the clamping member, and the first pin cooperates with the waist-shaped hole and can move along the length direction of the waist-shaped hole.

[0010] Preferably, as an implementable embodiment, the loading and unloading compound robot also includes a mobile chassis, the mobile chassis includes a second power source, the second power source can drive the mobile chassis to move between a number of turnover stations, and the robotic arm is installed on the mobile chassis.

[0011] Preferably, as an implementable embodiment, the mobile chassis is provided with a material box temporary storage area for temporarily storing the material box.

[0012] There are at least two material box temporary storage areas; and / or, the material box temporary storage area is provided with an inclined fixed plate obliquely installed on the mobile chassis, and a positioning block is provided on the top of the inclined fixed plate, the inclined fixed plate is used to place the material box, and the positioning block is used to position the material box.

[0013] Preferably, as an implementable embodiment, the clamping mechanism is equipped with a detection element, and the detection element is used to detect the material box at the target position; the detection element is communicatively connected with the first power source, and is used to control the first power source to drive the clamping members to move in a direction close to each other when the material box exists at the target position;

[0014] And / or, the clamping mechanism is equipped with a visual positioning component, which is used to identify characteristic elements that are relatively fixed to the target position; the visual positioning component is communicatively connected to the robotic arm, and is used to control the robotic arm to drive the clamping mechanism to move to the target position in a specific posture.

[0015] Preferably, as an implementable embodiment, one of the clamping member and the material box is installed with a second pin, and the other is provided with a positioning groove; the second pin cooperates with the positioning groove to suspend the material box on the clamping member.

[0016] Preferably, as an implementable embodiment, one of the clamping member and the material box is installed with a third pin, and the other is provided with an anti-rotation groove; the third pin cooperates with the anti-rotation groove to prevent the material box from rotating around the second pin.

[0017] Preferably, as an implementable embodiment, the positioning groove is provided on the side wall of the material box, the positioning groove has a U-shaped groove portion and a V-shaped groove portion, the V-shaped groove portion is located above the U-shaped groove portion, and the U-shaped opening of the U-shaped groove portion is communicated with the V-shaped opening of the V-shaped groove portion;

[0018] And / or, the anti-rotation groove is rectangular, and the length direction of the anti-rotation groove is vertically arranged.

[0019] Compared with the prior art, the beneficial effects of the utility model are:

[0020] The loading and unloading composite robot provided by the utility model can control the action of the mechanical arm and use the mechanical arm to send the clamping mechanism to the target position (including the storage position and the feeding position). When unloading, the mechanical arm can be controlled to send the clamping mechanism to the feeding position, and the first power source of the clamping jaws can be controlled to drive the two groups of clamping parts to move in a direction close to each other to clamp the empty material box at the feeding position; then, the mechanical arm is controlled to send the clamping mechanism with the empty material box to the storage position, and the first power source of the clamping jaws can be controlled to drive the two groups of clamping parts to move in a direction away from each other to release the empty material box, and the empty material box is placed at the idle storage position to complete unloading. When loading, the robot arm can be controlled to send the clamping mechanism to the loaded storage position (that is, the storage position where there is a material box with wafers or other materials), and the first power source of the clamping jaws can be controlled to drive the two groups of clamping parts to move towards each other to clamp the material box at the storage position; then, the robot arm is controlled to send the clamping mechanism with the material box to the feeding position, and the first power source of the clamping jaws can be controlled to drive the two groups of clamping parts to move away from each other to release the material box, and place the material box to the empty feeding position to complete the loading.

[0021] Therefore, the loading and unloading resetting robot provided by the utility model can realize automatic loading and unloading work without manual handling of material boxes, which can greatly reduce the risk of damage to wafers or other materials and reduce turnover costs; it can save manpower and has high efficiency; in addition, it can also reduce the professional requirements for workers, which is conducive to large-scale development.

