Grabbing mechanism and crown block

Abstract

The utility model discloses a grabbing mechanism and a crown block. The grabbing mechanism is connected with a belt on a lifting mechanism of the crown block and comprises a mounting plate, a driving assembly, a first clamping assembly, a second clamping assembly and three belt adjusting assemblies, and the driving assembly is arranged on the mounting plate and used for driving the first clamping assembly and the second clamping assembly connected to the driving assembly to move in the opposite direction or the back direction; the belt adjusting assemblies are installed on the installation plate and used for being connected with the free end of a belt of the lifting mechanism, and the three belt adjusting assemblies are not located on the same straight line. According to the grabbing mechanism, the levelness of the first clamping part and the levelness of the second clamping part can be rapidly and conveniently adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a grabbing mechanism and a crane. Background Art

[0002] In the semiconductor manufacturing process, an overhead crane is usually used to transfer wafer boxes for carrying wafers between different workstations. The overhead crane generally includes a grabbing mechanism and a lifting mechanism, wherein the grabbing mechanism is connected to the lifting mechanism to grab the wafer box from the top of the wafer box; the lifting mechanism is used to drive the grabbing mechanism down to the wafer box, and after the grabbing mechanism grabs the wafer box, the lifting mechanism drives the grabbing mechanism to drive the wafer box up.

[0003] Most existing overhead cranes have a lifting mechanism that includes a frame, a drive motor disposed on the frame, a rotating shaft directly or indirectly connected to the output shaft of the drive motor, and multiple pulleys disposed on the rotating shaft, each pulley is wound with a belt, and the free ends of the multiple belts are respectively connected to the gripping mechanism, thereby realizing the connection between the lifting mechanism and the gripping mechanism. The gripping mechanism usually includes two clamping claws for gripping a wafer box, and the horizontality of the clamping parts of the two clamping claws will affect the gripping effect. Therefore, those skilled in the art continue to seek an overhead crane structure that is easy to adjust the horizontality of the clamping parts of the two clamping claws. Utility Model Content

[0004] In order to overcome the defects in the prior art, the embodiments of the present invention provide a grabbing mechanism and an overhead crane, which are used to solve the above problems.

[0005] The embodiment of the present application discloses: a grabbing mechanism connected to a belt on a lifting mechanism of an overhead crane, comprising: a mounting plate, a driving assembly, a first clamping assembly, a second clamping assembly and three belt adjustment assemblies, wherein the driving assembly is arranged on the mounting plate and is used to drive the first clamping assembly and the second clamping assembly connected thereto to move toward or away from each other, and the belt adjustment assembly is installed on the mounting plate and is used to connect to the free end of the belt of the lifting mechanism, and the three belt adjustment assemblies are not in the same straight line.

[0006] Specifically, the belt adjustment assembly includes a base, a rotating shaft and an adjusting nut. The base is connected to the mounting plate. The base has a groove. The groove has a first side wall and a second side wall that are oppositely arranged. The rotating shaft passes through the first side wall and the second side wall to connect the free end of the belt. One end of the rotating shaft is connected to the first side wall through a retaining spring, and the other end of the rotating shaft is connected to the second side wall through the adjusting nut.

[0007] Specifically, the belt adjustment assembly further includes a pressing plate and a screw. There is a gap between the pressing plate and the rotating shaft for the belt to pass through. The screw is used to fasten the pressing plate and the belt to the rotating shaft.

[0008] Specifically, the driving assembly includes a driving motor, a first lead screw, a second lead screw, a first fixed seat, a second fixed seat and a plurality of slide rails; one end of the first lead screw is connected to the driving motor, and the other end is connected to the first fixed seat; one end of the second lead screw is connected to the driving motor, and the other end is connected to the second fixed seat; the first lead screw and the second lead screw are coaxially arranged, and the plurality of slide rails are distributed on the mounting plate.

[0009] Specifically, the drive assembly further includes a first electric brake and a second electric brake, the first electric brake being connected to an end of the first lead screw away from the drive motor, and the second electric brake being connected to an end of the second lead screw away from the drive motor.

[0010] Specifically, the first clamping assembly includes a first connecting plate and a first clamping portion connected thereto, the first connecting plate is connected to the first lead screw via a first lead screw nut, and the first connecting plate is also slidably connected to the slide rail.

[0011] Specifically, the second clamping assembly includes a second connecting plate and a second clamping portion connected thereto, the second connecting plate is connected to the second lead screw via a second lead screw nut, and the second connecting plate is also slidably connected to the slide rail.

