Material containing device and material box robot

Abstract

The utility model provides a material containing device and a workbin robot, the material containing device comprises a device shell (100), a material executing mechanism (200) and a lifting mechanism (300), the device shell (100) comprises a shell main body (110) and a material door (120), a material cavity is formed in the shell main body (110), a material opening capable of being closed is formed in the shell main body (110), and the lifting mechanism (300) is arranged on the material opening. The material door (120) is used for sealing the material opening, the material executing mechanism (200) is arranged in the material cavity, the lifting mechanism (300) is used for driving the material executing mechanism (200) to ascend and descend in the material cavity, and under the condition that the material door (120) seals the material opening, the lifting mechanism (300) drives the material executing mechanism (200) to ascend and descend in the material cavity. A sealed space is defined by the material executing mechanism (200), the material door (120) and the shell body (110).

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of carrying equipment, and specifically relates to a material containing device and a material box robot comprising the material chamber. BACKGROUND

[0002] A dust-free workshop of precision machinery industry is called a clean room, and the dust-free standard of the clean room is usually measured by cleanliness. For example, the clean room of thousand-level cleanliness requires that the number of particles with a diameter greater than or equal to 0.5 microns in each cubic meter of air is not more than 35,000.

[0003] In order to improve the efficiency of material transportation, a carrying robot has been introduced in the clean room, and accordingly, how to avoid the carrying robot from generating particles that pollute the clean room during transportation has become a technical problem to be solved in the field. SUMMARY

[0004] The utility model aims at solving one of the technical problems in the related art to some extent. To this end, the utility model provides a material containing device and a material box robot. The material containing device has good sealing performance, and the particles generated during operation cannot enter the clean room.

[0005] In order to achieve the above purpose, the first aspect of the utility model discloses a material containing device, which comprises a device shell, a material executing mechanism and a lifting mechanism, the device shell comprises a shell main body and a material door, a material cavity is formed in the shell main body, a closable material opening is formed on the shell main body, the material door is used for sealing the material opening, the material executing mechanism is arranged in the material cavity, wherein the lifting mechanism is used for driving the material executing mechanism to rise and fall in the material cavity, and the material executing mechanism, the material door and the shell main body define a sealed space when the material door seals the material opening.

[0006] Optionally, the shell main body comprises an outer shell and a portal assembly, the portal assembly comprises at least one column with a cavity, the outer shell is covered outside the portal assembly, and the bottom end of the column is used for fixing on a movable bottom disc;

[0007] The lifting mechanism comprises at least one lifting power assembly and at least one bearing assembly, the lifting power assembly and the bearing assembly correspond to the column respectively;

[0008] At least a part of the lifting power assembly is arranged in the cavity of the corresponding column, a guide slot is formed on the column and matched with the corresponding load bearing assembly, the length direction of the guide slot is consistent with the height direction of the column, a part of the load bearing assembly is located in the cavity of the column and connected with the corresponding lifting power assembly, and another part of the load bearing assembly passes through the corresponding guide slot and enters the material cavity.

[0009] The material executing mechanism is connected with the part of the load bearing assembly located in the material cavity.

[0010] Optionally, the shell body further comprises an inner shell and a column fixing assembly, the inner shell is located in the space defined by the outer shell, the inner shell defines the material cavity, and a sandwich cavity is formed between the inner shell and the outer shell, a column port corresponding to the column is formed on the inner shell, so that a part of the column is located in the material cavity and another part of the column is located in the sandwich cavity.

[0011] The column fixing assembly is arranged in the sandwich cavity and connects the column with the inner shell and / or the outer shell.

[0012] Optionally, the portal frame assembly comprises two columns, and the top openings of the columns are communicated with the sandwich cavity.

[0013] The lifting mechanism comprises a driving motor, a connecting shaft, two lifting power assemblies and two load bearing assemblies, the driving motor is in transmission connection with the connecting shaft to drive the connecting shaft to rotate about the axis of the connecting shaft, the driving motor and the connecting shaft are arranged on the top plate of the inner shell and located between the top plate of the inner shell and the top plate of the outer shell.

[0014] The lifting power assembly is a chain transmission assembly, the driving wheels of the two chain transmission assemblies are respectively arranged at the two ends of the connecting shaft, the driven wheels of the two chain transmission assemblies are respectively arranged in the cavities of the corresponding columns and fixed on the inner side walls of the columns, the transmission chain of the chain transmission assembly passes through the driving wheel and the driven wheel of the chain transmission assembly, and the load bearing assembly is arranged on the corresponding transmission chain.