[0022] It should be noted that since the guiding direction of the clamping member by the first guide structure is consistent with the direction in which the clamping member is driven to move by the first power source, the first guide structure will not affect the normal clamping and releasing actions of the clamping member, and the first guide structure can form a certain limiting support effect on the clamping member, which can improve the structural reliability of the clamping mechanism, making it difficult for the clamping member of the clamp and the first power source to generate interaction forces in other non-driving directions, thereby improving the stability of the clamp's movement and extending the working life of the clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the three-dimensional structure of a loading and unloading composite robot provided in an embodiment of the utility model;

[0025] Figure 2 A schematic diagram of the side view structure of a loading and unloading compound robot provided in an embodiment of the utility model;

[0026] Figure 3 A schematic diagram of the front view structure of a loading and unloading composite robot provided in an embodiment of the utility model;

[0027] Figure 4 A schematic diagram of the structure of the clamping mechanism in the loading and unloading composite robot provided by the embodiment of the utility model when aligning with the material box;

[0028] Figure 5 A schematic diagram of the structure of a clamping mechanism in a loading and unloading composite robot provided in an embodiment of the utility model;

[0029] Figure 6 A schematic structural diagram of a clamping mechanism in a loading and unloading composite robot provided by an embodiment of the utility model from another perspective;

[0030] Figure 7 A structural schematic diagram of a clamping mechanism in a loading and unloading composite robot provided in an embodiment of the utility model from another perspective;

[0031] Figure 8 A schematic structural diagram of a material box provided in an embodiment of the utility model.

[0032] Description of reference numerals:

[0033] 100-Robotic arm;

[0034] 200-clamping mechanism; 210-clamping member; 211-finger; 212-clamping plate; 213-waist-shaped hole; 214-first pin; 215-second pin; 216-third pin; 220-first guide structure; 221-linear track; 222-slider; 230-detection element; 240-visual positioning component;

[0035] 300-mobile chassis; 310-inclined fixing plate; 320-positioning block; 330-connecting plate;

[0036] 400-material box; 410-positioning groove; 420-anti-rotation groove. DETAILED DESCRIPTION

[0037] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] The present invention will be further described in detail below through specific implementation examples in conjunction with the accompanying drawings.

[0039] See also Figure 1-Figure 8 The present embodiment provides a loading and unloading composite robot, which includes a robot arm 100 and a clamping mechanism 200; the clamping mechanism 200 is installed on the robot arm 100, and the robot arm 100 can drive the clamping mechanism 200 to move to a target position; the clamping mechanism 200 includes a clamping claw and a first guide structure 220, the clamping claw includes a first power source and two groups of clamping members 210 arranged oppositely, the first power source is connected to the clamping member 210, and is used to drive the two groups of clamping members 210 to move in directions approaching or away from each other to clamp or release the material box 400; the first guide structure 220 cooperates with the clamping member 210, the guiding direction of the first guide structure 220 is consistent with the moving direction of the clamping member 210, and the first guide structure 220 can limit the movement of the clamping member 210 along a direction perpendicular to the moving direction of the clamping member 210.

[0040] The loading and unloading composite robot provided in this embodiment can control the action of the mechanical arm 100, and use the mechanical arm 100 to send the clamping mechanism 200 to the target position (including the storage position and the feeding position). When unloading, the mechanical arm 100 can be controlled to send the clamping mechanism 200 to the feeding position, and the first power source of the clamping jaws can be controlled to drive the two groups of clamping members 210 to move in a direction close to each other to clamp the empty material box at the feeding position; after that, the mechanical arm 100 is controlled to send the clamping mechanism 200 with the empty material box to the storage position, and the first power source of the clamping jaws can be controlled to drive the two groups of clamping members 210 to move in a direction away from each other to release the empty material box, and the empty material box is placed at the idle storage position to complete unloading. When loading, the robot arm 100 can be controlled to send the clamping mechanism 200 to the loaded storage position (that is, the storage position where there is a material box with wafers or other materials), and the first power source of the clamping jaws can be controlled to drive the two groups of clamping members 210 to move in directions close to each other to clamp the material box at the storage position; thereafter, the robot arm 100 is controlled to send the clamping mechanism 200 with the material box to the feeding position, and the first power source of the clamping jaws can be controlled to drive the two groups of clamping members 210 to move in directions away from each other to release the material box 400, and place the material box to the empty feeding position to complete the loading.

