Material box carrying robot

Abstract

The utility model relates to a material box carrying robot which comprises a transport vehicle, a mechanical arm, a material box clamp, a material box storage bin and a material box lifting mechanism. The transport vehicle can move to reach a needed station, the material box storage bin is used for storing material boxes, the material box lifting mechanism can transport the material boxes to the position above the material box storage bin or store the material boxes into the material box storage bin, and the mechanical arm drives the material box clamp to clamp and move the material boxes to the corresponding stations. The material box carrying robot can adapt to conveying of material boxes between different stations, multiple material boxes can be conveyed at the same time through the material box storage bin, and the conveying efficiency is improved.

Description

Technical Field

[0001] This application belongs to the technical field of transportation machinery, and particularly relates to a cartridge handling robot. Background Art

[0002] A transfer robot is an automated product that uses the movement trajectory of a robot to replace manual handling. In the semiconductor production field, between different workstations, if there is no conveyor table set up for transmission, a transfer robot is needed to handle the transportation.

[0003] Chinese Utility Model Patent CN217345517U discloses a transfer robot for handling cartridges, including a transport vehicle that can move, a multi-degree-of-freedom robotic arm arranged on the transport vehicle, and a cartridge gripper for gripping the cartridge. However, this transport vehicle can only transport one cartridge corresponding to one cartridge gripper at a time, resulting in low transport efficiency. Summary of the Invention

[0004] The technical problem to be solved by this utility model is: to solve the deficiencies of the prior art, and thus provide a cartridge handling robot that can adapt to the transmission of cartridges between different workstations, transport multiple cartridges simultaneously, protect the cartridges, and improve the transport efficiency.

[0005] The technical solution adopted by this utility model to solve its technical problems is:

[0006] A cartridge handling robot, comprising:

[0007] A transport vehicle that can move;

[0008] A robotic arm arranged on the transport vehicle;

[0009] A cartridge fixture arranged on the robotic arm for gripping the cartridge;

[0010] A cartridge storage bin arranged on the transport vehicle for storing cartridges; the cartridge storage bin includes a top plate and side plates, and the top is open;

[0011] A cartridge lifting mechanism arranged in the cartridge storage bin for lifting the cartridge to the top of the cartridge storage bin or lowering the cartridge into the cartridge storage bin.

[0012] Preferably, for the cartridge handling robot of this utility model, a step is formed on the top of the transport vehicle, the cartridge storage bin is at the low platform, and the robotic arm is arranged at the high platform.

[0013] Preferably, for the cartridge handling robot of this utility model, a plurality of the cartridge lifting mechanisms are arranged side by side, and at least one cartridge is placed on each cartridge lifting mechanism.

[0014] Preferably, for the cartridge handling robot of the present utility model, the cartridge lifting mechanism is a scissor lift table.

[0015] Preferably, for the cartridge handling robot of the present utility model,

[0016] The cartridge lifting mechanism includes:

[0017] A bottom mounting plate, which is arranged on the bottom plate of the cartridge storage bin;

[0018] A top plate, which is used to place the cartridge;

[0019] Lifting slide rails, which are arranged on the top of the bottom mounting plate and the bottom of the top plate;

[0020] Lifting sliders, which are arranged on the lifting slide rails;

[0021] A lifting driving member, which is arranged on the bottom mounting plate and is used to drive the lifting slider located on the bottom mounting plate to move on the lifting slide rail;

[0022] Scissor arms, which can rise or fall in height when the lifting sliders move on the lifting slide rails;

[0023] The top plate is arranged on the scissor arms.