[0015] Optionally, the load bearing assembly comprises a carrying plate, a connecting vertical plate and at least one sliding block, a part of the sliding block is located in the cavity and connected with the lifting power assembly, another part of the sliding block is inserted into the corresponding guide slot, the connecting vertical plate is connected with the part of the corresponding sliding block located in the guide slot, the carrying plate is arranged on the connecting vertical plate, and the carrying plate and the sliding block are respectively located on the two sides of the corresponding connecting vertical plate.

[0016] Optionally, the bearing assembly comprises two sliders, and the two sliders are arranged at intervals along the length direction of the corresponding guide slot.

[0017] Optionally, the material executing mechanism comprises a docking bottom plate, a back plate and two opposite side plates, the two side plates are arranged on two sides of the docking bottom plate respectively, the back plate is arranged on the docking bottom plate, and the back plate and the two side plates are respectively located at three different side edges of the docking bottom plate to define a material interface facing the material opening, and the docking bottom plate is connected with the lifting mechanism.

[0018] Optionally, the docking bottom plate comprises a bearing plate and a plurality of rollers arranged side by side on the material-carrying side of the bearing plate, the bearing plate is connected with the lifting mechanism, the plurality of rollers are rotatably arranged on the bearing plate about their own axes, and the axis direction of the rollers is consistent with the width direction of the material interface.

[0019] Optionally, the material door comprises a roller shutter and a counterweight arranged at the free end of the roller shutter, the shell further comprises a door frame assembly, the door frame assembly comprises a roller shutter roller, a roller shutter driving assembly and a door frame, the fixed end of the roller shutter is arranged on the roller shutter roller, and the roller shutter driving assembly is used to drive the roller shutter roller to rotate so as to wind the roller shutter on the roller shutter roller or release the roller shutter from the roller shutter roller.

[0020] The door frame is arranged around the material opening, and the door frame is used to be fixed on a movable chassis, and the side edge of the roller shutter can be in sealing connection with the door frame.

[0021] Optionally, the door frame assembly further comprises a position detection assembly, the position detection assembly comprises a first detection member and a second detection member, the first detection member is arranged on the door frame, the second detection member is arranged on the roller shutter and moves with the roller shutter, the signal output end of the first detection member is electrically connected with the signal input end of the roller shutter driving assembly, the first detection member is used to send a just-in-place signal in the case that the second detection member enters the detection range of the first detection member, and the roller shutter driving assembly 142 is used to receive the just-in-place signal.

[0022] Optionally, the material containing device further comprises at least one impact strip, and the impact strip is arranged on at least one outer rib of the shell.

[0023] Optionally, the material containing device further comprises a master control module, at least one controlled module and at least one dust-free drag chain, and the master control module and the controlled module are electrically connected through the dust-free drag chain.

[0024] As a second aspect of the present application, a material box robot is provided, which comprises a material containing device and a movable chassis, the material containing device is arranged on the material carrying side of the chassis, wherein the material containing device is the material containing device of the first aspect of the present application.

[0025] Optionally, the chassis comprises a bottom plate, an enclosure, a plurality of walking wheels and a plurality of walking wheel driving mechanisms, the bottom plate is arranged at the opening of the enclosure to form a closed space, the walking wheels are arranged on the bottom plate, the walking wheel driving mechanisms are arranged in the closed space, and the material containing device is arranged on the top surface of the enclosure.

[0026] In the material containing device provided by the present application, the material executing mechanism is used to carry the material, that is, the material outside the material containing device is located on the material executing mechanism after material transfer. Once the material door is closed, the material is located in the sealed space defined by the material executing mechanism, the material door and the shell body, so as to avoid the entry of external dust and other foreign matters into the material cavity to pollute the material during the material transportation. Moreover, even if the lifting mechanism lifts the material executing mechanism in the containing cavity after the material door is closed, the sealing property of the sealed space will not be damaged. Correspondingly, the particulate matter (for example, dust) generated inside the material containing device will not enter the clean room, so as to ensure the cleanliness of the clean room.