[0041] Therefore, the loading and unloading resetting robot provided in this embodiment can realize automatic loading and unloading work without manual handling of the material box 400, which can greatly reduce the risk of damage to wafers or other materials and reduce turnover costs; it can save manpower and has high efficiency; in addition, it can also reduce the professional requirements for workers, which is conducive to large-scale development.

[0042] It should be noted that, since the guiding direction of the clamping member 210 by the first guide structure 220 is consistent with the direction in which the clamping member 210 is driven to move by the first power source, the first guide structure 220 will not affect the normal clamping and releasing actions of the clamping member 210, and the first guide structure 220 can form a certain limiting support effect on the clamping member 210, which can improve the structural reliability of the clamping mechanism 200, and make it difficult for the clamping member 210 of the clamp and the first power source to generate interaction forces in other non-driving directions, which can improve the stability of the clamp's movement and extend the working life of the clamp.

[0043] The first power source may be an electric drive.

[0044] Specifically, the first guide structure 220 may include a linear rail 221 and two sliders 222. The linear rail 221 is fixedly arranged along the moving direction of the clamping member 210. The two sliders 222 are slidably matched with the linear rail 221. The two groups of clamping members 210 are respectively fixedly connected to the two sliders 222. In this way, the first guide mechanism 220 can achieve a guiding effect on the two groups of clamping members 210.

[0045] Preferably, the moving direction of the clamping member 210 can be set to the horizontal direction, that is, the guiding direction of the first guide structure 220 is the horizontal direction. In this way, the first guide structure 220 can bear the gravity of the material box 400 and part or all of the gravity of the clamping member 210. At this time, the clamp basically only needs to provide clamping force, which can further improve the movement stability of the clamp and extend the working life of the clamp.

[0046] In the specific structure of the clamping member 210, a finger 211 and a clamping plate 212 can be set, and the finger 211 is connected to the first power source so that the first power source can be used to drive the finger 211 of the clamping member 210 to move; the clamping plate 212 is connected to the first guide structure 220, and the clamping plate 212 and the finger 211 are connected through the second guide structure, and the second guide structure is set to be able to limit the movement of the clamping plate 212 along the moving direction of the finger 211. In this way, the finger 211 of the clamping member 210 can push the clamping plate 212 to move synchronously with it through the second guide structure, so that the clamping plate 212 can clamp and release the material box 400. The guiding direction of the second guiding structure is set to be perpendicular to the moving direction of the finger 211, so that relative movement can occur between the clamping plate 212 and the finger 211 in a direction perpendicular to the moving direction of the finger 211. When there is an error between the guiding accuracy of the second guiding structure and the installation orientation of the clamping jaw, the clamping plate 212 can make adaptive position adjustment relative to the finger 211 in a direction perpendicular to the moving direction of the finger 211, which can reduce the requirements for the guiding accuracy of the second guiding structure and reduce the accuracy requirements for the installation orientation of the clamping jaw.

[0047] Specifically, a waist-shaped hole 213 can be opened on one of the finger 211 of the clamping member 210 and the clamping plate 212, and a first pin 214 can be installed on the other, and the waist-shaped hole 213 and the first pin 214 can be used as the above-mentioned second guide structure; the length direction of the waist-shaped hole 213 and the moving direction of the clamping member 210 are set to be perpendicular to each other, the first pin 214 is matched with the waist-shaped hole 213, and the clamping plate 212 and the finger 211 are connected together by the first pin 214; at the same time, the first pin 214 can be moved along the length direction of the waist-shaped hole 213, so that the guiding effect of the second guide structure on the clamping member 210 can be achieved.

