Stretching feeding manipulator

Abstract

The utility model discloses a stretching feeding manipulator, and relates to the technical field of feeding manipulators. The device comprises a working table, a transfer table is installed at one end of the working table, a supporting mechanism is installed at the top of the working table, a moving mechanism is installed at the top of the supporting mechanism, a first air cylinder is installed on the moving mechanism, a first mechanical arm is installed at the bottom of the first air cylinder, and a wafer containing mechanism is installed on the working table. When the second manipulator stops working due to faults, process adjustment and the like, the first manipulator can still continuously place the wafers on the wafer containing mechanism, and the wafer containing mechanism can be used as a temporary caching platform to continuously receive the wafers conveyed by an upstream process and carry out stacking storage, so that the working efficiency is improved. The situation that the upstream procedure is forced to stop synchronously due to shutdown of the downstream manipulator is avoided, the strong coupling of the upstream procedure and the downstream procedure is effectively achieved, the overall pause time of a production line is shortened, and the stability and flexibility of a production system are greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of loading robot technology, and specifically relates to a stretching loading robot. Background Technology

[0002] In the production and manufacturing process of tanks, the production process of the round plates is crucial. Traditional tank round plate production often involves cutting materials from fixed-length plates to obtain semi-circular plates, which are then transported to the stacking area for use in subsequent processes.

[0003] In the existing wafer transfer robot system, when using a single wafer handling mode, the upstream robot moves the wafer to the placement position and then performs a wafer placement action. At this time, the downstream robot performs a gripping operation, while the upstream robot needs to return to the original station to pick up the wafer again. In this mode, the actions of the upstream and downstream robots are strongly coupled. When either the upstream or downstream robot needs to stop working due to process adjustments or other reasons, both will be forced to stop synchronously, causing the entire production line to come to a standstill and further exacerbating the loss of production efficiency.

[0004] No effective solutions have yet been proposed to address the problems in the relevant technologies. Utility Model Content

[0005] In view of the problems in the related technologies, this utility model proposes a stretching and feeding robot to overcome the above-mentioned technical problems existing in the existing related technologies.

[0006] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0007] This utility model relates to a stretching and feeding robot, comprising a worktable, a transfer platform mounted at one end of the worktable, a support mechanism mounted on the top of the worktable, a moving mechanism mounted on the top of the support mechanism, a first cylinder mounted on the moving mechanism, a first robot arm mounted at the bottom of the first cylinder, a circular plate holding mechanism mounted on the worktable, a lifting mechanism mounted inside the worktable that can pass through the circular plate holding mechanism, multiple rolling wheels symmetrically mounted on the top of the transfer platform, a power mechanism mounted on the top of the transfer platform, a pushing mechanism mounted on the power mechanism, a connecting frame mounted on the top of the transfer platform, a second cylinder mounted at one end of the connecting frame, a moving plate mounted on the second cylinder that is slidably mounted to the connecting frame, a third cylinder mounted on the moving plate, and a second robot arm mounted on the third cylinder.

[0008] Furthermore, the support mechanism includes a support frame, on the top of which a gear rack and two guide rails are mounted.

[0009] Furthermore, the moving mechanism includes a sliding frame, which is slidably mounted on two guide rails. A drive motor is fixedly mounted on the sliding frame, and a rotating gear is fixedly mounted on the output shaft of the drive motor. The rotating gear meshes with the gear rack, and the first cylinder is fixedly mounted on the sliding frame.

[0010] Furthermore, the first robotic arm includes a first quadrupole, which is mounted on the first cylinder, and each of the four corners of the first quadrupole is equipped with a first suction cup.

[0011] Furthermore, the disc holding mechanism includes a servo motor and a driven gear. The servo motor is fixedly mounted on the worktable, and a driving gear is fixedly mounted on the output end of the servo motor. The driving gear meshes with the driven gear.

[0012] Furthermore, the driven gear is rotatably mounted on the worktable, and a process switching disk is fixedly mounted on the top of the driven gear. Multiple limit bars are mounted on the top of the process switching disk, and circular holes are symmetrically opened on the process switching disk.