[0024] Preferably, for the cartridge handling robot of the present utility model,

[0025] The cartridge clamp includes:

[0026] A mounting plate, on which a vertical plate is arranged;

[0027] A first driving member, which is arranged on the mounting plate;

[0028] A telescopic plate, which can extend or retract under the drive of the first driving member. The telescopic plate has a vertical plate. When the telescopic plate retracts under the drive of the first driving member, it is used to fix the top of the cartridge between the vertical plate and the vertical board;

[0029] A second driving member, which is arranged on the mounting plate;

[0030] There are two stoppers. The stoppers are connected to the second driving member through a link mechanism. The second driving member can drive the stoppers to have a first state and a second state. When the stoppers are in the first state, the two stoppers can respectively reach the bottoms of both sides of the cartridge and support the cartridge. When the stoppers are in the second state, the two stoppers are respectively separated from the contact with the cartridge.

[0031] Preferably, for the cartridge handling robot of the present utility model, the second driving member is installed on the bottom plate, and the bottom plate is installed on the mounting plate. The linkage mechanism includes a sliding block, a first connecting rod and a second connecting rod. The two ends of the first connecting rod are respectively rotatably connected to the sliding block and the middle position of the second connecting rod. One end of the second connecting rod is rotatably connected to the bottom plate, and the other end of the second connecting rod is connected to the stopper. When the sliding block moves under the action of the second driving member, the stopper is driven to change between the first state and the second state through the first connecting rod and the second connecting rod.

[0032] Preferably, for the cartridge handling robot of the present utility model, the stopper has a first surface, a second surface and a third surface that are perpendicular to each other. The third surface is used to cooperate with the bottom of the cartridge, and the first surface and the second surface are respectively used to cooperate with the two vertical surfaces of the cartridge.

[0033] Preferably, for the cartridge handling robot of the present utility model, a first flexible pad is provided on the surface of the vertical plate opposite to the vertical plate of the telescopic plate, and a second flexible pad is provided on the surface of the vertical plate opposite to the vertical plate.

[0034] Preferably, for the cartridge handling robot of the present utility model, a lower housing covering the second driving member and the linkage mechanism is provided on the bottom plate, and an opening for the second connecting rod to extend and move is provided on the lower housing.

[0035] The beneficial effects of the present utility model are as follows:

[0036] For the cartridge handling robot of the present application, the transport vehicle can move to reach the required workstations. The cartridge storage bin is used to store cartridges, and the cartridge lifting mechanism can transport the cartridges above the cartridge storage bin or store them in the cartridge storage bin. The robotic arm drives the cartridge clamp to clamp and move the cartridge to the corresponding workstations. The cartridge handling robot of the present application can adapt to the transfer of cartridges between different workstations, and can transport multiple cartridges simultaneously through the cartridge storage bin, improving the transport efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The technical solutions of the present application will be further described below with reference to the drawings and embodiments.

[0038] Figure 1 is a schematic structural diagram of the cartridge handling robot according to the embodiment of the present application;

[0039] Figure 2 is a schematic structural diagram of the cartridge lifting mechanism according to the embodiment of the present application;

[0040] Figure 3 is a schematic structural diagram of the cartridge clamp;

[0041] Figure 4 is a schematic structural diagram of the cartridge clamp in the embodiment of the present application with the upper housing hidden;

[0042] Figure 5 It is a schematic structural diagram of the lower housing hidden in the cartridge fixture of the embodiment of the present application;

[0043] Figure 6 It is a schematic structural diagram of the stopper in the cartridge fixture of the embodiment of the present application;

[0044] The reference numerals in the figure are:

[0045] 1 Transport vehicle;

[0046] 2 Robot arm;

[0047] 3 Cartridge fixture;

[0048] 4 Cartridge storage bin;

[0049] 5 Cartridge;

[0050] 32 First driving member;

[0051] 33 Telescopic plate;

[0052] 34 Second driving member;

[0053] 35 Stopper;

[0054] 37 Barcode scanner;

[0055] 61 Bottom mounting plate;

[0056] 62 Top plate;

[0057] 63 Lifting slide rail;

[0058] 64 Lifting slider;

[0059] 65 Scissor arm;

[0060] 66 Lifting driving member;

[0061] 310 Mounting plate;

[0062] 311 Mounting interface;

[0063] 312 Vertical plate;

[0064] 313 Bottom plate;

[0065] 332 Vertical plate;

[0066] 351 First surface;

[0067] 352 Second surface;

[0068] 353 Third surface;

[0069] 361 Sliding block;

[0070] 362 The first connecting rod;

[0071] 363 The second connecting rod;

[0072] 381 The upper housing;

[0073] 382 The lower housing;

[0074] 3121 The first flexible pad;

[0075] 3321 The second flexible pad. Detailed implementation manners

[0076] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other.

