Automatic wafer material collecting device

Abstract

The utility model discloses an automatic collecting device for wafer materials. The automatic collecting device comprises a stacking manipulator and at least two transfer trolleys. The stacking manipulator is used for stacking the wafer materials; the two transfer trolleys are arranged on the two horizontal sides of the stacking mechanical arm correspondingly, the transfer trolleys are provided with stacking cages, and the stacking cages are used for containing wafer materials. According to the automatic collecting device for the wafer materials, the at least two transfer trolleys are arranged on the two horizontal sides of the stacking manipulator respectively, so that after the stacking cage of one transfer trolley is full of the wafer materials, the stacking cage walks and retreats from the corresponding station; and other transfer trolleys, not filled with the wafer materials, of the stacking cages are driven into the corresponding stations, so that the wafer materials are received in an alternate mode, and the stacking manipulator is in a non-stop stacking state.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece collecting devices, in particular to an automatic collecting device for round pieces. Background Art

[0002] The existing cylindrical tank body with hemispherical ends can be used as a liquid storage tank or a gas storage tank, and the hemispherical structures at the two ends of the tank body are generally formed by stamping a round sheet.

[0003] On the production line of disc materials, in order to facilitate the storage of the produced disc materials, the disc materials are generally stacked, and then hoisted to the transportation mechanism after palletizing. During the hoisting, the palletizing robot is in standby mode, waiting for the stacked disc materials to be transferred to the transportation mechanism, and then continue to stack the disc materials on the conveyor belt to the palletizing station, so that the palletizing efficiency needs to be improved. Utility Model Content

[0004] The utility model aims to provide an automatic collection device for round sheet materials to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0005] The technical solutions adopted to solve the above technical problems are:

[0006] The automatic collecting device for round pieces comprises:

[0007] Palletizing robot, used for palletizing round sheets;

[0008] At least two transfer carts are respectively arranged on two horizontal sides of the stacking robot, and the transfer cart is provided with a stacking cage, which is used to accommodate the round sheet materials.

[0009] As a further improvement of the above technical solution, the stacking cage includes a plurality of vertical rods, which are arranged at intervals and enclose a cylindrical round sheet material accommodating area.

[0010] As a further improvement of the above technical solution, the stacking cage also includes a plurality of sliders, which are slidably connected to the transfer trolley, and each of the vertical rods is respectively installed on one of the sliders. The sliders can slide radially along the cylindrical round sheet material accommodating area to adjust the radial size of the cylindrical round sheet material accommodating area.

[0011] As a further improvement of the above technical solution, the transfer trolley is provided with a plurality of horizontal waist-shaped grooves, and each of the sliding blocks is slidably connected to one of the horizontal waist-shaped grooves.

[0012] As a further improvement of the above technical solution, the transfer trolley is provided with a plurality of guide rails, and the plurality of guide rails cooperate with the plurality of sliding blocks in a one-to-one correspondence.

[0013] As a further improvement of the above technical solution, the stacking robot is provided with a controller, a suction cup mechanism and a camera device. The suction cup mechanism is provided with a suction nozzle. The suction cup mechanism and the camera device are both connected to the controller. The camera device is used to identify whether the suction nozzle is located directly above the round sheet material to be stacked. The stacking robot sucks the round sheet material tightly through the suction cup mechanism.

[0014] As a further improvement of the above technical solution, the suction cup mechanism is provided with a plurality of suction nozzles.

[0015] As a further improvement of the above technical solution, the transfer trolley is provided with a plurality of stacking cages, and the plurality of stacking cages are distributed at intervals in the horizontal direction.

[0016] As a further improvement of the above technical solution, the automatic round piece collecting device also includes a conveyor, which is used to transport the round pieces to be stacked to the stacking robot.

[0017] As a further improvement of the above technical solution, two transfer carts are respectively located on two horizontally opposite sides of the conveyor, and the palletizing robot is located between the two transfer carts.