[0013] Furthermore, the lifting mechanism includes a fourth cylinder, which is fixedly mounted on the worktable, and a top plate is fixedly mounted on one end of the fourth cylinder.

[0014] Furthermore, the power mechanism includes two synchronous pulleys and a power motor. One of the two synchronous pulleys is rotatably mounted on the transfer platform, and the power motor is fixedly mounted on the transfer platform. The other synchronous pulley is fixedly mounted on the output shaft of the power motor, and a synchronous belt meshes between the two synchronous pulleys.

[0015] Furthermore, the ejection mechanism includes a fixed rod, which is fixedly mounted on the timing belt and slidably mounted on the worktable. A push plate is fixedly mounted on one end of the fixed rod.

[0016] Furthermore, the second robotic arm includes a second quadrupole, which is mounted on the third cylinder, and a second suction cup is installed at each of the four corners of the second quadrupole.

[0017] This utility model has the following beneficial effects:

[0018] If the second robotic arm stops working due to malfunction, process adjustment, or other reasons, the first robotic arm can still continue to place the discs onto the disc holding mechanism. At this time, the disc holding mechanism can serve as a temporary buffer platform, continuously receiving discs from the upstream process and stacking and storing them. This avoids the situation where the upstream process is forced to stop synchronously due to the shutdown of the downstream robotic arm, effectively solving the strong coupling between the upstream and downstream processes, reducing the overall downtime of the production line, and greatly improving the stability and flexibility of the production system.

[0019] If the first robotic arm stops working due to malfunction, process adjustment, or other reasons, the stacked discs in the disc holding mechanism serve as a buffer. At this time, the second robotic arm can continue to start the third cylinder according to the original process, driving it to move down and grab the top disc. The lifting mechanism starts simultaneously, pushing the remaining discs to rise to the corresponding height according to the number of discs grabbed. Even if the first robotic arm stops feeding discs, the disc holding mechanism can still serve as an independent supply source.

[0020] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the utility model embodiments, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0023] Figure 2 This is a schematic diagram of the first cylinder of this utility model;

[0024] Figure 3 This is a diagram showing the interior of the workbench of this utility model;

[0025] Figure 4 This is a structural diagram of the overall power mechanism and the overall ejection mechanism of this utility model;

[0026] Figure 5 This is an overall structural diagram of the support mechanism of this utility model;

[0027] Figure 6 This is a structural diagram of the overall circular plate holding mechanism and the lifting mechanism of this utility model;

[0028] Figure 7 This is a schematic diagram of the drive motor and rotating gear of this utility model.

[0029] The attached diagram lists the components represented by each number as follows:

[0030] 1. Workbench; 2. Transfer table; 3. Support mechanism; 301. Support frame; 302. Gear rack; 303. Guide rail; 4. Moving mechanism; 401. Sliding frame; 402. Drive motor; 403. Rotating gear; 5. First cylinder; 6. First robot arm; 601. First quadrupole; 602. First suction cup; 7. Disc holding mechanism; 701. Servo motor; 702. Driven gear; 703. Driven gear; 704. Process switching panel; 705. Limit Positioning bar; 706, round hole; 8, lifting mechanism; 801, fourth cylinder; 802, top plate; 9, rolling wheel; 10, power mechanism; 1001, synchronous pulley; 1002, power motor; 1003, synchronous belt; 11, ejection mechanism; 1101, fixed rod; 1102, push plate; 12, connecting frame; 13, second cylinder; 14, moving plate; 15, third cylinder; 16, second robotic arm; 1601, second quadrupole; 1602, second suction cup. Detailed Implementation

[0031] The technical solutions of the utility model embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the utility model, and not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the utility model.

[0032] In the description of this utility model, it should be understood that the terms "opening", "upper", "lower", "top", "middle", "inner", etc., which indicate orientation or positional relationship, are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the utility model.