[0027] The features and advantages of the present application will be disclosed in detail in the following specific embodiments and drawings. The best embodiment or means of the present application will be fully illustrated in combination with the drawings, but it is not a limitation on the technical scheme of the present application. In addition, these features, elements and components appearing in each of the following text and drawings are multiple, and different symbols or numbers are marked for the convenience of representation, but all represent the same or similar structure or function parts. BRIEF DESCRIPTION OF DRAWINGS

[0028] The present application will be further described below in combination with the drawings:

[0029] Figure 1 is a schematic diagram of an optional embodiment of the material box robot provided by the embodiment of the present application;

[0030] Figure 2 is a combined schematic diagram of the shell body and the lifting mechanism in the material containing device provided by the embodiment of the present application;

[0031] Figure 3 is a combined schematic diagram of the shell body and the lifting mechanism after the outer shell is removed;

[0032] Figure 4 is a schematic diagram showing part of the structure of the lifting assembly;

[0033] Figure 5 is a schematic diagram showing part of the structure of the lifting assembly;

[0034] Figure 6 is a schematic diagram showing the structure of the slider in the lifting assembly;

[0035] Figure 7 is a schematic diagram showing the structure of the material door;

[0036] Figure 8 is a schematic diagram showing the structure of the collision strip;

[0037] Figure 9 is a schematic diagram showing the material actuator;

[0038] Figure 10 is a schematic diagram showing the overall structure of the chassis;

[0039] Figure 11 is a schematic diagram showing the structure of the chassis after the closure cover is removed.

[0040] BRIEF DESCRIPTION OF DRAWINGS

[0041] 100: device housing 110: housing body

[0042] 120: material door 200: material actuator

[0043] 210: docking bottom plate 220: back plate

[0044] 230: side plate 300: lifting mechanism

[0045] 310: drive motor 340: connecting shaft

[0046] 320: lifting power assembly 330: bearing assembly

[0047] 331: mounting plate 332: connecting upright plate

[0048] 333: slider 400: chassis

[0049] 500: collision strip 600: dust-free drag chain DETAILED DESCRIPTION

[0050] Embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numbers represent the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the present application, and cannot be understood as a limitation of the present application.

[0051] Reference in this specification to "one embodiment" or "an embodiment" or "example" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0052] As a first aspect of the application, there is provided a material containing device, such as Figure 1 As shown in the drawings, the material containing device comprises a device housing 100, a material handling mechanism 200 and a lifting mechanism 300. The device housing 100 comprises a housing body 110 and a material door 120, and the housing body 110 is formed with a material cavity, and the housing body 110 is further formed with a closable material opening, and the material door 120 is used to seal the material opening. The material handling mechanism 200 is arranged in the material cavity, and the lifting mechanism 300 is used to lift the material handling mechanism 200 in the material cavity, and the material handling mechanism 200, the material door 120 and the housing body 110 define a sealed space when the material door 120 seals the material opening.

[0053] It should be noted that the material handling mechanism 200 is used to carry the material, that is, the material outside the material containing device is located on the material handling mechanism 200 after the material transfer. Once the material door 120 is closed, the material is located in the sealed space defined by the material handling mechanism 200, the material door 120 and the housing body 110, so as to avoid the external dust and other foreign matters from entering the material cavity to contaminate the material during the material transportation. Moreover, even if the lifting mechanism 300 lifts the material handling mechanism in the containing cavity after the material door 120 is closed, the sealing of the sealed space will not be damaged.

[0054] When the bin robot comprising the material containing device moves in the clean room, the material is sealed in the sealed space defined by the material handling mechanism 200, the material door 120 and the housing body 110, and the particulate matters (e.g. dust) generated by the material containing device will not enter the clean room, so as to ensure the cleanliness of the clean room.

[0055] In the embodiments of the application, the specific structure of the lifting mechanism 300 is not specially limited, as long as it can lift the material handling mechanism 200 in the material cavity. In order to avoid the particles generated during the operation of the lifting mechanism 300 from entering the clean room or the material cavity, optionally, as shown in Figure 2 and Figure 3 The housing body 110 comprises an outer housing 112 and a gantry assembly 113. The gantry assembly 113 comprises at least one column 113a with a cavity, and the outer housing 112 is arranged outside the gantry assembly 113, and the bottom end of the column 113a is used to be fixed on the movable bottom plate 400.

[0056] The lifting mechanism 300 comprises at least one lifting power assembly 320 and at least one bearing assembly 330, and the lifting power assembly 320 and the bearing assembly 330 correspond to the column 113a.

[0057] At least a part of the lifting power assembly 320 is arranged in the cavity of the corresponding column 113a, and the column 113a is formed with a guide slot 113a1 matched with the corresponding bearing assembly 330, the length direction of the guide slot 113a1 is consistent with the height direction of the column 113a, and a part of the bearing assembly 330 is located in the cavity of the column 113a and connected with the corresponding lifting power assembly 320, and the other part of the bearing assembly 330 passes through the corresponding guide slot 113a1 into the material cavity.

