Crown block picking and placing mechanism and crown block

Abstract

The utility model discloses a crown block pick-and-place mechanism and crown block, including: a traversing assembly, a gripper lifting assembly connected with the traversing assembly and a gripper assembly connected to the gripper lifting assembly, the traversing assembly is used for driving the gripper lifting assembly and the gripper assembly to move along the horizontal direction, the gripper lifting assembly is used for driving the gripper assembly to move in the vertical direction, and the gripper assembly is used for taking and placing objects. According to the scheme, a crown block can directly take and place materials from the embedded Prot port, traditional NTB / AMR / AGV equipment is replaced, and cost and ground space are saved.

Description

Technical Field

[0001] This utility model relates to the field of automatic handling equipment technology, specifically a crane loading and unloading mechanism and a crane. Background Technology

[0002] In semiconductor manufacturing, overhead cranes are typically used to transport wafer cassettes that carry wafers between different workstations. Specifically, the overhead crane runs along a track to the designated Port (pick-up / drop-off port), where the crane's lifting mechanism drives the pick-up / drop-off mechanism to descend and grab the wafer cassette from the Port or release it at the Port. Then, the lifting mechanism drives the pick-up / drop-off mechanism to rise again.

[0003] Existing overhead cranes can only handle loading and unloading of Ports located on the outside or open Ports. When the Ports of equipment in the wafer fab are embedded (i.e., the Ports are obstructed), wafer cassettes can only be loaded using NTB (Near Tool Buffer) / AMR / AGV or other deep-penetrating robotic arms, pushing the wafer cassettes into the Ports. This increases both equipment cost and floor space. Utility Model Content

[0004] To overcome the shortcomings of the prior art, this utility model provides a crane loading and unloading mechanism and a crane, which can realize the crane to directly load and unload materials from the embedded Prot port, replacing the traditional NTB / AMR / AGV equipment, saving costs and ground space.

[0005] This application discloses an overhead crane loading and unloading mechanism, comprising: a lateral movement assembly, a gripper lifting assembly connected to the lateral movement assembly, and a gripper assembly connected to the gripper lifting assembly. The lateral movement assembly is used to drive the gripper lifting assembly and the gripper assembly to move in a horizontal direction, the gripper lifting assembly is used to drive the gripper assembly to move in a vertical direction, and the gripper assembly is used to load and unload items.

[0006] Specifically, the gripper lifting assembly includes a first motor, a first pulley, a first belt, a first lead screw, and a second pulley. The first motor is connected to the traversing assembly, the first pulley is connected to the output shaft of the first motor, the first lead screw is rotatably connected to the traversing assembly, the inner ring of the second pulley is connected to the first lead screw, the outer ring of the second pulley is connected to the first pulley via the first belt, and the gripper assembly is connected to the first lead screw via a first lead screw nut seat.

[0007] Specifically, the gripper lifting assembly further includes a third pulley, a second lead screw, a fourth pulley, and a second belt. The third pulley is mounted on the first lead screw, the second lead screw is rotatably connected to the transverse assembly, the inner ring of the fourth pulley is connected to the second lead screw, the outer ring of the fourth pulley is connected to the third pulley via the second belt, and the gripper assembly is connected to the second lead screw via a second lead screw nut seat.

[0008] Specifically, the gripper lifting assembly further includes at least one guide rod fixed to the traverse assembly, and the gripper assembly is slidably connected to the guide rod.

[0009] Specifically, the lateral movement assembly includes a first mounting plate, a first lateral movement plate, and a first lead screw motor. The first lead screw motor is mounted on the first mounting plate. Two fifth pulleys are connected to the first lateral movement plate. The two fifth pulleys are connected by a third belt. The third belt is connected to the lead screw of the first lead screw motor through a third lead screw nut seat. The first lead screw motor is used to drive the first lateral movement plate to move relative to the first mounting plate.

[0010] Specifically, the gripper assembly includes a second mounting plate, a second lead screw motor, a fourth lead screw nut seat, and two grippers. The second mounting plate is connected to the gripper lifting assembly. The second lead screw motor is mounted on the second mounting plate. The two grippers are connected to the lead screw of the second lead screw motor through the fourth lead screw nut seat. The second lead screw motor is used to drive the two grippers to move towards and away from each other.

