Flexible clamping stacker crane

Abstract

The utility model discloses a flexible clamping stacker crane which comprises an equipment frame, a flexible clamping mechanism and a three-axis mechanical arm, the three-axis mechanical arm is arranged on the top of the equipment frame, and the moving end of the three-axis mechanical arm is fixedly connected with the flexible clamping mechanism through a flange. The flexible clamping mechanism comprises a positioning plate, a suspension mechanical arm, a two-way clamping air cylinder, a limiting protruding block, a sliding plate, a buffering plate, a spring, an adjusting plate and an elastic clamping plate, the outward opening stroke of the two-way clamping air cylinder is absorbed through the spring, and the opening force of the two-way clamping air cylinder cannot be directly conducted into a tool box containing groove; therefore, the tool box is prevented from being damaged in the using process. By controlling an air cylinder in the suspension mechanical arm to stretch out, push plates on the two sides of the chips drive plane baffles to contract inwards, and therefore the chips which are staggered in the stacked state are leveled; and after the air cylinder completely extends out, the telescopic end of the air cylinder forces the U-shaped restraint frame to be folded inwards, so that a cross beam at the bottom of the U-shaped restraint frame is sleeved into the bottoms of the chips in a stacked state to prevent falling.

Description

Technical Field

[0001] The utility model relates to the technical field of semiconductor chip processing supporting equipment, in particular to a flexible clamping and stacking machine. Background Art

[0002] The chip is a thin sheet that is very weak and fragile as a whole. During the chip processing and transportation process, the stacked chips need to be placed in a tooling box for transfer. To prevent the chips from shaking in the tooling box, the tooling box also has multiple placement slots of the same size as the chips. The existing clamps can only control the force of clamping the chips, but cannot control the force of loosening the clamps. In the process of placing the stacked chips in the tooling box and loosening them, the force of loosening the clamps will cause damage to the placement slots in the tooling box, which will cause the tooling box to crack after continuous use. In addition, the existing clamps are rigid clamps, which can easily cause chip damage due to vibration during movement. The stacked chips may also be dislocated due to vibration during movement. Therefore, a flexible clamping and stacking machine is designed to solve the above problems. Utility Model Content

[0003] In view of the insufficiency of existing chip processing supporting equipment, the purpose of this utility model is to provide a flexible clamping palletizer, which has the advantages of flexible clamping to prevent damage to the tooling box, prevent it from falling off after clamping, and prevent the dislocation of stacked chips.

[0004] In order to achieve the above-mentioned purpose, a technical solution adopted by the present invention is: a flexible clamping palletizer, including an equipment frame, a flexible clamping mechanism and a three-axis robotic arm, a three-axis robotic arm is provided on the top of the equipment frame, and the moving end of the three-axis robotic arm is fixedly connected to the flexible clamping mechanism through a flange, and the flexible clamping mechanism includes a positioning plate, a suspension robotic arm, a two-way clamping cylinder, a limit bump, a sliding plate, a buffer plate, a spring, an adjustment plate and an elastic clamping plate, the upper end surface of the positioning plate is fixedly connected to the flange of the moving end of the three-axis robotic arm, a two-way clamping cylinder is provided in the middle of the lower end surface of the positioning plate, and openings for installing the suspension robotic arm are provided on both sides of the positioning plate, and the movable ends on both sides of the two-way clamping cylinder are fixedly connected The cam is fixed to the upper end of the two sliding plates, and the cam is fixed to the lower end of the two sliding plates with a limit switch, and the cam is pressed against the upper end of the two sliding plates to release the limit switch.

[0005] Preferably, the end surface of the adjustment plate has a waist-shaped hole, and the waist-shaped hole is used to change the fixed position of the adjustment plate and the buffer plate; in order to adapt to the size of the clamped chip, by changing the fixed position of the adjustment plate and the buffer plate, the distance between the elastic clamping plates on both sides is changed to adapt to the chip size;

[0006] The cam is fixed on the top of the U-shaped plate and is fixed on the bottom of the U-shaped plate, so that the cam can slide smoothly and smoothly. When the pin is pushed down, the U-shaped plate is pushed out of the way and the pin is moved back and forth, thereby preventing the pins from falling out of the stack.