[0012] Specifically, the gripping mechanism also includes a lifting detection component, which includes a fixed plate, a spring, a guide member, a sensing rod, a first sensor and a second sensor. The fixed plate is installed under the mounting plate, and the guide member is elastically connected to the bottom of the fixed plate through the spring. One end of the sensing rod is connected to the guide member, and the other end passes through the fixed plate and the mounting plate in sequence to be located above the mounting plate. The first sensor and the second sensor are respectively fixed on the mounting plate, and the second sensor is located above the first sensor.

[0013] Specifically, the guide member is cone-shaped.

[0014] The embodiment of the present application also discloses: an overhead crane, comprising a lifting mechanism and a grabbing mechanism as described in the embodiment, wherein the grabbing mechanism is connected to a belt on the lifting mechanism.

[0015] The utility model has at least the following beneficial effects:

[0016] 1. The belt adjustment assembly of this embodiment can quickly and conveniently adjust the length of the belt used to connect the grabbing mechanism and the lifting mechanism, thereby improving the convenience of adjusting the horizontality of the first clamping part and the second clamping part.

[0017] 2. The drive assembly has a compact structure, which helps to reduce the overall weight of the grasping mechanism, improve grasping accuracy, shorten the cycle time of the grasping action, and improve movement efficiency.

[0018] 3. The first sensor of the lifting detection component can determine whether the lifting position of the grabbing mechanism has reached the working position, and the second sensor can determine whether the lifting position of the grabbing mechanism is at the limit position, so as to avoid the grabbing mechanism moving downward beyond the limit position, causing the belt to loosen and affecting the grabbing effect.

[0019] In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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 described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a structural schematic diagram of the grabbing mechanism in the embodiment of the utility model;

[0022] Figure 2 It is a structural schematic diagram of the belt adjustment assembly in the embodiment of the utility model;

[0023] Figure 3 It is a schematic diagram of the structure of the driving assembly in one viewing angle in an embodiment of the utility model;

[0024] Figure 4 is a schematic diagram of the structure of the driving assembly in another perspective in an embodiment of the utility model;

[0025] Figure 5 It is a structural schematic diagram of the lifting detection component installed on the mounting plate in the embodiment of the utility model;

[0026] Figure 6 It is a structural schematic diagram of the lifting detection assembly in the embodiment of the utility model;

[0027] Figure 7 It is a structural schematic diagram of a grasping mechanism grasping a wafer box in an embodiment of the utility model.

[0028] The figure marks of the above drawings are: 1. mounting plate; 2. driving assembly; 21. driving motor; 22. first lead screw; 23. second lead screw; 24. first fixed seat; 25. second fixed seat; 26. slide rail; 27. first electric brake; 28. second electric brake; 291. first lead screw nut; 292. second lead screw nut; 3. first clamping assembly; 31. first connecting plate; 32. first clamping part; 4. second clamping assembly; 41. second connecting plate; 42. second clamping part; 5. belt adjustment assembly; 511. first side wall; 512. second side wall; 52. rotating shaft; 53. adjusting nut; 54. retaining spring; 55. pressing plate; 56. screw; 6. belt; 7. lifting detection assembly; 71. fixing plate; 72. spring; 73. guide member; 74. sensing rod; 75. first sensor; 76. second sensor; 10. wafer box. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in 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.

[0030] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "fixed", and "connected" 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 directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0031] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "below" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0032] In the description of this embodiment, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply 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 limiting the scope of protection of the present application.

[0033] In addition, the terms "first", "second", etc. are only used to distinguish in description and have no special meaning.

[0034] The grabbing mechanism of this embodiment is suitable for use on an overhead travelling crane and is connected to the lifting mechanism of the overhead travelling crane.

[0035] like Figure 1 As shown, the grabbing mechanism of this embodiment mainly includes: a mounting plate 1, a driving assembly 2, a first clamping assembly 3, a second clamping assembly 4 and three belt adjustment assemblies 5. Among them, the driving assembly 2 is arranged on the mounting plate 1, and is used to drive the first clamping assembly 3 and the second clamping assembly 4 connected to its output shaft to move in the direction toward or away from each other; the belt adjustment assembly 5 is installed on the mounting plate 1, and is used to connect with the free end of the belt 6 of the lifting mechanism, and the three belt adjustment assemblies 5 are not on the same straight line. In other words, the three belt adjustment assemblies 5 can determine a plane, so as to adjust the positional relationship between the mounting plate 1 and the horizontal plane, and then adjust the first clamping assembly 3 and the second clamping assembly 4, so that the clamping parts of the two are on the same horizontal plane.