[0011] Specifically, the gripper includes a connecting plate and a clamping plate movably connected to the connecting plate. The connecting plate is connected to the fourth lead screw nut seat, and the clamping plate is used to clamp an item.

[0012] This application also discloses an overhead crane, which includes the overhead crane loading and unloading mechanism as described in this embodiment.

[0013] This invention has at least the following beneficial effects: When it is necessary to pick up and place materials on the embedded Prot port, the entire crane picking and placing mechanism of this embodiment can be lowered to a position corresponding to the height of the Prot port through the lifting mechanism of the crane. Then, the lateral movement component drives the gripper lifting component and the gripper component horizontally to above the picking and placing platform of the Prot port. Finally, the gripper lifting component drives the gripper component to descend to the placing platform to pick up and place materials. The above structure, installed on the crane, can replace traditional NTB / AMR / AGV and other deep-penetrating robotic arms for loading wafer cassettes, saving equipment costs and also saving floor space.

[0014] To make the above and other objects, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overhead crane loading and unloading mechanism in an embodiment of this utility model;

[0017] Figure 2 This is a schematic diagram of the gripper lifting assembly in an embodiment of this utility model;

[0018] Figure 3 This is a schematic diagram of the gripper assembly in an embodiment of this utility model.

[0019] The reference numerals in the above figures are as follows: 1. Lateral movement assembly; 11. First mounting plate; 12. First lateral movement plate; 13. First lead screw motor; 14. Fifth pulley; 15. Third belt; 16. Third lead screw nut seat; 2. Grab lifting assembly; 21. First motor; 22. First pulley; 23. First belt; 24. First lead screw; 25. Second pulley; 26. First lead screw nut seat; 27. Third pulley; 28. Second lead screw; 29. ​​Fourth pulley; 210. Second belt; 211. Second lead screw nut seat; 212. Guide rod; 3. Grab assembly; 31. Second mounting plate; 32. Second lead screw motor; 33. Fourth lead screw nut seat; 34. Connecting plate; 35. Clamping plate; 4. Item. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "fixing," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "below," and "over" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] In the description of this embodiment, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this application.

[0024] Furthermore, the terms "first" and "second" are used only to distinguish between different terms in description and do not have any special meaning.

[0025] In this embodiment, the crane loading and unloading mechanism can be installed on the crane's lifting mechanism during use.

[0026] like Figure 1 As shown, the overhead crane loading and unloading mechanism in this embodiment mainly includes a horizontal movement component 1, a gripper lifting component 2, and a gripper component 3. The horizontal movement component 1 is connected to the crane's lifting mechanism and drives the gripper lifting component 2 and the gripper component 3 to move horizontally. The gripper lifting component 2 is connected to the horizontal movement component 1 and drives the gripper component 3 to move vertically. The gripper component 3 is connected to the gripper lifting component 2 and is used to grip the item 4, enabling the loading and unloading of the item 4.

[0027] With the above structure, when it is necessary to pick up and place materials on the embedded Prot port, the entire crane picking and placing mechanism of this embodiment can be lowered to a position corresponding to the height of the Prot port via the crane's lifting mechanism. Then, the lateral movement component 1 drives the gripper lifting component 2 and the gripper component 3 horizontally to above the picking and placing platform of the Prot port. Finally, the gripper lifting component 2 drives the gripper component 3 to descend to the placing platform to pick up and place materials. The above structure, installed on the crane, can replace traditional NTB / AMR / AGV and other deep-penetrating robotic arms for loading wafer cassettes, saving equipment costs and floor space.

[0028] like Figure 2 As shown, the gripper lifting assembly 2 in this embodiment includes a first motor 21, a first pulley 22, a first belt 23, a first lead screw 24, and a second pulley 25. The first motor 21 is mounted on the transverse assembly 1, and the first pulley 22 is connected to the output shaft of the first motor 21. The first lead screw 24 is rotatably connected to the transverse assembly 1. The inner ring of the second pulley 25 is connected to the first lead screw 24, and the outer ring of the second pulley 25 is connected to the first pulley 22 on the first motor 21 via the first belt 23. The gripper assembly 3 is connected to the first lead screw 24 via a first lead screw nut seat 26. When the first motor 21 starts, the first pulley 22 rotates, driving the second pulley 25 and the first lead screw 24 to rotate. The first lead screw nut seat 26 drives the gripper assembly 3 to move up and down along the axial direction of the first lead screw 24, thus lifting and lowering the gripper assembly 3.