[0018] The beneficial effects of the utility model are:

[0019] The automatic collection device for round pieces provided by the utility model arranges at least two transfer carts on the horizontal sides of the stacking robot respectively, so that after the stacking cage of one of the transfer carts is full of round pieces, it moves and exits the corresponding workstation to allow other transfer carts whose stacking cages have not been filled with round pieces to enter the corresponding workstation, so as to realize the round pieces in a rotation manner, thereby keeping the stacking robot in a non-stop stacking state. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The utility model is further described below in conjunction with the accompanying drawings and embodiments;

[0021] Figure 1 It is a structural schematic diagram of the automatic round sheet material collecting device provided by the utility model;

[0022] Figure 2 for Figure 1 A partial enlarged view of point A of the automatic collecting device for round sheets.

[0023] In the figure: 100, stacking robot; 110, suction cup mechanism; 111, suction nozzle; 200, transfer trolley; 210, waist-shaped groove; 220, guide rail; 300, stacking cage; 310, vertical rod; 320, cylindrical round piece material accommodating area; 330, slider; 400, conveyor; 500, round piece material. DETAILED DESCRIPTION

[0024] This section will describe in detail the specific embodiments of the utility model. The preferred embodiments of the utility model are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the utility model, but it cannot be understood as a limitation on the protection scope of the utility model.

[0025] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are 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, 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 a limitation on the present invention.

[0026] In the description of the present utility model, if there are words such as "several", it means one or more, "more" means more than two, greater than, less than, exceed, etc. are understood to exclude the number, and above, below, within, etc. are understood to include the number.

[0027] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0028] See also Figure 1 and Figure 2 The automatic round sheet material collecting device provided by the utility model includes: a stacking robot 100 and at least two transfer carts 200.

[0029] The palletizing robot 100 is used for palletizing the round sheets 500, wherein the palletizing robot 100 preferably has the function of arbitrary rotation angle, that is, it has both the movement space freedom in the X direction and the rotation space freedom in the X direction, and both the movement space freedom in the Y direction and the rotation space freedom in the Y direction, and also has both the movement space freedom in the Z direction and the rotation space freedom in the Z direction, so that the palletizing robot 100 has a stronger obstacle avoidance function.

[0030] At least two transfer carts 200 are respectively arranged on both sides of the palletizing robot 100, so that the two transfer carts 200 do not interfere with each other or block each other when they operate independently. The transfer cart 200 is provided with a palletizing cage 300, which is used to accommodate the wafer material 500.

[0031] When working, the stacking robot 100 sucks or clamps the round sheets 500 piece by piece, and neatly stacks them on the stacking cage 300 of the transfer cart 200. When the stacking cage 300 of one of the transfer carts 200 is full of round sheets 500, the stacking cage 300 of the other transfer cart 200 (i.e., the other side of the stacking robot 100) will be stacked with round sheets 500. When the stacking cage 300 of one of the transfer carts 200 is full of round sheets 500, it moves and exits the corresponding workstation to allow the other transfer carts 200 whose stacking cages 300 have not been loaded with round sheets 500 to enter the corresponding workstation, so as to realize the rotation mode to receive the round sheets 500, so that the stacking robot 100 is in a non-stop stacking state. Among them, since it takes a certain amount of time for the stacking robot 100 to stack a stacking cage 300 to a full warehouse, when the stacking cage 300 of one of the transfer vehicles 200 is stacked with full round sheets 500, it moves and exits the corresponding station and can return to the corresponding station in time after unloading. Since it has the ability to walk automatically, its unloading method is more flexible, and it can walk to the station of the automatic unloading device that is convenient for unloading to unload.

[0032] The automatic collection device for round pieces provided by the utility model is implemented by arranging at least two transfer carts 200 on both horizontal sides of the stacking robot 100, so that after the stacking cage 300 of one of the transfer carts 200 is fully stacked with round pieces 500, it moves and exits the corresponding workstation to allow other transfer carts 200 whose stacking cages 300 have not yet been filled with round pieces 500 to enter the corresponding workstation, so as to realize the round pieces 500 in a rotation manner, thereby keeping the stacking robot 100 in a non-stop stacking state.

[0033] In other embodiments, in order to ensure that there are enough transfer carts 200 on standby, at least three, four, etc. transfer carts 200 may be provided to ensure that the palletizing robot 100 can achieve seamless docking and continue to complete the palletizing work.

