Carrying mechanism and carrying device

Abstract

The utility model provides a carrying mechanism and a carrying device. The carrying mechanism comprises a moving assembly and a taking and placing assembly, and the moving assembly is movably arranged; the taking and placing assembly comprises a material distributing driving part and a plurality of taking and placing parts, and the material distributing driving part is arranged on the moving assembly; the taking and placing pieces can take and place workpieces, and the material distribution driving piece is in driving connection with the multiple taking and placing pieces and can drive the multiple taking and placing pieces to be close to each other or away from each other. According to the carrying mechanism provided by the invention, the movable moving assembly is arranged, so that the taking and placing assembly can integrally move; the material distribution driving piece drives the multiple taking and placing pieces to be close to or far away from one another, so that the distance between the taking and placing pieces is adjusted, the workpieces are prevented from being collided due to the too small distance in the carrying process, and the carrying safety and efficiency are improved.

Description

Technical Field

[0001] This application belongs to the field of material handling equipment technology, and more specifically, relates to a material handling mechanism and a material handling device. Background Technology

[0002] In the processing of brittle semiconductor materials, it is generally necessary to first cut the brittle semiconductor material into several pieces, cut the large pieces of brittle semiconductor material into the required size according to the requirements, and then transport each piece of material to the corresponding work station.

[0003] The related technology discloses a handling mechanism for handling brittle semiconductor materials after cutting. However, due to the unreasonable setting of the handling mechanism, the materials of adjacent blocks are damaged by collision during the handling process. Utility Model Content

[0004] This application provides a handling mechanism that can effectively prevent collisions and damage between materials of adjacent blocks during the aforementioned handling process.

[0005] The technical solution adopted in this application is: to provide a handling mechanism, including a moving component and a picking and placing component, wherein the moving component is movably disposed; the picking and placing component includes a material dispensing drive and a plurality of picking and placing components, wherein the material dispensing drive is disposed on the moving component; the picking and placing components can pick up and place workpieces, and the material dispensing drive is drivenly connected to the plurality of picking and placing components, wherein the material dispensing drive can drive the plurality of picking and placing components to move closer to or further away from each other.

[0006] Furthermore, the material distribution drive unit is provided with multiple drive output units, and the material distribution drive unit can drive the multiple drive output units to move closer to or further away from each other, and each of the pick-and-place components is connected to one of the drive output units.

[0007] Furthermore, the pick-and-place member is movably disposed on the moving component.

[0008] Furthermore, the moving component includes a moving base and a connecting base. The moving base is adjustable and movable in the horizontal direction, and the connecting base is adjustable and movable in the vertical direction on the moving base. The material dispensing drive is located on the connecting base, and the picking and placing component is movable and movable in the horizontal direction on the connecting base.

[0009] Furthermore, the pick-and-place component is used to pick up and place workpieces, and the conveying mechanism also includes a conveying component for conveying surplus material; the conveying component includes a mounting base and a conveying member, the conveying member can pick up and place surplus material, the conveying member is disposed on the mounting base, the mounting base is connected to the moving component, and the conveying member and the pick-and-place component are arranged to avoid each other.

[0010] Furthermore, the moving component includes a moving base and a connecting base. The moving base is adjustable and movable in the horizontal direction, and the connecting base is adjustable and movable in the vertical direction on the moving base. The material dispensing drive is located on the connecting base, and the picking and placing component is movable and movable in the horizontal direction on the connecting base. The mounting base is adjustable and movable in the vertical direction on the moving base, and the mounting base and the connecting base are arranged to avoid each other in the vertical direction.

[0011] Furthermore, the conveying mechanism also includes a first driving member, which is disposed on the movable seat and drivenly connected to the connecting seat. The first driving member can drive the connecting seat to move up and down in the vertical direction. The conveying mechanism also includes a second driving member, which is disposed on the movable seat and drivenly connected to the mounting seat. The second driving member can drive the mounting seat to move up and down in the vertical direction.

[0012] Furthermore, both the pick-and-place component and the transport component employ a vacuum adsorption pick-and-place mechanism, and both the first driving component and the second driving component are cylinders, with each cylinder connected to a pressure reducing valve.