[0029] Furthermore, such as Figure 2 As shown, the gripper lifting assembly 2 in this embodiment further includes a third pulley 27, a second lead screw 28, a fourth pulley 29, and a second belt 210. The third pulley 27 is mounted on the first lead screw 24, the second lead screw 28 is rotatably connected to the transverse assembly 1, the inner ring of the fourth pulley 29 is connected to the second lead screw 28, and the outer ring of the fourth pulley 29 is connected to the outer ring of the third pulley 27 on the first lead screw 24 via the second belt 210. The gripper assembly 3 is slidably connected to the second lead screw 28 via the second lead screw nut seat 211. When the first motor 21 starts, the first pulley 22 rotates, driving the second pulley 25 and the first lead screw 24 to rotate. The third pulley 27 rotates accordingly, thereby driving the fourth pulley 29 and the second lead screw 28 to rotate via the second belt 210. The second lead screw nut seat 211 drives the gripper assembly 3 to move up and down along the axial direction of the second lead screw 28. By adopting the above scheme, the stability of the gripper assembly 3 in vertical movement can be improved by cooperating with the first lead screw 24 and the second lead screw 28. The method of connecting the third pulley 27 and the fourth pulley 29 by the second belt 210 can reduce the number of drive motors required, while also ensuring the synchronicity of the movement of the first lead screw nut seat 26 and the second lead screw nut seat 211.

[0030] To further improve the stability of the gripper assembly 3 during vertical movement, the gripper lifting assembly 2 in this embodiment also includes at least one guide rod 212, which is fixed to the transverse component 1 and passes through the gripper assembly 3. The gripper assembly 3 and the guide rod are slidably connected.

[0031] like Figure 1 As shown, the transverse assembly 1 in this embodiment includes a first mounting plate 11, a first transverse plate 12, and a first lead screw motor 13. The first mounting plate 11 is connected to the lifting mechanism of the overhead crane, and the first lead screw motor 13 is mounted on the first mounting plate 11. The first transverse plate 12 is slidably connected to the first mounting plate 11 via a guide rail. Two fifth pulleys 14 are provided on the side of the first transverse plate 12 near the first lead screw motor 13. The two fifth pulleys 14 are connected by a third belt 15, which is fixedly connected to the lead screw of the first lead screw motor 13 via a third lead screw nut seat 16. When the first lead screw motor 13 is started, the third lead screw nut seat 16 moves linearly along the lead screw axis of the first lead screw motor 13, driving the third belt 15 to rotate, thereby causing the first transverse plate 12 to move relative to the first mounting plate 11, and further driving the gripper lifting assembly 2 connected to the first transverse plate 12 to move, thus realizing the horizontal movement of the gripper lifting assembly 2 and the gripper assembly 3.

[0032] like Figure 3 As shown, the gripper assembly 3 in this embodiment includes a second mounting plate 31, a second lead screw motor 32, a fourth lead screw nut seat 33, and two grippers. The second mounting plate 31 is connected to the first lead screw 24 and the second lead screw 28 via the first lead screw nut seat 26 and the second lead screw nut seat 211, respectively, and is also connected to the guide rod 212. The second lead screw motor 32 is mounted on the second mounting plate 31, and the two grippers are connected to the lead screw of the second lead screw motor 32 via the fourth lead screw nut seat 33. The two grippers are positioned opposite each other on both sides of the fourth lead screw nut seat 33. When the second lead screw motor 32 is started, the two grippers can move towards or away from each other as the fourth lead screw nut seat 33 moves linearly, thereby clamping or releasing the item 4.

[0033] Furthermore, the gripper in this embodiment includes a connecting plate 34 and a clamping plate 35. One end of the connecting plate 34 is fixedly connected to the fourth lead screw nut seat 33, and the clamping plate 35 is movably connected to the other end of the clamping plate 35. The movement trajectory of the clamping plate 35 is not parallel to the movement trajectory of the fourth lead screw nut seat 33, to ensure that when the fourth lead screw nut seat 33 moves, the two clamping plates 35 can move towards or away from each other. The two clamping plates 35 cooperate with each other to clamp or release the item 4.