[0036] Specifically, combined Figure 1 and Figure 2 As shown, the belt adjustment assembly 5 of this embodiment includes a base, a rotating shaft 52 and an adjusting nut 53. The base is connected to the mounting plate 1, and has a groove, and the groove has a first side wall 511 and a second side wall 512 arranged opposite to each other; the rotating shaft 52 is passed through the first side wall 511 and the second side wall 512, one end of the rotating shaft 52 is connected to the first side wall 511 of the groove through a clamping spring 54, and the other end is connected to the second side wall 512 of the groove through an adjusting nut 53, and the part of the rotating shaft 52 located in the groove is used to connect with the belt 6. When the above structure is used, the belt 6 is connected to the rotating shaft 52. When it is necessary to adjust the horizontality of the clamping parts of the first clamping assembly 3 and the second clamping assembly 4, the adjusting nut 53 is loosened, the rotating shaft 52 is rotated to a suitable position, and then the adjusting nut 53 is tightened to fix the rotating shaft 52 at the position. This adjustment method is very convenient.

[0037] Furthermore, if Figure 2As shown, the belt adjustment assembly 5 of this embodiment may further include a pressing piece 55 and a screw 56, and the pressing piece 55 is fixed to the portion of the rotating shaft 52 located in the groove by the screw 56. Preferably, the portion of the rotating shaft 52 located in the groove has a wall surface parallel to the pressing piece 55, and the wall surface is provided with a threaded hole for fastening the screw 56. Correspondingly, a through hole for the screw 56 to pass through is provided on the free end of the belt 6. When installing, firstly pass the free end of the belt 6 on the screw 56, and the belt 6 is located on the side of the pressing piece 55 facing the rotating shaft 52, and then tighten the screw 56 to fix the belt 6 and the pressing piece 55 on the rotating shaft 52.

[0038] like Figure 3 and Figure 4 As shown, the driving assembly 2 of this embodiment includes a driving motor 21, a first lead screw 22, a second lead screw 23, a first fixed seat 24, a second fixed seat 25 and a plurality of slide rails 26. The driving motor 21 is fixed on the mounting plate 1; one end of the first lead screw 22 is connected to the driving motor 21, and the other end thereof is connected to the first fixed seat 24, and the first lead screw 22 is used to connect with the first clamping assembly 3; one end of the second lead screw 23 is connected to the driving motor 21, and the other end thereof is connected to the second fixed seat 25, and the second lead screw 23 is used to connect with the second clamping assembly 4. The first lead screw 22 and the second lead screw 23 are coaxially arranged, and the thread directions of the two are opposite, so as to drive the corresponding clamping assembly to move in opposite directions, thereby realizing the opening and closing of the two clamping assemblies. A plurality of slide rails 26 are distributed on the mounting plate 1, and are parallel to the first lead screw 22 and the second lead screw 23, respectively. A part of the slide rails 26 is used to guide the first clamping assembly 3, and another part of the slide rails 26 is used to guide the second clamping assembly 4. The above structure is compact and is conducive to reducing the overall weight of the grasping mechanism. The structure can also improve the grasping accuracy, shorten the cycle time of the grasping action, and improve the movement efficiency.

[0039] like Figure 3 As shown, the driving assembly 2 of this embodiment further includes a first electric brake 27 and a second electric brake 28, which are respectively mounted on the mounting plate 1. The first electric brake 27 is used to connect with the end of the first lead screw 22 away from the driving motor 21, and the second electric brake 28 is used to connect with the end of the second lead screw 23 away from the driving motor 21. The use of the electric brake can prevent the clamping assembly from opening and material falling during operation after the product is grabbed.

[0040] like Figure 4As shown, the first clamping assembly 3 of this embodiment includes a first connecting plate 31 and a first clamping portion 32 connected thereto. The first connecting plate 31 is connected to the first lead screw 22 through a first lead screw nut 291, and the first connecting plate 31 is also connected to the corresponding slide rail 26. The second clamping assembly 4 includes a second connecting plate 41 and a second clamping portion 42 connected thereto. The second connecting plate 41 is connected to the second lead screw 23 through a second lead screw nut 292, and the second connecting plate 41 is also connected to the corresponding slide rail 26. Figure 7 As shown, the first clamping portion 32 and the second clamping portion 42 clamp and lift the wafer box 10 from both sides of the top of the wafer box 10 .

[0041] Combination Figures 4 to 6 As shown, the grabbing mechanism of this embodiment also includes a lifting detection assembly 7, which mainly includes a fixed plate 71, a spring 72, a guide 73, a sensing rod 74, a first sensor 75 and a second sensor 76. Among them, the fixed plate 71 is fixedly connected to the bottom of the mounting plate 1; the guide 73 is elastically connected to the bottom of the fixed plate 71 through the spring 72; one end of the sensing rod 74 is fixedly connected to the guide 73, and the other end passes through the fixed plate 71 and the mounting plate 1 in sequence to be located above the mounting plate 1. The sensing rod 74 has a limiting portion on one end located above the mounting plate 1, and the limiting portion allows the sensing rod 74 to be hung on the mounting plate 1 instead of being separated from the mounting plate 1 under the action of gravity. The first sensor 75 and the second sensor 76 are respectively fixed on the mounting plate 1, and the second sensor 76 is located above the first sensor 75. When the grabbing mechanism descends, the guide 73 contacts the wafer box 10, the spring 72 is compressed, the sensing rod 74 moves upward, and the signal generated by the sensor changes accordingly. By setting two groups of sensors, the first sensor 75 is used to determine whether the lifting position of the grabbing mechanism reaches the working position, and the second sensor 76 is used to determine whether the lifting position of the grabbing mechanism reaches the limit position.