[0058] The material executing mechanism 200 is connected with the part of the bearing assembly 330 located in the material cavity.

[0059] After the column 113a is arranged, the particles generated by at least a part of the lifting power assembly 320 during operation can be limited in the column 113a and cannot enter the environment (for example, a clean room) where the material containing device is located. Moreover, the column 113a is only communicated with the material cavity through the guide slot 113a1, and the amount of particles entering the material cavity can also be limited, so as to avoid the material from being contaminated by the particles.

[0060] In order to improve the structural stability of the material containing device, optionally, as shown in Figure 3 and Figure 4 The shell body 110 further comprises an inner shell 111 and a column fixing assembly 114, the inner shell 111 is located in the space defined by the outer shell 112, the inner shell 111 defines the material cavity, and a sandwich cavity is formed between the inner shell 111 and the outer shell 112, and the column 113a is formed with a column port corresponding to the column 113a, so that a part of the column 113a is located in the material cavity and the other part is located in the sandwich cavity.

[0061] The column fixing assembly 114 is arranged in the sandwich cavity and connects the column 113a with the inner shell 111 and / or the outer shell 112.

[0062] By arranging the inner shell 111 and the column fixing assembly 114, the column 113a can be fixed, so that the column 113a is more stable, and correspondingly, the support of the lifting power assembly 320 to the material executing mechanism 200 is also more stable.

[0063] In order to obtain a stable structure, optionally, the portal assembly 113 comprises two columns 113a, and the top openings of the columns 113a are communicated with the sandwich cavity.

[0064] Correspondingly, as shown in Figure 3 and Figure 4 The lifting mechanism 300 comprises a driving motor 310, a connecting shaft 340, two lifting power assemblies 320 and two bearing assemblies 330; the driving motor 310 is in transmission connection with the connecting shaft 340 to drive the connecting shaft 340 to rotate around its axis. The driving motor 310 and the connecting shaft 340 are arranged on the top plate of the inner shell 111 and located between the top plate of the inner shell 111 and the top plate of the outer shell 112, i.e. in the interlayer cavity. The particles generated by the driving motor 310 driving the connecting shaft 340 will neither pass through the outer shell 112 into the clean room nor pass through the inner shell 111 into the material cavity.

[0065] In the present utility model, the transmission connection between the driving motor 310 and the connecting shaft 340 is not specially limited. For example, the transmission connection between the driving motor 310 and the connecting shaft 340 can be realized by gear engagement or belt transmission.

[0066] As an optional embodiment, the lifting power assembly 320 can be a chain transmission assembly, the driving wheels of the two chain transmission assemblies are respectively arranged at the two ends of the connecting shaft 340, the driven wheels of the two chain transmission assemblies are respectively arranged in the cavities of the corresponding stand columns 113a and fixed on the inner side walls of the stand columns 113a, the transmission chain of the chain transmission assembly passes around the driving wheel and the driven wheel of the chain transmission assembly, and the bearing assembly 330 is arranged on the corresponding transmission chain.

[0067] After the connecting shaft 340 is arranged, the two lifting power assemblies 320 can be driven by the same driving motor 310 to move synchronously, so as to stably lift and support the material executing mechanism 200 arranged on the bearing assembly 330.

[0068] In the chain transmission assembly, the driving wheel, the driven wheel and the transmission chain can all be made of carbon steel, and the surfaces of the driving wheel, the driven wheel and the transmission chain can be plated with nickel and simultaneously increase self-lubricating grease to meet the use requirements of the clean room.

[0069] In the present utility model, the specific structure of the bearing assembly 330 is not specially limited. As shown in Figure 4 , Figure 5 and Figure 6As shown, the bearing assembly 330 comprises a bearing plate 331, a connecting vertical plate 332 and at least one sliding block 333, a part of the sliding block 333 is located in the cavity and connected with the lifting power assembly 320, another part of the sliding block 333 is inserted into the corresponding guide groove 113a1, the connecting vertical plate 332 is connected with the part of the corresponding sliding block 333 located in the guide groove 113a1, the bearing plate 331 is arranged on the connecting vertical plate 332, and the bearing plate 331 and the sliding block 331 are located on two sides of the corresponding connecting vertical plate 332 respectively.

[0070] The material executing mechanism 200 is supported on the bearing plate 331 in a clamped manner and is lifted along the height direction of the stand column under the driving of the sliding block 333 and the connecting vertical plate 332. It should be noted that the clamped connection is easy to realize sealed connection.