[0007] Further preferably, the suspension robot arm further comprises a tension spring arranged between the U-shaped constraint frame and the flat baffle, the tension spring being used to force the U-shaped constraint frame to be in an outwardly expanded state, and a spring forcing the push plate to move outward is further provided between the push plate and the mounting plate; when the cylinder retracts, the spring between the push plate and the mounting plate forces the push plate to move outward, and the tension spring forces the U-shaped constraint frame to be in an outwardly expanded state;

[0008] Preferably, the three-axis robotic arm includes a transverse arm, a vertical arm and a right-angle connecting frame, the transverse arm is slidably connected to the top of the equipment frame through a slide rail, the base of the right-angle connecting frame is slidably connected to the top of the transverse arm through a slide rail, the sliding direction of the right-angle connecting frame is perpendicular to the sliding direction of the transverse arm, the side plate of the right-angle connecting frame is slidably connected to the vertical arm through a slide rail, the sliding direction of the vertical arm is vertically perpendicular to the transverse arm, and the bottom of the vertical arm has a flange;

[0009] Further preferably, the three-axis robotic arm further includes a transverse drive motor, a longitudinal drive motor and a vertical drive motor, the transverse drive motor being arranged on one side of the transverse arm, and the transverse drive motor driving the transverse arm to slide along the top of the equipment frame through a gear and a rack, the longitudinal drive motor being arranged on the end surface of the base of the right-angle connecting frame, and the longitudinal drive motor driving the right-angle connecting frame to slide along the transverse arm through a gear and a rack, the vertical drive motor being arranged on the end surface of the side plate of the right-angle connecting frame, and the vertical drive motor driving the vertical arm to slide perpendicular to the transverse arm through a gear and a rack;

[0010] Preferably, the flexible clamping palletizer further comprises a transfer assembly, which is movably arranged on the top of the equipment frame by a three-axis robotic arm, and is used to clamp the tooling box for transfer;

[0011] Preferably, the flexible clamping palletizer further has a flipping mechanism, which is arranged on one side of the equipment frame and is used to flip the flat stacked chips into a vertical stacking state;

[0012] Preferably, the flexible clamping palletizer further comprises a stacking detection mechanism, which is vertically arranged on one side of the flipping mechanism and is used to flatten and stack the chips that have passed the inspection;

[0013] The beneficial effects of the present invention are: 1. The spring absorbs the outward opening stroke of the two-way clamping cylinder, so that the opening force of the two-way clamping cylinder will not be directly transmitted to the tooling box placement slot, thereby preventing the tooling box from being damaged during use; 2. By controlling the extension of the cylinder in the suspended robotic arm, the push plates on both sides of the chip drive the flat baffles to retract inward, thereby leveling the chips that are misaligned in the stacked state; 3. When the cylinder in the suspended robotic arm is fully extended, the telescopic end of the cylinder rests on the driving block at the open end of the U-shaped constraint frame, causing the U-shaped constraint frame to close inward, thereby allowing the bottom crossbeam of the U-shaped constraint frame to be inserted into the bottom of the stacked chips, thereby preventing the chips from falling off during movement; 4. During the clamping process, the deformation of the elastic clamping plate absorbs the excess stroke of the two-way clamping cylinder, thereby preventing the two-way clamping cylinder from clamping too hard and causing damage to the chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional view of the overall structural layout of the utility model;

[0015] Figure 2 This is a three-dimensional view of the connection state between the three-axis robotic arm and the flexible clamping mechanism of the utility model;

[0016] Figure 3 This is a three-dimensional structural view of the flexible clamping mechanism of the utility model in the clamping state;

[0017] Figure 4This is a three-dimensional structural view of the utility model suspension mechanical arm;

[0018] Figure 5 This is a three-dimensional structural view of the push plate of the utility model;

[0019] Figure 6 This is a cross-sectional structural view of the flexible clamping mechanism of the utility model;

[0020] Figure 7 For this utility model Figure 6 Cross-sectional structural view in the AA direction. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0022] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0023] Furthermore, it should be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "provided with," and "set" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0024] See also Figures 1 to 7 , the embodiments of the present utility model include:

[0025] A flexible clamping palletizer, comprising an equipment frame 1, a flexible clamping mechanism 2 and a three-axis robotic arm 3, a three-axis robotic arm 3 is provided on the top of the equipment frame 1, and the moving end of the three-axis robotic arm 3 is fixedly connected to the flexible clamping mechanism 2 through a flange, the flexible clamping mechanism 2 comprises a positioning plate 21, a suspension robotic arm 22, a two-way clamping cylinder 23, a limiting protrusion 24, a sliding plate 25, a buffer plate 26, a spring 4, an adjustment plate 27 and an elastic clamping plate 28, the upper end face of the positioning plate 21 is fixedly connected to the flange of the moving end of the three-axis robotic arm 3, a two-way clamping cylinder 23 is provided in the middle of the lower end face of the positioning plate 21, and openings for installing the suspension robotic arm 22 are provided on both sides of the positioning plate 21. The movable ends on both sides of the cylinder 23 are fixedly connected to sliding plates 25, and a limiting protrusion 24 fixed to the side of the two-way clamping cylinder 23 is provided between the two sliding plates 25. The bottom end surfaces of the two sliding plates 25 are slidably connected to buffer plates 26, and the sliding direction of the buffer plates 26 is the same as the movement direction of the sliding plates 25. A spring 4 is provided between the buffer plates 26 and the limiting protrusion 24. The spring 4 forces the buffer plates 26 on both sides to open outward to the limit position. The bottom end surface of the buffer plate 26 is provided with an adjusting plate 27 with an adjustable fixed position. A plurality of elastic clamping plates 28 are fixed at equal distances on the bottom end surface of the adjusting plate 27. When the two-way clamping cylinder 23 is clamped, the elastic clamping plates 28 on both sides approach each other and compress the spring 4 at the same time;

[0026] The end surface of the adjustment plate 27 has a waist-shaped hole, which is used to change the fixed position of the adjustment plate 27 and the buffer plate 26. In order to adapt to the size of the clamped chip, the fixed position of the adjustment plate 27 and the buffer plate 26 is changed, thereby changing the distance between the elastic clamping plates 28 on both sides to adapt to the chip size;

[0027] The suspension robot arm 22 includes a cylinder 221, a mounting plate 222, a U-shaped plate 223, a push plate 224, a flat baffle 225, a U-shaped constraint frame 226 and a hinge block 227. The mounting plate 222 is fixed at the openings on both sides of the positioning plate 21 in a manner that can adjust the fixed position. The telescopic end of the cylinder 221 passes through the mounting plate 222 and is fixedly connected to the top of the mounting plate 222. The open end of the U-shaped plate 223 is fixedly connected to the bottom of the mounting plate 222. The U-shaped plate 223 has a through hole corresponding to the extended position of the cylinder 221. The push plate 224 is slidably connected to the upper end surface of the U-shaped plate 223. The sliding direction of the push plate 224 is perpendicular to the movement path of the elastic splint 28. The outer end of the push plate 224 is fixedly connected to the flat baffle 225 extending downward. The end surface of the push plate 224 corresponding to the extended position of the telescopic end of the cylinder 221 is also fixedly connected. The hinge block 227 is fixedly connected to the lower end surface of the U-shaped plate 223, and the open end of the U-shaped constraint frame 226 is hinged to the hinge block 227. The open end of the U-shaped constraint frame 226 is provided with a transversely extending driving block 6, and the driving block 6 corresponds to the extended position of the telescopic end of the cylinder 221; when the telescopic end of the cylinder 221 is extended, the telescopic end of the cylinder 221 is inserted into the oblique hole 5 on the end surface of the push plate 224, thereby causing the push plate 224 to move inward, and the movement of the push plate 224 simultaneously drives the flat baffle 225 to level the chips that are misaligned in the stacked state; when the telescopic end of the cylinder 221 is fully extended, the telescopic end of the cylinder 221 abuts against the driving block 6 at the open end of the U-shaped constraint frame 226, causing the U-shaped constraint frame 226 to close inward, thereby allowing the bottom crossbeam of the U-shaped constraint frame 226 to fit into the bottom of the stacked chips, thereby preventing the chips from falling off during movement;

[0028] The suspension robot arm 22 further includes a tension spring disposed between the U-shaped restraint frame 226 and the planar baffle 225. The tension spring is used to force the U-shaped restraint frame 226 to be in an outwardly expanded state. A spring 4 is also provided between the push plate 224 and the mounting plate 222 to force the push plate 224 to move outward. When the cylinder 221 retracts, the spring 4 between the push plate 224 and the mounting plate 222 forces the push plate 224 to move outward, and the tension spring forces the U-shaped restraint frame 226 to be in an outwardly expanded state.

[0029] The three-axis robotic arm 3 includes a transverse arm 31, a vertical arm 32 and a right-angle connecting frame 33. The transverse arm 31 is slidably connected to the top of the equipment frame 1 through a slide rail. The base of the right-angle connecting frame 33 is slidably connected to the top of the transverse arm 31 through a slide rail. The sliding direction of the right-angle connecting frame 33 is perpendicular to the sliding direction of the transverse arm 31. The side plate of the right-angle connecting frame 33 is slidably connected to the vertical arm 32 through a slide rail. The sliding direction of the vertical arm 32 is vertically perpendicular to the transverse arm 31. The bottom of the vertical arm 32 has a flange.