[0034] In one embodiment, the stacking cage 300 includes a plurality of vertical rods 310, which are arranged at intervals and enclose a cylindrical round piece material receiving area 500. In this way, the gap between two adjacent vertical rods 310 in the circumferential direction of the stacking cage 300 can avoid the stacking robot 100, so that the stacking robot 100 can gently stack the round piece material 500 in the stacking cage 300 and release it to the round piece material 500 currently at the top, thereby realizing the gentle placement of the round piece material 500. In other embodiments, the stacking cage 300 is a circular sleeve structure. In other embodiments, the stacking cage 300 is a pit structure, in which case the unloading robot needs to have the function of adsorbing the round piece material 500 so as to be able to take the round piece material 500 out of the stacking cage 300.

[0035] In one embodiment, the stacking cage 300 further includes a plurality of sliders 330, which are slidably connected to the transfer trolley 200, and each vertical rod 310 is respectively mounted on one of the sliders 330, and the sliders 330 can slide along the radial direction of the cylindrical round sheet material receiving area 500 to adjust the radial size of the cylindrical round sheet material receiving area 500. In this way, by adjusting the position of the sliders 330, the radial space size of the receiving area enclosed by the plurality of sliders 330 can be changed, so as to be suitable for receiving and preventing round sheets 500 of different diameters.

[0036] Among them, the slider 330 and the vertical rod 310 can be integrally formed to achieve a fixed connection with each other; in other embodiments, the slider 330 and the vertical rod 310 can be fixed by welding; in other embodiments, one of the slider 330 and the vertical rod 310 is provided with a socket, and the other is provided with an insertion rod, and the insertion rod is inserted into the socket; in other embodiments, the slider 330 and the vertical rod 310 can be fixed by riveting; in other embodiments, the slider 330 and the vertical rod 310 can be fixed by bolts and nuts.

[0037] In one embodiment, in order to improve the installation stability and movement stability of the slider 330, preferably, the transfer trolley 200 is provided with a plurality of horizontal waist-shaped grooves 210, and each slider 330 is slidably connected to one of the horizontal waist-shaped grooves 210. In this way, the slider 330 is guided and prevented from overturning by the transfer trolley 200, thereby preventing the vertical rod 310 from overturning. In other embodiments, a guide groove may be provided on the slider 330, and then a guide rod may be provided on the surface of the transfer trolley 200, and the slider 330 may be guided by the cooperation of the guide rod and the guide groove.

[0038] In one embodiment, the transfer vehicle 200 is provided with a plurality of guide rails 220, and the plurality of guide rails 220 are matched with the plurality of sliders 330 in a one-to-one correspondence. Figure 2 It can be clearly seen that not all sliders 330 are equipped with guide rails 220, that is, only some sliders 330 are equipped with guide rails 220. Of course, in other embodiments, all guide rails 220 may be matched with all sliders 330 in a one-to-one correspondence. The sliders 330 are guided and prevented from overturning by the guide rails 220, thereby reducing the overturning torque pressure between the horizontal waist groove 210 of the transfer trolley 200 and the transfer trolley 200, so as to prevent the horizontal waist groove 210 from being damaged.

[0039] In one embodiment, the stacking robot 100 is provided with a controller, a suction cup mechanism 110 and a camera device. The suction cup mechanism 110 is provided with a suction nozzle 111. The suction cup mechanism 110 and the camera device are both connected to the controller. The camera device is used to identify whether the suction nozzle 111 is located directly above the round sheet material 500 to be stacked. The stacking robot 100 sucks the round sheet material 500 tightly through the suction cup mechanism 110. During operation, the controller controls the stacking robot 100 to move, and then the controller identifies whether the suction nozzle 111 is already located directly above the round sheet material 500 to be stacked through the camera device. If it is detected that the suction nozzle 111 is already located directly above the round sheet material 500 to be stacked, the controller controls the stacking robot 100 and the suction cup mechanism 110 to move, so that the suction nozzle 111 sucks the round sheet material 500 tightly, and then the controller controls the robot to operate the round sheet material 500 to the stacking cage 300 of the operating trolley, and then releases the round sheet material 500. The suction cup mechanism 110 realizes the adsorption of the round sheet material 500 through the negative pressure system configured by itself. The controller can be a single chip microcomputer or a computer and the like.