[0048] Preferably, the first pin 214 and the opposite side hole walls of the waist-shaped hole 213 are set to be in line contact, which can reduce the contact area between the first pin 214 and the waist-shaped hole 213, and then reduce the sliding friction resistance when the first pin 214 slides relative to the waist-shaped hole 213, thereby improving the sliding smoothness of the clamping plate 212 relative to the finger 211 in the direction perpendicular to the moving direction of the clamping member 210.

[0049] A mobile chassis 300 may also be provided, and a second power source may be provided on the mobile chassis 300, and the second power source may be provided to be able to drive the mobile chassis 300 to move between a plurality of turnover stations, and the robot 100 may be installed on the mobile chassis 300, and the mobile chassis 300 may be able to drive the entire robot 100 and the clamping mechanism 200 to move, which is beneficial to reducing the size of the robot 100, reducing the volume of the robot 100, reducing the space occupied by the robot 100, and reducing the cost of the robot 100; on the other hand, it is beneficial to expand the working range, and is particularly suitable for working conditions where the spacing between different turnover stations is large. The second power source may be an electric drive.

[0050] A material box temporary storage area for temporarily storing material boxes may be provided on the mobile chassis 300 , so that the material box temporary storage area can be used as the material storage position mentioned above.

[0051] At least two material box temporary storage areas can be set, and material boxes with materials containing wafers or other materials can be pre-placed in several of the material box temporary storage areas, and at least one material box temporary storage area can be left empty. In the unloading process, the robot arm 100 can be controlled to send the clamping mechanism 200 with an empty material box to the vicinity of the idle material box temporary storage area on the mobile chassis 300, so that after the clamp releases the empty material box, the empty material box can fall into the idle material box temporary storage area; in the loading process, the robot arm 100 can be controlled to send the clamping mechanism 200 to the vicinity of the material box temporary storage area where there are material boxes with materials containing wafers or other materials, and control the clamp to pick up the material boxes with materials in the material box temporary storage area and send them to the feeding position. Under the premise of different mobile chassis 300, a complete loading and unloading process can be completed, which can improve the loading and unloading efficiency.

[0052] In the above-mentioned material box temporary storage area, an inclined fixed plate 310 can be set, which is installed obliquely on the mobile chassis 300, and a positioning block 320 is set on the top of the inclined fixed plate 310. The material box 400 can be placed on the inclined fixed plate 310, and the positioning block 320 can position the material box 400 on the inclined fixed plate 310, so that the material box 400 can be placed in place and is not easy to shift; it should be noted that the inclined fixed plate 310 is set obliquely, so that the material box 400 is in an inclined state on the inclined fixed plate 310, which can reduce the risk of the wafers in the material box 400 sliding out due to the start-stop inertia during transportation. In fact, the inclined fixed plate 310 is inclined from back to front and upward, and after the material box 400 is placed on the inclined fixed plate 310, the open side of the material box 400 faces forward.

[0053] Specifically, two groups of connecting plates 330 can be set between the above-mentioned inclined fixed plate 310 and the mobile chassis 300. The two groups of connecting plates 330 are arranged opposite to each other and there is a height difference between the two groups. The bottom of the connecting plate 330 is fixed to the mobile chassis 300, and the top of the connecting plate 330 is fixed to the inclined fixed plate 310. In this way, the inclined installation of the inclined fixed plate 310 can be achieved through the height difference between the two groups of connecting plates 330.

[0054] A detection element 230 can be installed on the clamping mechanism 200 to detect the material box 400 at the target position by using the detection element 230. The detection element 230 is connected to the first power source for communication. When the detection element 230 detects that there is a material box 400 at the target position, the first power source can be controlled to drive the clamping member 210 to move in a direction close to each other, so that the material box 400 at the target position can be smoothly clamped to avoid empty clamping. An alarm can be set, and the detection element 230 is connected to the alarm for communication. When the detection element 230 detects that there is no material box 400 at the target position, the alarm can be controlled to sound an alarm to remind the staff of abnormal conditions. The detection element 230 can be a sensor.