[0030] The three-axis robotic arm 3 also includes a transverse drive motor 34, a longitudinal drive motor 35 and a vertical drive motor 36. The transverse drive motor 34 is arranged on one side of the transverse arm 31. The transverse drive motor 34 drives the transverse arm 31 to slide along the top of the equipment frame 1 through a gear and a rack. The longitudinal drive motor 35 is arranged on the end surface of the base of the right-angle connecting frame 33. The longitudinal drive motor 35 drives the right-angle connecting frame 33 to slide along the transverse arm 31 through a gear and a rack. The vertical drive motor 36 is arranged on the end surface of the side plate of the right-angle connecting frame 33. The vertical drive motor 36 drives the vertical arm 32 to slide perpendicular to the transverse arm 31 through a gear and a rack.

[0031] The flexible clamping palletizer further comprises a transfer assembly 7, which is movably arranged on the top of the equipment frame 1 via a three-axis robotic arm 3, and is used to clamp the tooling box for transfer;

[0032] The flexible clamping palletizer also has a flipping mechanism 8, which is arranged on one side of the equipment frame 1 and is used to flip the flat stacked chips into a vertical stacking state;

[0033] The flexible clamping palletizer also has a stacking detection mechanism 9, which is vertically arranged on one side of the flipping mechanism 8. The stacking detection mechanism 9 is used to flatly stack the chips that have passed the inspection;

[0034] Through the above settings, in the actual working process, its specific working principle is as follows:

[0035] First, the chips are inspected by the stacking inspection mechanism 9. The stacking inspection mechanism 9 stacks the qualified chips flatly on the table of the flipping mechanism 8. The flipping mechanism 8 flips the flat stacked chips into a vertical stacking state.

[0036] Then the three-axis robot arm 3 drives the flexible clamping mechanism 2 to move to the clamping position, at which time the two-way clamping cylinder 23 is started to contract and clamp, and the two-way clamping cylinder 23 drives the sliding plates 25 on both sides to move closer to each other. Since the spring 4 forces the buffer plate 26 to move outward to the limit limit, the sliding plates 25 move closer to each other while driving the adjustment plate 27. The adjustment plate 27 also drives the elastic clamping plate 28 at the bottom to clamp the chip stack. During the clamping process, the deformation generated by the elastic clamping plate 28 absorbs the reaction force generated by the clamping, thereby realizing flexible clamping of the chip;

[0037] After the bidirectional clamping cylinder 23 completes the clamping, the cylinder 221 in the suspension mechanical arms 22 on both sides is started to extend. When the telescopic end of the cylinder 221 is extended, the telescopic end of the cylinder 221 is inserted into the oblique hole 5 on the end face of the push plate 224, thereby causing the push plate 224 to move inward. The movement of the push plate 224 simultaneously drives the flat baffle 225 to level the misaligned chips in the stacked state. When the telescopic end of the cylinder 221 is fully extended, the telescopic end of the cylinder 221 abuts against the driving block 6 at the open end of the U-shaped constraint frame 226, causing the U-shaped constraint frame 226 to close inward, thereby allowing the bottom crossbeam of the U-shaped constraint frame 226 to fit into the bottom of the stacked chips, thereby preventing the chips from falling off during movement.

[0038] After the clamping is completed, the three-axis robot 3 drives the flexible clamping mechanism 2 to move to the position above the tooling box placement slot. First, the cylinder 221 in the suspended robot arms 22 on both sides is started to retract, and the spring 4 between the push plate 224 and the mounting plate 222 forces the push plate 224 to move outward. The tension spring forces the U-shaped constraint frame 226 to be in an outward expansion. At this time, the U-shaped constraint and the flat baffle 225 return to their initial state and no longer restrict the chip. Then the three-axis robot 3 is started again to drive the chip to move to the tooling box placement slot. At this time, the two-way clamping cylinder 23 is started to expand outward, and the two The clamping cylinder 23 drives the sliding plates 25 on both sides away from each other. Since the buffer plate 26 is slidably connected to the bottom end of the sliding plate 25, the spring 4 arranged between the buffer plate 26 and the limit protrusion 24 forces it to open outward to the limit position, and the elastic clamping plate 28 has been inserted into the placement groove of the tool box and cannot be opened outward. At this time, the force exerted on the elastic clamping plate 28 is only the elastic force of the spring 4 forcing it to open. In the process of the two-way clamping cylinder 23 opening outward, the force applied will not be directly transmitted to the tool box placement groove, thereby preventing the tool box from being damaged during use.