[0071] Compared with the polyurethane guide wheel used in the related art to guide the material executing mechanism 200, the sliding block / guide groove is used to guide the material executing mechanism 200 to move, and less particles are generated.

[0072] In the embodiments of the utility model, the number of the sliding blocks 333 included in each bearing assembly 330 is not specially limited, for example, each bearing assembly 330 can comprise one sliding block. Figure 6 In the embodiment shown in the figure, the bearing assembly 330 comprises two sliding blocks 333, and the two sliding blocks 333 are arranged at intervals along the length direction of the corresponding guide groove 113a1. By arranging two sliding blocks 333, the sliding of the bearing assembly 330 along the guide groove 113a1 is smoother, and particles are less likely to be generated.

[0073] As described above, the lifting mechanism 300 comprises two bearing assemblies 330, in order to ensure the consistency of the two bearing assemblies 330, optionally, the interval between the sliding block 333 and the corresponding connecting vertical plate 332 can be adjusted by arranging a plug sheet between the sliding block 333 and the corresponding connecting vertical plate 332, so that the bearing plates 331 of the two bearing assemblies 330 are mutually symmetrical.

[0074] In the embodiments of the utility model, the specific structure of the material executing mechanism 200 is not specially limited, as long as the material executing mechanism 200 can define a closed space together with the shell body 110 and the material door 120. For example, as shown in the figure, the material executing mechanism 200 comprises a butt joint bottom plate 210, a back plate 220 and two opposite side plates 230, the two side plates 230 are arranged on two sides of the butt joint bottom plate 210 respectively, the back plate 220 is arranged on the butt joint bottom plate 210, the back plate 220 and the two side plates 230 are respectively located at three different side edges of the butt joint bottom plate 210, so as to define a material interface facing the material opening, and the butt joint bottom plate 210 is connected with the lifting mechanism 300. Figure 9 As shown, the material executing mechanism 200 comprises a butt joint bottom plate 210, a back plate 220 and two opposite side plates 230, the two side plates 230 are arranged on two sides of the butt joint bottom plate 210 respectively, the back plate 220 is arranged on the butt joint bottom plate 210, the back plate 220 and the two side plates 230 are respectively located at three different side edges of the butt joint bottom plate 210, so as to define a material interface facing the material opening, and the butt joint bottom plate 210 is connected with the lifting mechanism 300.

[0075] In this embodiment of the utility model, the material is placed on the docking base plate 210, and the two side plates 230 and the back plate 220 can protect the material. The particles generated inside the material receiving device cause contamination to the material.

[0076] As described above, the carrier assembly 330 may include two mounting plates 331, in Figure 1 In the embodiment shown, the two sides of the docking base plate 210 overlap with the two mounting plates 331 respectively, allowing the material actuator 200 to form a stable connection with the bearing assembly 330. Furthermore, this overlapping connection method can also, to some extent, prevent the generation of particles.

[0077] When feeding materials into the material receiving device, materials can be transferred from the material handling platform to the docking base plate 210 through the material opening and the material interface. In this embodiment of the invention, there are no specific limitations on how docking is achieved. Optionally, the docking plate 210 may include a support plate 211 and a plurality of rollers 212 disposed on the loading side of the support plate 211. The plurality of rollers 212 are arranged side by side, and the axial direction of the rollers 212 is consistent with the width direction of the material interface.

[0078] During material transfer, the roller 212 can be driven to rotate so that the material can smoothly enter the space defined by the material actuator 200.

[0079] Optionally, the material actuator 200 may further include a roller drive motor, which is mounted on the support plate 211 and can drive the roller 212 to rotate around its own axis.

[0080] In this embodiment of the utility model, the material receiving device may include a main control module 700, which can be electrically connected to the roller drive motor via a dust-free cable chain.

[0081] In this embodiment of the invention, the specific structure of the material door 120 is not specifically limited. As an optional implementation, the material door 120 can be a roller shutter door. Specifically, as... Figure 7 As shown, the material door 120 includes a roller shutter 121 and a counterweight 122 disposed at the free end of the roller shutter 121. Correspondingly, the device housing 100 also includes a door frame assembly 140, which includes a roller shutter roller 141, a roller drive assembly 142, and a door frame 143. The fixed end of the roller shutter 121 is disposed on the roller shutter roller 141. The roller drive assembly 142 is used to drive the roller shutter roller 141 to rotate, so as to wind the roller shutter 121 onto the roller shutter roller 141 or release the roller shutter 121 from the roller shutter roller 141.