[0034] In summary, the working process of the overhead crane loading and unloading mechanism in this embodiment is as follows: The overhead crane loading and unloading mechanism of this embodiment is installed on the lifting mechanism of the overhead crane. When it is necessary to load or unload materials from the embedded Prot port, the entire overhead crane loading and unloading mechanism of this embodiment can be lowered to a position corresponding to the height of the Prot port through the lifting mechanism of the overhead crane. Then, the horizontal movement component 1 drives the gripper lifting component 2 and the gripper component 3 horizontally to above the loading and unloading platform of the Prot port. Then, the gripper lifting component 2 drives the gripper component 3 to descend to the unloading platform to load or unload materials. After the loading and unloading is completed, the gripper lifting component 2 drives the gripper component 3 to rise to avoid the item 4 from contacting and rubbing against the unloading platform. The horizontal movement component 1 drives the gripper component 3 to retract below the overhead crane lifting mechanism, and then the overhead crane runs along the overhead rail. The overhead crane loading and unloading mechanism of this embodiment is also applicable to loading and unloading materials from non-embedded (or open) Prot ports.

[0035] This utility model uses specific embodiments to illustrate the principle and implementation of the utility model. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​the utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the utility model. Therefore, the content of this specification should not be construed as a limitation of the utility model.

Claims

1. A crown block taking and placing mechanism, characterized by, The device comprises a horizontal moving assembly, a gripper lifting assembly connected to the horizontal moving assembly, and a gripper assembly connected to the gripper lifting assembly, the horizontal moving assembly is used to drive the gripper lifting assembly and the gripper assembly to move horizontally, the gripper lifting assembly is used to drive the gripper assembly to move vertically, and the gripper assembly is used to take and place articles. The gripper lifting assembly comprises a first motor, a first belt pulley, a first belt, a first screw rod, and a second belt pulley, the first motor is connected to the horizontal moving assembly, the first belt pulley is connected to an output shaft of the first motor, the first screw rod is rotatably connected to the horizontal moving assembly, an inner ring of the second belt pulley is connected to the first screw rod, and an outer ring of the second belt pulley is connected to the first belt pulley through the first belt, and the gripper assembly is connected to the first screw rod through a first screw rod nut seat.

2. The trolley pick-and-place mechanism of claim 1, wherein, The gripper lifting assembly further comprises a third belt pulley, a second screw rod, a fourth belt pulley, and a second belt, the third belt pulley is installed on the first screw rod, the second screw rod is rotatably connected to the horizontal moving assembly, an inner ring of the fourth belt pulley is connected to the second screw rod, an outer ring of the fourth belt pulley is connected to the third belt pulley through the second belt, and the gripper assembly is connected to the second screw rod through a second screw rod nut seat.

3. The trolley pick-and-place mechanism of claim 2, wherein, The gripper lifting assembly further comprises at least one guide rod fixed to the horizontal moving assembly, and the gripper assembly is slidably connected to the guide rod.

4. The trolley pick-and-place mechanism of claim 2, wherein, The horizontal moving assembly comprises a first mounting plate, a first horizontal moving plate, and a first screw rod motor, the first screw rod motor is installed on the first mounting plate, two fifth belt pulleys are connected to the first horizontal moving plate, the two fifth belt pulleys are connected through a third belt, the third belt is connected to a screw rod of the first screw rod motor through a third screw rod nut seat, and the first screw rod motor is used to drive the first horizontal moving plate to move relative to the first mounting plate.

5. The trolley pick-and-place mechanism of claim 1, wherein, The gripper assembly comprises a second mounting plate, a second screw rod motor, a fourth screw rod nut seat, and two grippers, the second mounting plate is connected to the gripper lifting assembly, the second screw rod motor is installed on the second mounting plate, the two grippers are connected to a screw rod of the second screw rod motor through the fourth screw rod nut seat, and the second screw rod motor is used to drive the two grippers to move towards each other and away from each other.

6. The trolley pick-and-place mechanism of claim 1, wherein, The gripper comprises a connecting plate and a clamping plate movably connected to the connecting plate, the connecting plate is connected to the fourth screw rod nut seat, and the clamping plate is used to clamp articles.

7. The trolley pick-and-place mechanism of claim 6, wherein, The device comprises the overhead traveling crane taking and placing mechanism as claimed in any one of claims 1 to 7.

8. A headgear characterized by, The device comprises the overhead traveling crane taking and placing mechanism as claimed in any one of claims 1 to 7.

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