[0039] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A flexible clamping palletizer, characterized in that: It includes an equipment frame, a flexible clamping mechanism and a three-axis robotic arm. The three-axis robotic arm is provided on the top of the equipment frame. The moving end of the three-axis robotic arm is fixedly connected to the flexible clamping mechanism through a flange. The flexible clamping mechanism includes a positioning plate, a suspended robotic arm, a two-way clamping cylinder, a limit bump, a sliding plate, a buffer plate, a spring, an adjustment plate and an elastic clamping plate. The upper surface of the positioning plate is fixedly connected to the flange of the moving end of the three-axis robotic arm. A two-way clamping cylinder is provided in the middle of the lower end surface of the positioning plate. Openings for installing the suspended robotic arm are provided on both sides of the positioning plate. The two sides of the two-way clamping cylinder The movable ends are fixedly connected to sliding plates, and a limiting protrusion fixed to the side of the two-way clamping cylinder is provided between the two sliding plates. The bottom end surfaces of the two sliding plates are slidably connected to buffer plates, and the sliding direction of the buffer plates is the same as the movement direction of the sliding plates. A spring is provided between the buffer plates and the limiting protrusions, and the spring forces the buffer plates on both sides to open outward to the extreme position. The bottom end surface of the buffer plate is provided with an adjustment plate with an adjustable fixed position, and a plurality of elastic clamps are fixed at equal distances on the bottom end surface of the adjustment plate. When the two-way clamping cylinder is clamped, the elastic clamps on both sides approach each other and compress the spring at the same time.

2. A flexible clamping palletizer according to claim 1, characterized in that: The end surface of the adjustment plate is provided with a waist-shaped hole, and the waist-shaped hole is used to change the fixed position of the adjustment plate and the buffer plate.

3. The flexible clamping palletizer according to claim 1, characterized in that: The U-shaped restraint frame is hinged to the hinge block, and the open end of the U-shaped restraint frame has a transversely extending drive block, and the drive block corresponds to the extended position of the telescopic end of the cylinder.

4. The flexible clamping palletizer according to claim 3, characterized in that: The suspension robot arm also has a tension spring arranged between the U-shaped constraint frame and the flat baffle, and the tension spring is used to force the U-shaped constraint frame to be in an outwardly expanded state. There is also a spring between the push plate and the mounting plate to force the push plate to move outward.

5. The flexible clamping palletizer according to claim 1, characterized in that: The three-axis robotic arm includes a transverse arm, a vertical arm and a right-angle connecting frame. The transverse arm is slidably connected to the top of the equipment frame through a slide rail. The base of the right-angle connecting frame is slidably connected to the top of the transverse arm through a slide rail. The sliding direction of the right-angle connecting frame is perpendicular to the sliding direction of the transverse arm. The side plate of the right-angle connecting frame is slidably connected to the vertical arm through a slide rail. The sliding direction of the vertical arm is vertically perpendicular to the transverse arm. The bottom of the vertical arm has a flange.

6. The flexible clamping palletizer according to claim 5, characterized in that: The three-axis robotic arm also includes a transverse drive motor, a longitudinal drive motor and a vertical drive motor. The transverse drive motor is arranged on one side of the transverse arm, and the transverse drive motor drives the transverse arm to slide along the top of the equipment frame through gears and racks. The longitudinal drive motor is arranged on the end face of the base of the right-angle connecting frame, and the longitudinal drive motor drives the right-angle connecting frame to slide along the transverse arm through gears and racks. The vertical drive motor is arranged on the end face of the side plate of the right-angle connecting frame, and the vertical drive motor drives the vertical arm to slide perpendicular to the transverse arm through gears and racks.

7. The flexible clamping palletizer according to claim 1, characterized in that: The flexible clamping palletizer further comprises a transfer assembly, which is movably arranged on the top of the equipment frame via a three-axis robotic arm, and is used to clamp the tooling box for transfer.

8. The flexible clamping palletizer according to claim 1, characterized in that: The flexible clamping palletizer further comprises a flipping mechanism, which is arranged on one side of the equipment frame and is used to flip the flat stacked chips into a vertical stacking state.

9. The flexible clamping palletizer according to claim 1, characterized in that: The flexible clamping palletizer further comprises a stacking detection mechanism, which is vertically arranged on one side of the flipping mechanism and is used for flattening and stacking the chips that have passed the inspection.

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