[0013] Furthermore, the mounting base is provided with a through hole in the vertical direction. The first driving member can drive the connecting base, the material dispensing driving member and the picking and placing member disposed on the connecting base to simultaneously pass through the through hole in the vertical direction, and make the picking and placing end of the picking and placing member protrude downward from the picking and placing end of the conveying member. When the picking and placing end of the picking and placing member protrudes downward from the picking and placing end of the conveying member, the material dispensing driving member can drive multiple picking and placing members to move closer to or further away from each other in the horizontal direction.

[0014] This application also provides a handling device, including a support frame, a drive mechanism, and any of the handling mechanisms described above. The drive mechanism is disposed on the support frame, and the moving component of the handling mechanism is movably disposed on the support frame. The drive mechanism is drivenly connected to the moving component, and the drive mechanism can drive the moving component to move.

[0015] In the handling mechanism provided in this application, a movable moving component is set to enable the picking and placing component to move as a whole; the material distribution drive component drives multiple picking and placing components to move closer or further away from each other, thereby adjusting the distance between the picking and placing components and avoiding collisions of workpieces due to insufficient distance during handling.

[0016] Therefore, the handling mechanism of this application can realize the synchronous handling of multiple workpieces. By dynamically adjusting the distance between the pick-up and drop-off parts, it can effectively prevent workpiece collisions and improve handling safety and efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A three-dimensional structural diagram of the conveying mechanism provided in the embodiments of this application;

[0019] Figure 2 This is a schematic diagram of the bottom structure of the conveying mechanism provided in the embodiments of this application;

[0020] Figure 3 A schematic diagram of the cooperative structure of the moving component and the picking and placing component provided in the embodiments of this application;

[0021] Figure 4 This is a three-dimensional structural diagram of the conveying device provided in the embodiments of this application.

[0022] The following are the labeling elements in the figure:

[0023] 10. Handling mechanism; 11. Moving component; 111. Moving seat; 112. Connecting seat; 12. Pick-and-place component; 121. Material distribution drive component; 1211. Drive output unit; 122. Pick-and-place component; 13. Handling component; 131. Mounting seat; 1311. Through hole; 132. Handling component; 14. First drive component; 15. Second drive component; 20. Handling device; 21. Support frame; 22. Drive mechanism. Detailed Implementation

[0024] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0025] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0026] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., 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 limitations on this application.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0028] Please see Figure 1 and Figure 3 The conveying mechanism 10 provided in the embodiments of this application will now be described. The conveying mechanism 10 provided in the embodiments of this application includes a moving component 11 and a pick-and-place component 12. The moving component 11 is movably disposed. The pick-and-place component 12 includes a material distribution drive component 121 and a plurality of pick-and-place components 122. The material distribution drive component 121 is disposed on the moving component 11. The pick-and-place components 122 can pick up and place workpieces. The material distribution drive component 121 is drivenly connected to the plurality of pick-and-place components 122. The material distribution drive component 121 can drive the plurality of pick-and-place components 122 to move closer to or further away from each other.

[0029] In the conveying mechanism 10 provided in this embodiment, a movable moving component 11 is provided, enabling the pick-and-place component 12 to move as a whole; the material distribution drive component 121 drives multiple pick-and-place components 122 to move closer or further apart, thereby adjusting the spacing between the pick-and-place components 122 and preventing workpieces from colliding due to insufficient spacing during the conveying process. This solves the problem that adjacent workpieces are prone to collision damage when the traditional conveying mechanism 10 is conveying multiple workpieces.

[0030] Therefore, the handling mechanism 10 of this application embodiment can realize the synchronous handling of multiple workpieces. By dynamically adjusting the spacing between the pick-up and place-down parts 122, it can effectively prevent workpieces from bumping into each other and improve the safety and efficiency of handling.

[0031] It should be noted that the material distribution drive component 121 can be a cylinder, an electric push rod, or a lead screw and nut mechanism, etc., and the picking and placing component 122 can be a vacuum suction cup, a mechanical gripper, or a magnetic suction device, etc.