[0033] Please see Figures 1-7As shown, this utility model is a stretching and feeding robot, including a worktable 1, a transfer platform 2 installed at one end of the worktable 1, a support mechanism 3 installed on the top of the worktable 1, a moving mechanism 4 installed on the top of the support mechanism 3, a first cylinder 5 installed on the moving mechanism 4, a first robot arm 6 installed at the bottom of the first cylinder 5, a circular plate holding mechanism 7 installed on the worktable 1, a lifting mechanism 8 installed inside the worktable 1, the lifting mechanism 8 can pass through the circular plate holding mechanism 7, multiple rolling wheels 9 symmetrically installed on the top of the transfer platform 2, a power mechanism 10 installed on the top of the transfer platform 2, a push-out mechanism 11 installed on the power mechanism 10, a connecting frame 12 installed on the top of the transfer platform 2, a second cylinder 13 installed at one end of the connecting frame 12, a moving plate 14 installed on the second cylinder 13, the moving plate 14 is slidably installed with the connecting frame 12, a third cylinder 15 installed on the moving plate 14, and a second robot arm 16 installed on the third cylinder 15.

[0034] Workbench 1 serves as the basic support platform, providing stable support for support mechanism 3. When a semi-circular piece needs to be transported, the moving mechanism 4 on support mechanism 3 is activated. Guided and supported by support mechanism 3, moving mechanism 4 moves along its preset trajectory to the position above the piece to be grasped. Then, the first cylinder 5 is activated, pushing the first robotic arm 6 towards the grasping position. After the first robotic arm 6 contacts the surface of the piece and completes the grasping action, the first cylinder 5 retracts. Then, moving mechanism 4 is activated in reverse, moving the first cylinder 5, the first robotic arm 6, and the grasped piece. Above one end of the disc holding mechanism 7, the first cylinder 5 is activated again, causing the first robotic arm 6 to place the disc onto the disc holding mechanism 7. Then, the first robotic arm 6 releases the disc, and the disc is placed on the disc holding mechanism 7. By repeating the above process, the discs are stacked on the disc holding mechanism 7 one by one. When the number of stacked discs reaches the set value, the disc holding mechanism 7 is activated, rotating the stacked discs to the gripping position of the next process. At the same time, its empty position is moved synchronously to the placement position of the first robotic arm 6, ensuring that the gripping and placement operations of the first robotic arm 6 are not affected, and continuous operation is achieved.

[0035] When the downstream robotic arm needs to grasp the disc, the third cylinder 15 is activated, driving the second robotic arm 16 to move downwards towards the stacked discs. After the second robotic arm 16 grasps the disc, the third cylinder 15 drives the second robotic arm 16 and the disc upwards. At this time, the second cylinder 13 retracts, driving the moving plate 14 to move. Since the moving plate 14 and the connecting frame 12 are slidably installed, the moving plate 14 will move along the connecting frame 12, thereby driving the third cylinder 15, the second robotic arm 16, and the disc to move above the symmetrically arranged multiple rolling wheels 9. The wheel 9 and the transfer table 2 are rotatably mounted. Then, the third cylinder 15 controls the second robot arm 16 and the gripped disc to move downwards, placing the disc onto multiple rolling wheels 9. The second robot arm 16 releases the disc, and the third cylinder 15 then controls the second robot arm 16 to move upwards again, and then grab the disc on the disc holding mechanism 7. Subsequently, the power mechanism 10 on the transfer table 2 is activated. The power mechanism 10 drives the push mechanism 11 to move towards the disc on the multiple rolling wheels 9, pushing the disc out along the rolling direction of the multiple rolling wheels 9 and conveying it to the next process, completing the transfer of the disc.