[0042] The guide member 73 of this embodiment is conical, and accordingly, the top of the wafer box 10 also has a conical recessed portion for the conical guide member 73 to extend into.

[0043] To summarize, the horizontal adjustment method of the first clamping part 32 and the second clamping part 42 of the gripping mechanism of this embodiment is as follows: after the three belt adjustment components 5 of the gripping mechanism are connected to the corresponding belts 6 on the lifting mechanism, a spirit level is placed on the first clamping part 32 and the second clamping part 42, and the horizontal state of the two is detected by the spirit level to determine whether the levelness of the two meets the requirements. If not, the length of the corresponding belt 6 is adjusted by the corresponding belt adjustment component 5 to make the levelness of the two clamping parts meet the requirements.

[0044] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A grabbing mechanism connected to a belt on a lifting mechanism of an overhead crane, characterized in that: include: A mounting plate, a driving assembly, a first clamping assembly, a second clamping assembly and three belt adjustment assemblies. The driving assembly is arranged on the mounting plate to drive the first clamping assembly and the second clamping assembly connected thereto to move toward or away from each other. The belt adjustment assembly is installed on the mounting plate to be connected to the free end of the belt of the lifting mechanism, and the three belt adjustment assemblies are not in the same straight line.

2. The gripping mechanism according to claim 1, characterized in that: The belt adjustment assembly includes a base, a rotating shaft and an adjusting nut. The base is connected to the mounting plate. The base has a groove. The groove has a first side wall and a second side wall that are opposite to each other. The rotating shaft passes through the first side wall and the second side wall to connect the free end of the belt. One end of the rotating shaft is connected to the first side wall through a retaining spring, and the other end of the rotating shaft is connected to the second side wall through the adjusting nut.

3. The gripping mechanism according to claim 2, characterized in that: The belt adjustment assembly further comprises a pressing plate and a screw. There is a gap between the pressing plate and the rotating shaft for the belt to pass through. The screw is used to fasten the pressing plate and the belt to the rotating shaft.

4. The gripping mechanism according to claim 1, characterized in that: The driving assembly includes a driving motor, a first lead screw, a second lead screw, a first fixed seat, a second fixed seat and a plurality of slide rails; one end of the first lead screw is connected to the driving motor, and the other end is connected to the first fixed seat; One end of the second lead screw is connected to the driving motor, and the other end is connected to the second fixing seat; the first lead screw and the second lead screw are coaxially arranged, and a plurality of the slide rails are distributed on the mounting plate.

5. The gripping mechanism according to claim 4, characterized in that: The drive assembly further includes a first electric brake and a second electric brake, wherein the first electric brake is connected to an end of the first lead screw away from the drive motor, and the second electric brake is connected to an end of the second lead screw away from the drive motor.

6. The gripping mechanism according to claim 4, characterized in that: The first clamping assembly includes a first connecting plate and a first clamping portion connected thereto, the first connecting plate is connected to the first lead screw via a first lead screw nut, and the first connecting plate is also slidably connected to the slide rail.

7. The gripping mechanism according to claim 4, characterized in that: The second clamping assembly includes a second connecting plate and a second clamping portion connected thereto, the second connecting plate is connected to the second lead screw via a second lead screw nut, and the second connecting plate is also slidably connected to the slide rail.

8. The gripping mechanism according to claim 1, characterized in that: The grasping mechanism also includes a lifting detection component, which includes a fixed plate, a spring, a guide, a sensing rod, a first sensor and a second sensor. The fixed plate is installed under the mounting plate, and the guide is elastically connected to the bottom of the fixed plate through the spring. One end of the sensing rod is connected to the guide, and the other end passes through the fixed plate and the mounting plate in sequence to be located above the mounting plate. The first sensor and the second sensor are respectively fixed on the mounting plate, and the second sensor is located above the first sensor.

9. The gripping mechanism according to claim 8, characterized in that: The guide member is cone-shaped.

10. An overhead crane, characterized in that: It comprises a lifting mechanism and a grabbing mechanism as claimed in any one of claims 1 to 9, wherein the grabbing mechanism is connected to a belt on the lifting mechanism.

Images