[0032] Please see Figure 3Furthermore, the material distribution drive 121 in the above embodiment is provided with a plurality of drive outputs 1211. The material distribution drive 121 can drive the plurality of drive outputs 1211 to move closer to or further away from each other. Each pick-up and put-down member 122 is connected to a drive output 1211.

[0033] The material distribution drive unit 121 is provided with multiple drive output units 1211, each of which is connected to a pick-and-place unit 122. By controlling the movement of each output unit, the material distribution drive unit 121 enables the pick-and-place units 122 to move individually or collaboratively, thereby flexibly adjusting the spacing, improving the accuracy and flexibility of the material distribution drive, adapting to workpieces of different sizes and layouts, and further reducing the risk of collisions. In this embodiment, the material distribution drive unit 121 drives multiple drive output units 1211 to move synchronously as an example, while the material distribution drive unit 121 can be a multi-jaw cylinder.

[0034] In the above embodiment, the pick-and-place component 122 is movably disposed on the moving component 11. Thus, the pick-and-place component 122 is movably disposed on the moving component 11, so that it can not only move as a whole under the drive of the moving component 11, but also improve the movement stability of its own structure by means of the structure of the moving component 11, which helps to improve the stability of picking up and placing workpieces and transporting workpieces.

[0035] The movable connection between the pick-and-place component 122 and the moving component 11 can be such that the pick-and-place component 122 is mounted on the moving component 11 via a guide rail slider and is driven to move by the material dispensing drive component 121.

[0036] Please see Figure 3 Furthermore, the moving component 11 in the above embodiments may include a moving base 111 and a connecting base 112. The moving base 111 is movable and adjustable in the horizontal direction, and the connecting base 112 is adjustable in the vertical direction on the moving base 111. The material dispensing drive component 121 is disposed on the connecting base 112, and the picking and placing component 122 is movable in the horizontal direction on the connecting base 112.

[0037] This can be understood as follows: the moving component 11 includes a horizontally movable seat 111 and a vertically adjustable connecting seat 112. Of course, the specific direction of movement depends on actual needs and is not limited to the horizontal or vertical direction. The material distribution drive component 121 and the pick-and-place component 122 are installed on the connecting seat 112. Through the linkage adjustment in the horizontal and vertical directions, the pick-and-place component 122 can be accurately positioned in three-dimensional space, adapting to various workpiece placement scenarios and improving handling efficiency.

[0038] The horizontal movement of the movable seat 111 can be achieved by a servo motor driving a gear rack or lead screw, while the vertical lifting of the connecting seat 112 can be achieved by a cylinder, an electric push rod, or a servo motor in conjunction with a guide rail, whichever method is required.

[0039] Please see Figure 1 and Figure 2 Furthermore, the pick-and-place component 12 of the above embodiment is used to pick up and place workpieces, and the conveying mechanism 10 may also include a conveying component 13, which is used to convey leftover materials; the conveying component 13 may include a mounting base 131 and a conveying component 132, which can pick up and place leftover materials, and the conveying component 132 is disposed on the mounting base 131, the mounting base 131 is connected to the moving component 11, and the conveying component 132 and the pick-and-place component 122 are arranged to avoid each other.

[0040] A conveying component 13 is added to the conveying mechanism 10 for conveying scrap materials. Scrap materials can be understood as waste materials left after the raw materials are processed into workpieces. The conveying component 13 and the pick-and-place component 12 work together to convey the waste materials and workpieces, thereby providing space for subsequent processing.

[0041] The mounting base 131 of the conveying component 13 can be understood as the connection structure between the conveying component 132 and the moving base 111, providing a mounting and fixing function for the conveying component 132. The conveying component 132 can pick up and put away excess material, and the conveying component 132 and the pick-and-place component 122 are arranged to avoid each other. In this way, when the pick-and-place component 122 is moving the workpiece, the conveying component 132 can collect and move the generated excess material, avoiding the cumbersome process of handling excess material separately.

[0042] The avoidance arrangement of the transport component 132 and the pick-up and put-down component 122 ensures that they do not interfere with each other in space or time, thus ensuring that they do not interfere with each other during movement and guaranteeing the smooth progress of the transport action.