[0036] During the process of the second robotic arm 16 grasping the discs, as the discs are grasped one by one, the height of the stacked discs will gradually decrease. Therefore, when the second robotic arm 16 grasps a disc, the lifting mechanism 8 is activated, pushing the stacked discs upward along the disc holding mechanism 7. The rising height is exactly the thickness of one disc. If two discs have been grasped at this point, the lifting mechanism 8 will push the discs up by the height of two discs. This process continues, always keeping the top disc at a height that is easy for the second robotic arm 16 to grasp. When the second robotic arm 16 has grasped all the stacked discs, the lifting mechanism 8 returns to its initial position. Then, the disc holding mechanism 7 rotates, rotating the newly stacked discs of the first robotic arm 6 to the grasping position of the second robotic arm 16, ensuring the continuous operation of the downstream process.

[0037] If the second robot arm 16 stops working due to malfunction, process adjustment or other reasons, the first robot arm 6 can still continue to place the discs onto the disc holding mechanism 7. At this time, the disc holding mechanism 7 can serve as a temporary buffer platform, continuously receiving discs from the upstream process and stacking and storing them. This avoids the situation where the upstream process is forced to stop synchronously due to the shutdown of the downstream robot arm, effectively solving the strong coupling between the upstream and downstream processes, reducing the overall downtime of the production line, and greatly improving the stability and flexibility of the production system.

[0038] If the first robotic arm 6 stops working due to malfunction, process adjustment, or other reasons, the stacked discs in the disc holding mechanism 7 serve as a buffer. At this time, the second robotic arm 16 can continue to start the third cylinder 15 according to the original process, driving it to descend and grab the top disc. The lifting mechanism 8 starts simultaneously, pushing the remaining discs to rise to the corresponding height according to the number of discs grabbed. Even if the first robotic arm 6 stops supplying discs, the disc holding mechanism 7 can still serve as an independent supply source.

[0039] In one embodiment, the support mechanism 3 includes a support frame 301, on the top of which a gear rack 302 and two guide rails 303 are mounted.

[0040] The moving mechanism 4 includes a sliding frame 401, which is slidably mounted on two guide rails 303. A drive motor 402 is fixedly mounted on the sliding frame 401. A rotating gear 403 is fixedly mounted on the output shaft of the drive motor 402. The rotating gear 403 meshes with the gear rack 302. The first cylinder 5 is fixedly mounted on the sliding frame 401.

[0041] The first robotic arm 6 includes a first quadrupole 601, which is mounted on the first cylinder 5. Each of the four corners of the first quadrupole 601 is equipped with a first suction cup 602.

[0042] The top of the support frame 301 is fixed with a gear rack 302 and two guide rails 303. When the system initiates a handling command, the drive motor 402 is activated. The sliding frame 401 forms a sliding engagement with the guide rails 303 through the bottom slider, ensuring movement along a straight trajectory. Simultaneously, the drive motor 402 on the sliding frame 401 can drive the rotating gear 403 to mesh with the gear rack 302, thereby converting the rotational motion of the drive motor 402 into the linear motion of the sliding frame 401. When the sliding frame 401, carrying the first cylinder 5, moves above the position to be gripped, the first cylinder 5... The first quadrant 601, fixed to it, extends downwards and pushes it down. After the first suction cups 602 at the four corners of the first quadrant 601 contact the surface of the disc, the vacuum system is activated to create negative pressure, adsorbing the disc onto the four first suction cups 602. Then, the first cylinder 5 retracts, and the drive motor 402 rotates in the opposite direction. Through the action of the rotating gear 403 and the gear rack 302, the sliding frame 401 moves along the guide rail 303 to directly above the disc holding mechanism 7. At this time, the first cylinder 5 extends again, the vacuum system breaks the vacuum and releases the disc, completing the complete cycle from disc picking to disc placement.

[0043] When the first robotic arm 6 stops working due to malfunction, process adjustment or other reasons, the sliding frame 401 can stop at the buffer station, while the downstream second robotic arm 16 can continue to work through the stock buffer of the disc holding mechanism 7, which reflects the advantages of the decoupling design between mechanical structure and process logic.

[0044] In one embodiment, the disc holding mechanism 7 includes a servo motor 701 and a driven gear 702. The servo motor 701 is fixedly mounted on the worktable 1, and a drive gear 703 is fixedly mounted on the output end of the servo motor 701. The drive gear 703 meshes with the driven gear 702.