[0077] In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application 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 protection scope of this application. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0078] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "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 communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0079] The technical solutions of this application will be described in detail below with reference to the drawings and in combination with the embodiments. Embodiment

[0080] This embodiment provides a cartridge handling robot, as Figure 1 shown, including:

[0081] Transport vehicle 1, which is capable of moving, has a battery, a motor and wheels, and is capable of moving along a set route or moving autonomously (AGV transport vehicle);

[0082] Robotic arm 2, which is arranged on the transport vehicle 1;

[0083] Cartridge clamp 3, which is arranged on the robotic arm 2 and is used for clamping the cartridge 5;

[0084] Cartridge storage bin 4, which is arranged on the transport vehicle 1 and is used for storing the cartridge 5; the cartridge storage bin 4 includes a top plate and side plates, and the top is open;

[0085] Cartridge lifting mechanism, which is arranged in the cartridge storage bin 4 and is used for lifting the cartridge 5 to the top of the cartridge storage bin 4 or lowering the cartridge 5 into the cartridge storage bin 4.

[0086] For the cartridge handling robot of this embodiment, the transport vehicle 1 can move to the required workstations. The cartridge storage bin 4 is used for storing cartridges, and the cartridge lifting mechanism can transport the cartridges above the cartridge storage bin 4 or store them in the cartridge storage bin 4. The robotic arm 2 drives the cartridge clamp 3 to clamp and move the cartridges to the corresponding workstations. The cartridge handling robot of the present application can adapt to the transmission of cartridges between different workstations, and can transport multiple cartridges simultaneously through the cartridge storage bin 4, improving the transport efficiency.

[0087] Further, a step is formed on the top of the transport vehicle 1, the cartridge storage bin 4 is at the low platform, and the robotic arm 2 is arranged at the high platform.

[0088] Further, a plurality of the cartridge lifting mechanisms are arranged side by side, and at least one cartridge 5 is placed on each of the cartridge lifting mechanisms. Figure 1 There are two in the middle.

[0089] Further, the cartridge lifting mechanism (is a scissor lift table), as Figure 2 shown, includes:

[0090] Bottom mounting plate 61, which is arranged on the bottom plate of the cartridge storage bin 4;

[0091] Top plate 62, which is used for placing the cartridge 5;

[0092] Lifting slide rail 63, which is arranged on the top of the bottom mounting plate 61 and the bottom of the top plate 62;

[0093] Lifting slider 64, which is arranged on the lifting slide rail 63;

[0094] Lifting drive member 66, which is arranged on the bottom mounting plate 61 and is used for driving the lifting slider 64 located on the bottom mounting plate 61 to move on the lifting slide rail 63;

[0095] The scissors arm 65 can be raised or lowered when the lifting slider 64 moves on the lifting slide rail 63;

[0096] The top plate 62 is arranged on the scissors arm 65.

[0097] Further, the cartridge fixture 3, as Figure 3 , 4 and shown in 5, includes:

[0098] A mounting plate 310, on which a vertical plate 312 is arranged;

[0099] A first driving member 32 is arranged on the mounting plate 310;

[0100] A telescopic plate 33 is driven by the first driving member 32 to be able to extend or retract (arranged on the slider, and the slider is actuated by the first driving member 32). The telescopic plate 33 has a vertical plate 332. When the telescopic plate 33 is driven by the first driving member 32 to retract, it is used to fix the top of the cartridge between the vertical plate 332 and the vertical plate 312;

[0101] A second driving member 34 is arranged on the mounting plate 310;

[0102] There are two stoppers 35. The stoppers 35 are connected to the second driving member 34 through a linkage mechanism. The second driving member 34 can drive the stoppers 35 to move and have a first state and a second state. When the stoppers 35 are in the first state, the two stoppers 35 can respectively reach the bottoms on both sides of the cartridge and support the cartridge. When the stoppers 35 are in the second state, the two stoppers 35 are respectively disengaged from the contact with the cartridge.