[0082] The door frame 143 is arranged around the material opening and is used to be fixed on the movable base plate. The side edges of the roller shutter door 121 are connected to the door frame 143 in a sealed manner. The roller shutter door is convenient to store and can realize the sealing between the door frame, so that the clean room can be better prevented from being polluted by particles in the material containing device.

[0083] Optionally, the door frame assembly 140 can further include a first position detection member 143a arranged at the top of the door frame 143, and the material door 120 can further include a second position detection member 123 arranged at the bottom of the counterweight 122 and moving with the counterweight 122.

[0084] The signal output end of the first position detection member 143a is electrically connected to the signal input end of the roller drive assembly 142. The first position detection member 143a is used to send a just-in-place signal in the case that the second position detection member 123 enters the detection range of the first position detection member 143a. The roller drive assembly 142 is used to stop driving the roller 141 to rotate in the case that the just-in-place signal is received.

[0085] After receiving the just-in-place signal, the roller drive assembly 142 stops driving, so that the roller drive assembly can be prevented from being damaged due to exceeding the lifting stroke.

[0086] In the embodiment of the utility model, the second position detection member 123 can be a sheet metal member, and the first position detection member 143a can be a photoelectric sensor.

[0087] As an optional implementation, the door frame assembly 140 can further include a plurality of limiting members 143b arranged on the side frame of the door frame 143 and used to limit the roller shutter 121. In addition, the door frame 143 can be connected to the shell body 110 through the limiting members 143b.

[0088] In order to reduce the amount of particles generated in the lifting process of the roller shutter 121, optionally, a follower 124 can be arranged on the roller shutter 121. The follower 124 is used as a guide during the movement of the roller shutter 121, so that the resistance in the lifting process of the roller shutter 121 can be reduced.

[0089] The material containing device is arranged on the movable base plate 400 and moves with the base plate. It is possible to collide with other objects or equipment. In order to protect the material containing device, optionally, the material containing device further includes at least one collision strip 500, and the collision strip 500 is arranged on at least one outer rib of the device shell 100.

[0090] As an optional implementation, the device housing 100 is in the shape of a rectangular column, and accordingly, the device housing 100 includes four vertical outer ridges, and a corresponding impact strip 500 can be arranged on each of the four outer ridges, so that the material containing device can be better protected.

[0091] In the embodiments of the present application, the impact strip 500 can be detachably arranged on the outer ridge of the device housing 100, and once the impact strip 500 is damaged, the impact strip 500 can be replaced.

[0092] In the embodiments of the present application, the specific structure and material of the impact strip 500 are not specially limited, as long as they can avoid direct impact on the outer ridges of the device housing 100. In order to better protect the material containing device, optionally, as shown in Figure 8 The impact strip 500 can include a mounting strip 510 and a buffer strip 520 formed on the mounting strip 511, and the length direction of the mounting strip 510 is consistent with the length direction of the buffer strip 520. During installation, the mounting strip 510 is fixed at the outer ridge of the device housing 100, the buffer strip 520 is located on the side of the mounting strip 510 away from the device housing 100, and the length direction of the mounting strip 510 is consistent with the length direction of the device housing 100.

[0093] As an optional implementation, an adhesive can be provided on the mounting surface of the mounting strip 510, and the impact strip 500 is fixed to the outer surface of the device housing 100 by the adhesive.

[0094] In order to ensure that the impact strip 500 is firmly fixed to the device housing 100, optionally, a mounting hole 511 is provided on the mounting strip 510, and a threaded fastener (such as a screw or a bolt) is used to pass through the mounting hole 511 to fix the impact strip 500 to the outer surface of the device housing 100.

[0095] The material of the buffer strip 520 can be a material that is easy to elastically deform, such as silica gel or rubber. In the present application, the buffer strip 520 can be fixed to the mounting strip 510 by a fastener.

[0096] The material containing device includes a plurality of electronic components, which are uniformly scheduled and controlled by a master control module. That is, the material containing device further includes a master control module 700 and a controlled module electrically connected to the master control module. The roller drive assembly described above is one of the controlled modules.

[0097] In order to reduce the number of particles generated in the material containing device, optionally, the material containing device can further include at least one dust-free drag chain 600, and accordingly, the master control module 700 and the controlled module are electrically connected through the dust-free drag chain 600.