[0045] The driven gear 702 is rotatably mounted on the worktable 1. A process switching disk 704 is fixedly mounted on the top of the driven gear 702. Multiple limit bars 705 are mounted on the top of the process switching disk 704. Circular holes 706 are symmetrically opened on the process switching disk 704.

[0046] The lifting mechanism 8 includes a fourth cylinder 801, which is fixedly installed on the workbench 1, and a top plate 802 is fixedly installed at one end of the fourth cylinder 801.

[0047] The power mechanism 10 includes two synchronous pulleys 1001 and a power motor 1002. One of the two synchronous pulleys 1001 is rotatably mounted on the transfer table 2, and the power motor 1002 is fixedly mounted on the transfer table 2. The other synchronous pulley 1001 is fixedly mounted on the output shaft of the power motor 1002. A synchronous belt 1003 meshes between the two synchronous pulleys 1001.

[0048] The ejection mechanism 11 includes a fixed rod 1101, which is fixedly installed on the synchronous belt 1003 and slidably installed on the worktable 1. A push plate 1102 is fixedly installed at one end of the fixed rod 1101.

[0049] The second robotic arm 16 includes a second quadrupole 1601, which is mounted on the third cylinder 15. A second suction cup 1602 is installed at each of the four corners of the second quadrupole 1601.

[0050] The drive gear 703 at the output end of the servo motor 701 meshes with the driven gear 702. When it is necessary to rotate the process switching disk 704, the servo motor 701 is started. The output end of the servo motor 701 drives the drive gear 703 to rotate, which in turn drives the driven gear 702 to rotate. Subsequently, the driven gear 702 drives the process switching disk 704 to rotate. The limiting bar 705 at the top of the process switching disk 704 forms a circular constraint space for the stacked discs, and the symmetrically opened circular holes 706 provide a lifting channel for the top plate 802. When the second robotic arm 16 picks up a disc from the process switching plate 704, the fourth cylinder 801 pushes the top plate 802 through the circular hole 706, and rises synchronously to the corresponding height according to the number of discs picked up, ensuring that the topmost disc is always in a fixed picking position. In addition, multiple limit bars 705 on the process switching plate 704 constrain the horizontal movement of the discs, so that when the discs stacked on the top plate 802 move, they can move vertically along the multiple limit bars 705. If the discs at this station are exhausted, the top plate 802 retracts to the initial position to wait for new discs. The wafers are stacked, and simultaneously, the servo motor 701 drives the process switching disk 704 to rotate, switching the next full-load station to the gripping area. The second robot arm 16 drives the second quadrupole 1601 to move up and down through the third cylinder 15. When the third cylinder 15 drives the second quadrupole 1601 to descend to the surface of the wafer, the vacuum system is activated to form a negative pressure, and the four second suction cups 1602 adsorb the wafer. Then the third cylinder 15 retracts, and the second cylinder 13 drives the moving plate 14 to move along the connecting frame 12 to the rolling wheel 9. Above, the third cylinder 15 extends again to place the disc onto the rolling wheel 9. At the same time, the vacuum system breaks the vacuum and releases the disc. The power motor 1002 drives the synchronous wheel 1001 on the output shaft to rotate, which drives another synchronous wheel 1001 to rotate through the synchronous belt 1003. The fixed rod 1101 fixed on the synchronous belt 1003 moves with the belt body, pushing the push plate 1102 to push the disc on the rolling wheel 9 to the next process. When the synchronous belt 1003 completes a single-pass conveying, the push plate 1102 returns to its original position, ready for the next pushing action.

[0051] When the second robot arm 16 stops working due to malfunction, process adjustment or other reasons, the moving plate 14 can stop on the connecting frame 12, and the first robot arm 6 can still continue to place the discs onto the process switching disk 704. At this time, the process switching disk 704 can serve as a temporary buffer platform to continuously receive discs from the upstream process and store them in a stack.