[0103] When the cartridge fixture is in use, first fix the cartridge through the telescopic plate 33. After the cartridge is lifted, the stoppers 35 change to the first state to form a bottom support for the cartridge to prevent the cartridge from falling. When the manipulator grabs the cartridge to the position where it needs to be placed, the stoppers 35 change to the second state and disengage from the contact with the cartridge. Then, the cartridge is placed on the platform, and the telescopic plate 33 releases the fixation of the cartridge, realizing the handling of the cartridge. The cartridge fixture of this embodiment has stable clamping, can adapt to the long-distance transportation of the cartridge, and the cartridge can be tilted and flipped without falling.

[0104] Further, the second driving member 34 is installed on the bottom plate 313, and the bottom plate 313 is installed on the mounting plate 310. The linkage mechanism includes a sliding block 361, a first connecting rod 362, and a second connecting rod 363. Both ends of the first connecting rod 362 are rotatably connected to the middle positions of the sliding block 361 and the second connecting rod 363 respectively. One end of the second connecting rod 363 is rotatably connected to the bottom plate 313, and the other end of the second connecting rod 363 is connected to the stopper 35. When the sliding block 361 moves under the action of the second driving member 34, the stopper 35 is driven to transform between the first state and the second state through the first connecting rod 362 and the second connecting rod 363.

[0105] Further, as Figure 6 shown, the stopper 35 has a first surface 351, a second surface 352, and a third surface 353 that are perpendicular to each other. The third surface 353 is used to cooperate with the bottom of the cartridge, and the first surface 351 and the second surface 352 are respectively used to cooperate with the two vertical surfaces of the cartridge. The vertical surfaces of the cartridge should be understood as virtual planes, which means that when the stopper 35 is in the first state, the first surface 351 and the second surface 352 can be closely attached to the cartridge on the two vertical surfaces, rather than saying that there are physical plate surfaces in the two vertical directions of the cartridge.

[0106] Further, the third surface 353 is a quarter - circle sector.

[0107] Further, a barcode scanner 37 is also provided on the mounting plate 310 for scanning barcodes on the cartridge or the cartridge rack.

[0108] Further, on the surface of the vertical plate 312 opposite to the vertical plate 332 of the telescopic plate 33, there is a first flexible pad 3121, and on the surface of the vertical plate 332 opposite to the vertical plate 312, there is a second flexible pad 3321. The setting of the flexible pads can increase the friction force and prevent scratching the surface of the cartridge at the same time.

[0109] Further, the first driving member 32 and the second driving member 34 are servo motors.

[0110] Further, a mounting interface 311 is also provided on the mounting plate 310 to facilitate connection with the robotic arm.

[0111] Further, an upper housing 381 covering the first driving member 32 is provided on the mounting plate 310, and the upper housing 381 has an opening for the light of the barcode scanner 37 to pass through.

[0112] Further, a lower housing 382 covering the second driving member 34 and the linkage mechanism is provided on the bottom plate 313, and the lower housing 382 is provided with an opening for the second connecting rod 363 to extend and move.

[0113] The first driving member 32 and the second driving member 34 are motors, and are connected to the power supply of the transport vehicle 1 through electric wires.

[0114] Enlightened by the ideal embodiments of the present application described above, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this application. The technical scope of this application is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A material box handling robot, characterized in that: include: A transport vehicle (1), capable of moving; A mechanical arm (2) is arranged on the transport vehicle (1); A material box clamp (3), arranged on the mechanical arm (2) and used for clamping the material box (5); A material box storage bin (4) is arranged on the transport vehicle (1) and is used to store material boxes (5); the material box storage bin (4) comprises a top plate and side plates, and the top is an opening; The material box lifting mechanism is arranged in the material box storage bin (4) and is used to lift the material box (5) to the top of the material box storage bin (4) or to lower the material box (5) into the material box storage bin (4).