[0043] The transport component 132 can adopt the same or different pick-and-place method as the pick-and-place component 122. The mounting base 131 can be connected to the moving component 11 through a bracket or cantilever to achieve spatial avoidance between the transport component 132 and the pick-and-place component 122.

[0044] Furthermore, in the above embodiment, the mounting base 131 is vertically adjustable and can be raised and lowered on the movable base 111. The mounting base 131 and the connecting base 112 are arranged to avoid each other in the vertical direction.

[0045] With this layout, the pick-and-place component 122 and the transport component 132 have independent movement spaces in the vertical direction, without interfering with each other. The independent lifting and lowering adjustment of the connecting seat 112 and the mounting seat 131 enables precise positioning of the pick-and-place component 122 and the transport component 132 in the vertical direction, meeting the transport needs of workpieces and scrap materials of different heights. At the same time, the horizontal movement of the moving seat 111 provides a unified horizontal movement basis for the entire mechanism, enabling the components to work together and improving the flexibility and adaptability of the transport process.

[0046] Please see Figure 1Furthermore, the conveying mechanism 10 may also include a first driving member 14 and a second driving member 15. The first driving member 14 is disposed on the movable seat 111 and is drivenly connected to the connecting seat 112. The first driving member 14 can drive the connecting seat 112 to move up and down in the vertical direction. The second driving member 15 is disposed on the movable seat 111 and is drivenly connected to the mounting seat 131. The second driving member 15 can drive the mounting seat 131 to move up and down in the vertical direction.

[0047] The first drive unit 14 is mounted on the movable base 111, driving the connecting base 112 to move vertically up and down; the second drive unit 15 is also mounted on the movable base 111, driving the mounting base 131 to move vertically up and down. Through the independent control of the first drive unit 14 and the second drive unit 15, the connecting base 112 and the mounting base 131 can be raised and lowered independently, allowing for individual adjustment of their heights to meet different working conditions.

[0048] The first drive unit 14 and the second drive unit 15 can be servo electric cylinders, hydraulic cylinders, or motors with reducers, and precise displacement control can be achieved through a controller.

[0049] Please see Figure 2 Specifically, the conveying mechanism 10 in this embodiment is used for conveying glass workpieces and scrap materials. The pick-and-place component 122 and the conveying component 132 are both designed with vacuum adsorption for pick-and-place. The first driving component 14 and the second driving component 15 are both cylinders connected to a pressure reducing valve.

[0050] Both the pick-and-place component 122 and the transport component 132 employ a vacuum adsorption pick-and-place mechanism, utilizing the principle of vacuum adsorption to grip and release workpieces and surplus materials. This ensures stable gripping without damaging the workpieces. The cylinder is connected to a pressure reducing valve, which allows for adjustment of the cylinder's driving speed and force by regulating the air pressure, thus helping to reduce the impact when the pick-and-place component 122 and the transport component 132 come into contact with the workpieces and surplus materials, respectively.

[0051] It should be noted that, since the quantity and shape of workpieces and scrap are not fixed during actual cutting, the relative positions of workpieces and scrap may also be not fixed. For example, after the raw material is cut, there may be scrap around the workpiece and between multiple workpieces. Therefore, the relative positions of the pick-and-place component 122 and the conveying component 132 also need to be set accordingly. That is, the connecting seat 112 may also be equipped with a conveying component 132 for picking up and placing scrap located between workpieces.

[0052] Vacuum adsorption can be achieved using a vacuum pump, suction cup, or vacuum generator, while the pressure reducing valve can be a proportional pressure reducing valve or a throttle valve to achieve precise pressure regulation.

[0053] Of course, if the workpiece and scrap have a rough or uneven surface, the pick-and-place component 122 and the transport component 132 can also be configured as grippers or similar structures.