[0055] Preferably, there can be two detection elements 230, which are respectively installed on two groups of clamping members 210. In this way, it is possible to determine whether the material box 400 is skewed based on the signal fed back by the detection element 230. Specifically, if one of the detection elements 230 can detect the material box 400, and the other detection element 230 cannot detect the material box 400, it is determined that the material box 400 is skewed. Once it is determined that the material box 400 is skewed, the alarm can be controlled to sound to remind the staff of the abnormal situation. If both detection elements 230 can detect the material box 400, it is determined that the material box 400 is not skewed, and the first power source can be controlled to drive the clamping members 210 to move in a direction closer to each other.

[0056] A visual positioning component 240 can be installed on the clamping mechanism 200, so as to use the visual positioning component 240 to identify the feature elements fixed relative to the target position, thereby determining the position and posture of the clamping mechanism 200 relative to the target position. The visual positioning component 240 is connected to the robot arm 100 for communication. The visual positioning component 240 can control the movement of the robot arm 100 according to the relative position and posture between the clamping mechanism 200 and the target position, and use the robot arm 100 to drive the clamping mechanism 200 to move to the target position with a specific posture, so as to complete the pick-and-place operation of the clamping mechanism 200 with higher precision, and can compensate for the positioning error of the mobile chassis 300 itself, and realize secondary positioning.

[0057] A second pin 215 can be installed on one of the clamping member 212 and the material box 400, and a positioning groove 410 is set on the other one. The second pin 215 can be matched with the positioning groove 410. When the clamping jaws clamp the material box 400 between the two groups of clamping members 210, the first power source drives the two groups of clamping members 210 to move towards each other, so that the second pin 215 can gradually approach the positioning groove 410 and finally be inserted into the positioning groove 410. In this way, the material box 400 can be suspended on the clamping member 210, so that the material box 400 can be taken and placed.

[0058] The positioning groove 410 can be opened on the side wall of the material box 400. In the specific structure of the positioning groove 410, a U-shaped groove portion and a V-shaped groove portion can be set. The V-shaped groove portion is located above the U-shaped groove portion, and the U-shaped opening of the U-shaped groove portion is connected to the V-shaped opening of the V-shaped groove portion. When the robot arm 100 drives the clamping mechanism 200 to move into place, the second pin 215 is just opposite to the U-shaped groove portion of the positioning groove 410. At this time, the first power source of the clamping jaw drives the two groups of clamping members 210 to move in a direction close to each other, so that the second pin 215 can be inserted into the clamping mechanism 200. The second pin 215 is inserted into the U-shaped groove portion of the positioning groove 410. After the second pin 215 is inserted into place, the robot arm 100 can be controlled to drive the clamping mechanism 200 to clamp the material box 400. The material box 400 will slide down under the action of its own gravity, and the second pin 215 will slide into the V-shaped groove portion and abut against the groove walls on both sides of the V-shaped groove portion. As a result, the material box 400 can be suspended on the second pin 215 through the V-shaped groove portion, and the V-shaped structure of the V-shaped groove portion can make it difficult for the material box 400 to slide sideways, which can improve the stability of the material box 400 after being clamped.

[0059] Furthermore, a third pin 216 may be installed on one of the clamping member 210 and the magazine 400, and an anti-rotation groove 420 may be provided on the other, and the third pin 216 and the anti-rotation groove 420 may be matched to prevent the magazine 400 from rotating around the second pin 215, which may further improve the stability of the magazine 400 after being clamped. Preferably, the third pin 216 is installed on the clamping member 210, and the anti-rotation groove 420 is provided on the side wall of the magazine 400.

[0060] Specifically, the anti-rotation groove 420 can be set to a rectangle, and the length direction of the anti-rotation groove 420 can be vertical. In this way, after the third pin 216 is inserted into the anti-rotation groove 420, it can slide along the length direction of the anti-rotation groove 420 as the material box 400 slides down, meeting the requirement of the material box 400 sliding down after being clamped, and the longer groove walls on both sides of the anti-rotation groove 420 can also cooperate with the third pin 216 respectively to prevent the material box 400 from rotating around the second pin 215.