2. The material box handling robot according to claim 1, characterized in that: A step is formed on the top of the transport vehicle (1), the material box storage bin (4) is located at a low platform, and the mechanical arm (2) is located at a high platform.

3. The material box handling robot according to claim 1, characterized in that: The material box lifting mechanisms are multiple and arranged side by side, and at least one material box (5) is placed on each of the material box lifting mechanisms.

4. The material box handling robot according to claim 1, characterized in that: The material box lifting mechanism is a scissor-type lifting platform.

5. The material box handling robot according to claim 4, characterized in that: The material box lifting mechanism comprises: A bottom mounting plate (61) is arranged on the bottom plate of the material box storage bin (4); A top plate (62) for placing the material box (5); A lifting slide rail (63) is arranged on the top of the bottom mounting plate (61) and the bottom of the top plate (62); A lifting slide block (64) is arranged on the lifting slide rail (63); A lifting drive member (66) is arranged on the bottom mounting plate (61) and is used to drive a lifting slider (64) located on the bottom mounting plate (61) to move on the lifting slide rail (63); A scissor arm (65) capable of raising or lowering the height when the lifting slider (64) moves on the lifting rail (63); The top plate (62) is arranged on the scissor arm (65).

6. The material box handling robot according to claim 1, characterized in that: The material box fixture (3) comprises: A mounting plate (310), wherein a vertical plate (312) is disposed on the mounting plate (310); A first driving member (32) is disposed on the mounting plate (310); The telescopic plate (33) is driven by the first driving member (32) to extend or retract, and the telescopic plate (33) has a vertical plate (332). When the telescopic plate (33) is driven by the first driving member (32) to retract, it is used to fix the top of the material box between the vertical plate (332) and the vertical plate (312); A second driving member (34) is disposed on the mounting plate (310); There are two blocks (35), and the blocks (35) are connected to the second driving member (34) through a connecting rod mechanism. The second driving member (34) can drive the blocks (35) to move and have a first state and a second state. When the blocks (35) are in the first state, the two blocks (35) can respectively reach the bottom of both sides of the material box and support the material box. When the blocks (35) are in the second state, the two blocks (35) are respectively out of contact with the material box.

7. The material box handling robot according to claim 6, characterized in that: The second driving member (34) is mounted on a base plate (313), and the base plate (313) is mounted on a mounting plate (310). The connecting rod mechanism comprises a sliding block (361), a first connecting rod (362) and a second connecting rod (363). The two ends of the first connecting rod (362) are rotatably connected to the middle position of the sliding block (361) and the second connecting rod (363), respectively. One end of the second connecting rod (363) is rotatably connected to the base plate (313), and the other end of the second connecting rod (363) is connected to the stopper (35). When the sliding block (361) is moved by the second driving member (34), the stopper (35) is driven by the first connecting rod (362) and the second connecting rod (363) to change between the first state and the second state.

8. The material box handling robot according to claim 6, characterized in that: The stopper (35) has a first surface (351), a second surface (352) and a third surface (353) which are perpendicular to each other; the third surface (353) is used to cooperate with the bottom of the material box; and the first surface (351) and the second surface (352) are used to cooperate with two vertical surfaces of the material box respectively.

9. The material box handling robot according to claim 6, characterized in that: The vertical plate (312) has a first flexible pad (3121) on a surface opposite to the vertical plate (332) of the telescopic plate (33), and the vertical plate (332) has a second flexible pad (3321) on a surface opposite to the vertical plate (312).

10. The material box handling robot according to claim 7, characterized in that: A lower housing (382) covering the second driving member (34) and the connecting rod mechanism is disposed on the bottom plate (313), and an opening for the second connecting rod (363) to extend and move is disposed on the lower housing (382).

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