Heavy-load transfer robot

Abstract

A heavy load transfer robot comprises a self-walking device; the fixed shell is connected with the self-walking device, and a control system is arranged in the fixed shell; the X-axis moving device is fixed on the fixed shell body; the Z-axis moving device is connected with the moving end of the X-axis moving device; the first Y-axis moving device is connected with the moving end of the Z-axis moving device; the second Y-axis moving device is connected with the moving end of the Z-axis moving device; the first clamping arm is connected with the moving end of the first Y-axis moving device; according to the structure, the flexibility of the whole mechanism is guaranteed by arranging the self-walking device, meanwhile, the positioning camera is arranged, the position of the wafer box can be accurately positioned, the whole carrying process is automatic, and labor is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to a heavy-load transport robot. Background Art

[0002] The production of wafers requires multiple processes, so during production it is often necessary to move boxes of wafers from one location to another. Due to the heavy overall mass of the wafer box, the current handling device has a complex structure and a low degree of automation. It can only move at fixed points, has poor practicality, and has inaccurate positioning, which affects the handling efficiency of the wafer box. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a heavy-load handling robot. The purpose of the utility model is achieved through the following technical solutions: a heavy-load handling robot, comprising: a self-propelled device; a fixed shell, the fixed shell is connected to the self-propelled device, and a control system is arranged in the fixed shell; an X-axis moving device, the X-axis moving device is fixed on the fixed shell; a Z-axis moving device, the Z-axis moving device is connected to the moving end of the X-axis moving device; a first Y-axis moving device, the first Y-axis moving device is connected to the moving end of the Z-axis moving device; a second Y-axis moving device, the second Y-axis moving device is connected to the moving end of the Z-axis moving device; a first clamping arm, the first clamping arm is connected to the moving end of the first Y-axis moving device; a second clamping arm, the second clamping arm is connected to the moving end of the second Y-axis moving device; a positioning camera, the positioning camera is fixed on the fixed shell and connected to the camera positioning moving device.

[0004] Furthermore, the X-axis moving device and the Z-axis moving device are both linear modules driven by screw rods; the first Y-axis moving device and the second Y-axis moving device are linear modules driven by screw rods that are relatively arranged.

[0005] Furthermore, the first clamping arm and the second clamping arm each include a first fixing plate and a second fixing plate, and the second fixing plate is connected to the clamping plate.

[0006] Furthermore, the camera positioning moving device includes a third Y-axis moving device, a moving end of the third Y-axis moving device is connected to a moving plate, and a positioning camera is provided on the moving plate.

[0007] Furthermore, the self-propelled device can control the rotation of the fixed shell.

[0008] Furthermore, the positioning camera scans the positioning QR code on one side of the object to be transported.

[0009] Compared with the prior art, the utility model has the following beneficial effects:

[0010] The utility model ensures the flexibility of the overall mechanism by arranging a self-propelled device, and at the same time arranging a positioning camera to accurately locate the position of the wafer box, so that the entire transportation process is automated, labor is saved, and transportation efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the structure of the utility model;

[0012] Figure 2 This is a schematic diagram of the structure of the Z-axis moving device of the utility model;

[0013] Figure 3 This is a schematic diagram of the structure of the positioning camera of the utility model;

[0014] Figure 4 It is a schematic structural diagram of the first clamping arm and the second clamping arm of the utility model. DETAILED DESCRIPTION

[0015] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0016] like Figure 1-4 As shown, a heavy-load handling robot comprises: a self-propelled device 100; a fixed housing 200, the fixed housing 200 is connected to the self-propelled device 100, and a control system is arranged in the fixed housing 200; an X-axis moving device 300, the X-axis moving device 300 is fixed on the fixed housing 200; a Z-axis moving device 400, the Z-axis moving device 400 is connected to the moving end of the X-axis moving device 300; a first Y-axis moving device 500, the first Y-axis moving device 500 is connected to the Z-axis moving device 40 0; a second Y-axis moving device 600, the second Y-axis moving device 600 is connected to the moving end of the Z-axis moving device 400; a first clamping arm 700, the first clamping arm 700 is connected to the moving end of the first Y-axis moving device 500; a second clamping arm 800, the second clamping arm 800 is connected to the moving end of the second Y-axis moving device 500; a positioning camera 900, the positioning camera 900 is fixed on the fixed shell 200 and is connected to the camera positioning moving device 910.