[0040] In one embodiment, the suction cup mechanism 110 is provided with a plurality of suction nozzles 111, and the plurality of suction nozzles 111 simultaneously suck the same round sheet material 500, thereby improving the suction stability of the round sheet material 500. Alternatively, the plurality of suction nozzles 111 can suck a plurality of round sheets 500 at the same time, and then release the round sheets 500 one by one.

[0041] In one embodiment, the transfer trolley 200 is provided with a plurality of stacking cages 300, which are distributed at intervals in the horizontal direction. This arrangement not only improves the carrying capacity of the operating trolley, but also the plurality of suction nozzles 111 can correspond to the plurality of stacking cages 300 of the transfer trolley 200, that is, the stacking robot 100 can complete the stacking of two or more round sheets 500 in one operation.

[0042] In other embodiments, the palletizing robot 100 is provided with an electromagnetic suction mechanism, which sucks the ferromagnetic round sheet 500, generates magnetism when the electromagnetic suction mechanism is powered on, and loses magnetism when the power is off to complete the suction and release of the round sheet 500. In other embodiments, the palletizing robot 100 is provided with a clamping claw, which clamps and releases the round sheet 500.

[0043] In one embodiment, in order to facilitate the palletizing robot 100 to repeat and simply operate along the loop track, the automatic round piece material collection device further includes a conveyor 400, which is used to transport the round pieces 500 to be palletized to the palletizing robot 100. In this way, the round pieces 500 are transported to the palletizing robot 100 through the conveyor 400, so that the palletizing robot 100 can grab the round pieces 500 nearby and complete the palletizing, thereby improving the palletizing efficiency.

[0044] In one embodiment, in order to avoid mutual interference between the two transfer carts 200 as much as possible, the two transfer carts 200 are respectively located on two horizontally opposite sides of the conveyor 400, and the palletizing robot 100 is located between the two transfer carts 200.

[0045] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. Automatic round sheet material collecting device, characterized in that: include: Palletizing robot, used for palletizing round sheets; At least two transfer carts are respectively arranged on two horizontal sides of the stacking robot, and the transfer cart is provided with a stacking cage, which is used to accommodate the round sheet materials.

2. The automatic round sheet collecting device according to claim 1, characterized in that: The stacking cage comprises a plurality of vertical rods, which are arranged at intervals and enclose a cylindrical round sheet material accommodating area.

3. The automatic round sheet collecting device according to claim 2, characterized in that: The stacking cage also includes a plurality of sliders, which are slidably connected to the transfer trolley, and each of the vertical rods is respectively installed on one of the sliders. The sliders can slide radially along the cylindrical round sheet material accommodating area to adjust the radial size of the cylindrical round sheet material accommodating area.

4. The automatic round sheet collecting device according to claim 3, characterized in that: The transfer trolley is provided with a plurality of horizontal waist-shaped grooves, and each of the sliding blocks is slidably connected to one of the horizontal waist-shaped grooves.

5. The automatic round sheet collecting device according to claim 4, characterized in that: The transfer trolley is provided with a plurality of guide rails, and the plurality of guide rails are matched with the plurality of sliding blocks in a one-to-one correspondence.

6. The automatic round sheet collecting device according to claim 1, characterized in that: The stacking robot is provided with a controller, a suction cup mechanism and a camera device. The suction cup mechanism is provided with a suction nozzle. Both the suction cup mechanism and the camera device are connected to the controller. The camera device is used to identify whether the suction nozzle is located directly above the round sheet material to be stacked. The stacking robot sucks the round sheet material tightly through the suction cup mechanism.

7. The automatic round sheet collecting device according to claim 6, characterized in that: The suction cup mechanism is provided with a plurality of suction nozzles.

8. The automatic round sheet collecting device according to claim 7, characterized in that: The transfer trolley is provided with a plurality of stacking cages, and the plurality of stacking cages are distributed at intervals along the horizontal direction.

9. The automatic round sheet collecting device according to claim 1, characterized in that: The automatic round piece material collecting device also includes a conveyor, which is used to transport the round pieces to be stacked to the stacking robot.

10. The automatic round sheet collecting device according to claim 9, characterized in that: The two transfer carts are respectively located on two horizontally opposite sides of the conveyor, and the stacking robot is located between the two transfer carts.

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