[0098] As an optional implementation, the buffer strips 520 can be made of piezoelectric material, and each buffer strip 520 is electrically connected with the master module 700. When the buffer strip 520 is impacted, an electric signal is generated and sent to the master module 700. After receiving the electric signal sent by the buffer strip 520, the master module 700 controls the chassis 400 to stop moving or adjusts the moving direction of the chassis 400.

[0099] As a second aspect of the present application, a material box robot is provided, as shown in Figure 1 The material box robot includes a material containing device and a movable chassis 400, the material containing device is arranged on the material-carrying side of the chassis 400, wherein the material containing device is the material containing device provided in the first aspect of the present application.

[0100] As described above, the material containing device has good sealing performance, which can reduce the amount of particles generated in the material containing device and released into the environment where the material containing device is located, so that the material box robot is more suitable for use in a clean room.

[0101] In the embodiments of the present application, the structure of the chassis 400 is not particularly limited, as long as it can carry the material containing device and drive the material containing device to move. As an optional implementation, as shown in Figure 10 and Figure 11 The chassis 400 includes a bottom plate 410, an enclosed cover 420, a plurality of traveling wheels (not shown) and a plurality of traveling wheel driving mechanisms 430.

[0102] The bottom plate 410 is arranged at the opening of the enclosed cover 420 to form an enclosed space, the traveling wheels are arranged on the bottom plate 410, the traveling wheel driving mechanisms 430 are arranged in the enclosed space, and the material containing device is arranged on the top surface of the enclosed cover 420.

[0103] In the above-mentioned embodiments, the enclosed cover 420 separates the material containing device from the traveling wheels of the chassis 400 and the traveling wheel driving mechanisms 430, which can avoid particles generated during the movement of the chassis 400 from entering the material containing device.

[0104] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the above specific embodiments and the drawings. Any modification that does not deviate from the functional and structural principles of the present application shall be included in the scope of the claims.

Claims

1. A material receiving device, the material receiving device comprising a device housing (100), a material actuator (200), and a lifting mechanism (300), the device housing (100) comprising a housing body (110) and a material door (120), a material cavity being formed in the housing body (110), a closable material opening being formed on the housing body (110), the material door (120) being used to seal the material opening, and the material actuator (200) being disposed in the material cavity, characterized in that, The lifting mechanism (300) is used to drive the material actuator (200) to rise and fall within the material cavity, and when the material door (120) closes the material opening, the material actuator (200), the material door (120), and the housing body (110) define a sealed space.

2. The material containing device according to claim 1, characterized in that, The housing body (110) includes an outer shell (112) and a gantry assembly (113). The gantry assembly (113) includes at least one column (113a) with a cavity. The outer shell (112) covers the outside of the gantry assembly (113). The bottom end of the column (113a) is used to fix it to a movable chassis (400). The lifting mechanism (300) includes at least one lifting power component (320) and at least one load-bearing component (330), both of which correspond to the column (113a); At least a portion of the lifting power assembly (320) is disposed in the cavity of the corresponding column (113a). The column (113a) has a guide groove (113a1) that cooperates with the corresponding bearing assembly (330). The length direction of the guide groove (113a1) is consistent with the height direction of the column (113a). A portion of the bearing assembly (330) is located in the cavity of the column (113a) and is connected to the corresponding lifting power assembly (320). Another portion of the bearing assembly (330) passes through the corresponding guide groove (113a1) and enters the material cavity. The material actuator (200) is connected to the portion of the carrier assembly (330) located in the material cavity.

3. The material receiving device according to claim 2, characterized in that, The main body of the shell (110) also includes an inner shell (111) and a column fixing assembly (114). The inner shell is located within the space defined by the outer shell (112). The inner shell (111) defines the material cavity, and a sandwich cavity is formed between the inner shell (111) and the outer shell (112). A column opening corresponding to the column (113a) is formed on the inner shell, so that a part of the column is located in the material cavity and another part is located in the sandwich cavity. The column fixing assembly (114) is disposed in the interlayer cavity and connects the column (113a) to the inner shell (111) and / or the outer shell (112).

4. The material receiving device according to claim 3, characterized in that, The gantry assembly (113) includes two columns (113a), the top opening of which communicates with the interlayer cavity; The lifting mechanism (300) includes a drive motor (310), a connecting shaft (340), two lifting power components (320), and two load-bearing components (330); the drive motor (310) is connected to the connecting shaft to drive the connecting shaft to rotate around its own axis; the drive motor and the connecting shaft are disposed on the top plate of the inner housing (111) and located between the top plate of the inner housing (111) and the top plate of the outer housing (112); The lifting power assembly (320) is a chain drive assembly. The driving wheels of the two chain drive assemblies are respectively located at both ends of the connecting shaft. The driven wheels of the two chain drive assemblies are respectively located in the cavities of the corresponding columns (113a) and fixed on the inner sidewalls of the columns. The transmission chain of the chain drive assembly passes around the driving wheel and the driven wheel of the chain drive assembly. The bearing assembly (330) is located on the corresponding transmission chain.