[0017] The X-axis moving device 300 and the Z-axis moving device 400 are both linear modules driven by screw rods; the first Y-axis moving device 500 and the second Y-axis moving device 600 are linear modules driven by relatively arranged screw rods, and the camera positioning moving device 910 includes a third Y-axis moving device 911, and the moving end of the third Y-axis moving device 911 is connected to a moving plate 912, and a positioning camera 900 is provided on the moving plate 912.

[0018] It should be noted that the X-axis moving device 300, the Z-axis moving device 400, the first Y-axis moving device 500, the second Y-axis moving device 600, and the third Y-axis moving device 911 are not limited to the form of a screw linear module. As long as it is a module that can achieve linear movement, it should be within the protection scope of the present utility model.

[0019] The first clamping arm 700 and the second clamping arm 800 each include a first fixing plate 701 and a second fixing plate 702, and the second fixing plate 702 is connected to a clamping plate 703. The self-propelled device 100 can control the rotation of the fixed housing 200. The positioning camera 900 scans the positioning QR code on one side of the object to be transported.

[0020] When the utility model is working, the self-propelled device 100 moves to the wafer box adjacent, and then the third Y-axis moving device 911 drives the moving plate 912 to extend, so that the positioning camera 900 scans the positioning QR code on the side of the item to be transported, and the control system determines the position of the wafer box, thereby controlling the self-propelled device 100 to control the fixed shell 200 to rotate to the position facing the wafer box, and then the control system controls the X-axis moving device 300, the Z-axis moving device 400, the first Y-axis moving device 500, and the second Y-axis moving device 600 to move the first clamping arm 700 and the second clamping arm 800 to the lower side of the wafer box, so that the clamping plate 703 moves to the lower side of the wafer box, and then the Z-axis moving device 400 starts to drive the first clamping arm 700 and the second clamping arm 800 to rise, clamp the wafer box and transport it to other positions.

[0021] It needs to be further explained that the self-propelled device of the present device is a prior art and will not be described in detail here. A rotating motor can be arranged in the self-propelled device 100, and the rotating end of the rotating motor is connected to the fixed shell 200, thereby driving the fixed shell 200 to rotate.

[0022] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make some modifications and improvements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the definition of the claims.

Claims

1. A heavy-load handling robot, characterized in that: include: A self-propelled device (100); A fixed housing (200), the fixed housing (200) being connected to the self-propelled device (100), and a control system being arranged in the fixed housing (200); An X-axis moving device (300), wherein the X-axis moving device (300) is fixed on the fixed housing (200); A Z-axis moving device (400), wherein the Z-axis moving device (400) is connected to a moving end of the X-axis moving device (300); A first Y-axis moving device (500), the first Y-axis moving device (500) being connected to a moving end of the Z-axis moving device (400); A second Y-axis moving device (600), the second Y-axis moving device (600) being connected to a moving end of the Z-axis moving device (400); A first clamping arm (700), the first clamping arm (700) being connected to a moving end of the first Y-axis moving device (500); A second clamping arm (800), the second clamping arm (800) being connected to a moving end of the second Y-axis moving device (600); A positioning camera (900) is fixed on the fixed housing (200) and connected to a camera positioning moving device (910).

2. The heavy-load handling robot according to claim 1, characterized in that: The X-axis moving device (300) and the Z-axis moving device (400) are both linear modules driven by a screw rod; The first Y-axis moving device (500) and the second Y-axis moving device (600) are linear modules driven by relatively arranged lead screws.

3. The heavy-load handling robot according to claim 2, characterized in that: The first clamping arm (700) and the second clamping arm (800) both include a first fixing plate (701) and a second fixing plate (702), and the second fixing plate (702) is connected to the clamping plate (703).

4. The heavy-load handling robot according to claim 3, characterized in that: The camera positioning moving device (910) comprises a third Y-axis moving device (911), a moving end of the third Y-axis moving device (911) is connected to a moving plate (912), and a positioning camera (900) is provided on the moving plate (912).

5. The heavy-load handling robot according to claim 4, characterized in that: The self-propelled device (100) can control the fixed housing (200) to rotate.

6. The heavy-load handling robot according to claim 4, characterized in that: The positioning camera (900) scans the positioning QR code on one side of the object to be transported.

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