[0061] In the description of the present invention, it should be noted that the terms "upper", "lower", "vertical", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0062] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A loading and unloading composite robot, characterized in that: including a robotic arm and a clamping mechanism; The clamping mechanism is installed on the robotic arm, and the robotic arm can drive the clamping mechanism to move to the target position; the clamping mechanism includes a clamping claw and a first guide structure, and the clamping claw includes a first power source and two groups of clamping members arranged opposite to each other, and the first power source is connected to the clamping member, and is used to drive the two groups of clamping members to move in directions close to or away from each other to clamp or release the material box; the first guide structure cooperates with the clamping member, and the guiding direction of the first guide structure is consistent with the moving direction of the clamping member, and the first guide structure can limit the movement of the clamping member in a direction perpendicular to the moving direction of the clamping member.

2. The loading and unloading composite robot according to claim 1, characterized in that: The moving direction of the clamping member is horizontal.

3. The loading and unloading composite robot according to claim 1, characterized in that: The clamping member includes a finger and a clamping plate, the finger is connected to the first power source, the clamping plate is connected to the first guide structure, the clamping plate and the finger are connected via a second guide structure, and the clamping plate is used to clamp the material box; the guiding direction of the second guide structure is perpendicular to the moving direction of the finger, and the second guide structure can limit the movement of the clamping plate along the moving direction of the finger.

4. The loading and unloading composite robot according to claim 3, characterized in that: The second guide structure includes a waist-shaped hole opened in the finger and a first pin installed on the clamping plate, or the second guide structure includes a waist-shaped hole opened in the clamping plate and a first pin installed on the finger; The length direction of the waist-shaped hole is perpendicular to the moving direction of the clamping member, and the first pin cooperates with the waist-shaped hole and can move along the length direction of the waist-shaped hole.

5. The loading and unloading composite robot according to any one of claims 1 to 4, characterized in that: The loading and unloading compound robot also includes a mobile chassis, and the mobile chassis includes a second power source. The second power source can drive the mobile chassis to move between a plurality of turnover stations, and the robotic arm is installed on the mobile chassis.

6. The loading and unloading composite robot according to claim 5, characterized in that: The mobile chassis is provided with a material box temporary storage area for temporarily storing the material boxes; There are at least two material box temporary storage areas; and / or, the material box temporary storage area is provided with an inclined fixed plate obliquely installed on the mobile chassis, and a positioning block is provided on the top of the inclined fixed plate, the inclined fixed plate is used to place the material box, and the positioning block is used to position the material box.

7. The loading and unloading composite robot according to any one of claims 1 to 4, characterized in that: The clamping mechanism is equipped with a detection element, which is used to detect the material box at the target position; the detection element is in communication connection with the first power source, and is used to control the first power source to drive the clamping members to move in a direction close to each other when the material box exists at the target position; And / or, the clamping mechanism is equipped with a visual positioning component, which is used to identify characteristic elements that are relatively fixed to the target position; the visual positioning component is communicatively connected to the robotic arm, and is used to control the robotic arm to drive the clamping mechanism to move to the target position in a specific posture.

8. The loading and unloading composite robot according to any one of claims 1 to 4, characterized in that: One of the clamping member and the material box is installed with a second pin, and the other is provided with a positioning groove; the second pin cooperates with the positioning groove to allow the material box to be hung on the clamping member.

9. The loading and unloading composite robot according to claim 8, characterized in that: One of the clamping member and the magazine is provided with a third pin, and the other is provided with an anti-rotation groove; the third pin cooperates with the anti-rotation groove to prevent the magazine from rotating around the second pin.

10. The loading and unloading composite robot according to claim 9, characterized in that: The positioning groove is provided on the side wall of the material box, and the positioning groove has a U-shaped groove portion and a V-shaped groove portion, the V-shaped groove portion is located above the U-shaped groove portion, and the U-shaped opening of the U-shaped groove portion is communicated with the V-shaped opening of the V-shaped groove portion; And / or, the anti-rotation groove is rectangular, and the length direction of the anti-rotation groove is vertically arranged.

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