[0052] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0053] The preferred embodiments of the utility model disclosed above are merely illustrative of the utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the utility model, thereby enabling those skilled in the art to better understand and utilize it. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A stretching and feeding robot, comprising a worktable (1), wherein a transfer platform (2) is mounted at one end of the worktable (1), characterized in that: A support mechanism (3) is installed on the top of the workbench (1), a moving mechanism (4) is installed on the top of the support mechanism (3), a first cylinder (5) is installed on the moving mechanism (4), a first robotic arm (6) is installed at the bottom of the first cylinder (5), a circular plate holding mechanism (7) is installed on the workbench (1), a lifting mechanism (8) is installed inside the workbench (1), the lifting mechanism (8) can pass through the circular plate holding mechanism (7), and multiple rolling wheels (9) are symmetrically installed on the top of the transfer table (2). A power mechanism (10) is installed on the top of the transfer platform (2), and an ejection mechanism (11) is installed on the power mechanism (10). A connecting frame (12) is installed on the top of the transfer platform (2), and a second cylinder (13) is installed at one end of the connecting frame (12). A moving plate (14) is installed on the second cylinder (13), and the moving plate (14) is slidably installed with the connecting frame (12). A third cylinder (15) is installed on the moving plate (14), and a second robotic arm (16) is installed on the third cylinder (15).

2. The stretching and feeding robot according to claim 1, characterized in that, The support mechanism (3) includes a support frame (301), on the top of which a gear rack (302) and two guide rails (303) are mounted.

3. The stretching and feeding robot according to claim 2, characterized in that, The moving mechanism (4) includes a sliding frame (401), which is slidably mounted on two guide rails (303). A drive motor (402) is fixedly mounted on the sliding frame (401), and a rotating gear (403) is fixedly mounted on the output shaft of the drive motor (402). The rotating gear (403) meshes with the gear rack (302). The first cylinder (5) is fixedly mounted on the sliding frame (401).

4. The stretching and feeding robot according to claim 1, characterized in that, The first robotic arm (6) includes a first quadrupole (601), which is mounted on the first cylinder (5). Each of the four corners of the first quadrupole (601) is equipped with a first suction cup (602).

5. The stretching and feeding robot according to claim 1, characterized in that, The disc holding mechanism (7) includes a servo motor (701) and a driven gear (702). The servo motor (701) is fixedly installed on the worktable (1). The output end of the servo motor (701) is fixedly installed with a drive gear (703), which meshes with the driven gear (702).

6. A stretching and feeding robot according to claim 5, characterized in that, The driven gear (702) is rotatably mounted on the worktable (1). A process switching disk (704) is fixedly mounted on the top of the driven gear (702). Multiple limit bars (705) are mounted on the top of the process switching disk (704). Circular holes (706) are symmetrically opened on the process switching disk (704).

7. The stretching and feeding robot according to claim 1, characterized in that, The lifting mechanism (8) includes a fourth cylinder (801), which is fixedly installed on the workbench (1), and a top plate (802) is fixedly installed at one end of the fourth cylinder (801).

8. A stretching and feeding robot according to claim 2, characterized in that, The power mechanism (10) includes two synchronous pulleys (1001) and a power motor (1002). One of the two synchronous pulleys (1001) is rotatably mounted on the transfer table (2), and the power motor (1002) is fixedly mounted on the transfer table (2). The other synchronous pulley (1001) is fixedly mounted on the output shaft of the power motor (1002). A synchronous belt (1003) meshes between the two synchronous pulleys (1001).

9. A stretching and feeding robot according to claim 8, characterized in that, The ejection mechanism (11) includes a fixed rod (1101), which is fixedly installed on the timing belt (1003) and slidably installed on the worktable (1). A push plate (1102) is fixedly installed at one end of the fixed rod (1101).

10. A stretching and feeding robot according to claim 1, characterized in that, The second robotic arm (16) includes a second quadrupole (1601), which is mounted on the third cylinder (15). Each of the four corners of the second quadrupole (1601) is equipped with a second suction cup (1602).

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