5. The material receiving device according to claim 4, characterized in that, The supporting component (330) includes a mounting plate (331), a connecting plate (332), and at least one slider (333). A portion of the slider (333) is located in the cavity and connected to the lifting power component (320). Another portion of the slider (333) is inserted into a corresponding guide groove (113a1). The connecting plate (332) is connected to the portion of the corresponding slider (333) located in the guide groove (113a1). The mounting plate (331) is disposed on the connecting plate (332). The mounting plate (331) and the slider (333) are respectively located on both sides of the corresponding connecting plate (332). The material actuator (200) is supported on the mounting plate (331) by overlapping.

6. The material receiving device according to claim 5, characterized in that, The support component (330) includes two sliders (333), which are spaced apart along the length of the corresponding guide grooves (113a1).

7. The material receiving device according to any one of claims 1 to 6, characterized in that, The material execution mechanism (200) includes a docking base plate (210), a back plate (220), and two opposing side plates (230). The two side plates (230) are respectively disposed on both sides of the docking base plate (210), and the back plate (220) is disposed on the docking base plate (210). The back plate (220) and the two side plates (230) are respectively located at three different sides of the docking base plate (210) to define a material interface facing the material opening. The docking base plate (210) is connected to the lifting mechanism (300).

8. The material receiving device according to claim 7, characterized in that, The docking base plate (210) includes a support plate (211) and a plurality of rollers (212) arranged side by side on the load-bearing side of the support plate (211). The support plate (211) is connected to the lifting mechanism (300). The plurality of rollers (212) are rotatably arranged on the support plate (211) around their own axis, and the axial direction of the rollers (212) is consistent with the width direction of the material interface.

9. The material receiving device according to any one of claims 1 to 6, characterized in that, The material door (120) includes a roller shutter (121) and a counterweight (122) disposed at the free end of the roller shutter (121). The device housing (100) also includes a door frame assembly (140), which includes a roller shutter roller (141), a roller drive assembly (142), and a door frame (143). The fixed end of the roller shutter (121) is disposed on the roller shutter roller (141). The roller drive assembly (142) is used to drive the roller shutter roller (141) to rotate so as to wind the roller shutter (121) onto the roller shutter roller (141) or release the roller shutter (121) from the roller shutter roller (141). The door frame (143) is arranged around the material opening, and the door frame (143) is used to fix it on the movable chassis (400), and the side of the roller shutter (121) can form a sealed connection with the door frame.

10. The material receiving device according to claim 9, characterized in that, The door frame assembly (140) further includes a first position detection element (143a), which is disposed at the top of the door frame (143). The material door (120) further includes a second position detection element (123), which is disposed at the bottom of the counterweight (122) and moves with the counterweight (122). The signal output terminal of the first position detection element (143a) is electrically connected to the signal input terminal of the roller drive assembly (142). The first position detection element (143a) is used to issue a positioning signal when the second position detection element (123) enters the detection range of the first position detection element (143a). The roller drive assembly (142) is used to stop driving the roller shutter roller (141) to rotate when the positioning signal is received.

11. The material receiving device according to any one of claims 1 to 6, characterized in that, The material receiving device further includes at least one collision strip (500), which is provided on at least one outer rib of the housing.

12. The material receiving device according to any one of claims 1 to 6, characterized in that, The material receiving device further includes a main control module, at least one controlled module, and at least one dust-free cable chain, wherein the main control module and the controlled module are electrically connected through the dust-free cable chain.

13. A bin robot, the bin robot comprising a material receiving device and a movable chassis (400), the material receiving device being disposed on the loading side of the chassis (400), characterized in that, The material containing device is the material containing device according to any one of claims 1 to 12.

14. The bin robot according to claim 13, characterized in that, The chassis (400) includes a base plate (410), a closed cover (420), multiple wheels and multiple wheel drive mechanisms (430). The base plate is disposed at the opening of the closed cover to form a closed space. The wheels are disposed on the base plate. The wheel drive mechanisms are disposed in the closed space. The material receiving device is disposed on the top surface of the closed cover.

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