[0054] Please see Figure 1 and Figure 3 Furthermore, the mounting base 131 in the above embodiment is provided with a through hole 1311 in the vertical direction. The first driving member 14 can drive the connecting base 112 and the material distribution driving member 121 and the pick-and-place member 122 disposed on the connecting base 112 to simultaneously pass through the through hole 1311 in the vertical direction, and make the pick-and-place function end of the pick-and-place member 122 protrude downward from the pick-and-place function end of the transport member 132. When the pick-and-place function end of the pick-and-place member 122 protrudes downward from the pick-and-place function end of the transport member 132, the material distribution driving member 121 can drive multiple pick-and-place members 122 to move closer to or further away from each other in the horizontal direction.

[0055] The mounting base 131 is provided with a through hole 1311 in the vertical direction. The through hole 1311 provides a vertical movement channel for the connecting base 112 and the material distribution drive 121 and the picking and placing component 122 on it, so as to achieve the avoidance setting in the vertical direction while optimizing the structural space.

[0056] By controlling the first driving member 14, the picking and placing end of the picking and placing member 122 can protrude downwards from the picking and placing end of the conveying member 132. This means that in the vertical direction, when the picking and placing end of the picking and placing member 122 picks up the workpiece and the picking and placing end of the conveying member 132 picks up the scrap material, there is a height difference between the workpiece and the scrap material. Specifically, there is a certain distance between the workpiece and the scrap material in the vertical direction. Thus, when the workpiece is driven to move in the horizontal direction by the material distribution driving member 121, it can avoid collision with the scrap material, which helps to protect the workpiece.

[0057] In the conveying mechanism 10 of this application embodiment, the second driving member 15 is first controlled to drive the mounting base 131 to move downward, so that the conveying member 132 picks up and lifts the excess material. Then, the first driving member 14 is controlled to drive the connecting base 112 to move downward, so that the picking member picks up and lifts the workpiece. This outside-to-inside sequence allows for a higher degree of freedom of movement when picking up the excess material on the outer ring. Moreover, prioritizing the lifting of the excess material can reduce the problem of chipping caused by friction between the workpiece and the excess material to a certain extent.

[0058] During the unloading process, since multiple workpieces need to be moved and separated in the inner ring, and the workpieces are on the lower layer while the remaining material is on the upper layer, the workpieces are placed down first and then the remaining material is placed down.

[0059] Please see Figure 4This application also provides a conveying device 20, including a support frame 21, a drive mechanism 22, and a conveying mechanism 10 in any of the above embodiments. The drive mechanism 22 is disposed on the support frame 21, and the moving component 11 of the conveying mechanism 10 is movably disposed on the support frame 21. The drive mechanism 22 is drivenly connected to the moving component 11, and the drive mechanism 22 can drive the moving component 11 to move.

[0060] The support frame 21 provides stable support for the entire device. The drive mechanism 22 (such as a motor or lead screw) drives the moving component 11 to move on the support frame 21, so as to realize the movement of the conveying mechanism 10 within a certain range.

[0061] The conveying device 20 of this application embodiment includes the conveying mechanism 10 in any of the above embodiments, and therefore has the beneficial effects brought by the conveying mechanism 10 in any of the above embodiments, which will not be repeated here.

[0062] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A conveying mechanism, characterized in that, include: Movable components, with movable settings; as well as The picking and placing component includes a material dispensing drive component, which is disposed on the moving component; The pick-and-place assembly further includes multiple pick-and-place components, which can pick up and place workpieces. The material distribution drive is driven to connect with the multiple pick-and-place components, and the material distribution drive can drive the multiple pick-and-place components to move closer to or further away from each other.

2. The conveying mechanism according to claim 1, characterized in that, The material distribution drive unit is provided with multiple drive output units. The material distribution drive unit can drive the multiple drive output units to move closer to or further away from each other. Each pick-and-place member is connected to one of the drive output units.

3. The conveying mechanism according to claim 1, characterized in that, The pick-and-place component is movably disposed on the moving component.

4. The conveying mechanism according to claim 3, characterized in that, The moving component includes a moving base and a connecting base. The moving base is adjustable and movable in the horizontal direction, and the connecting base is adjustable and movable in the vertical direction on the moving base. The material dispensing drive is located on the connecting base, and the picking and placing component is movable and movable in the horizontal direction on the connecting base.

5. The conveying mechanism according to any one of claims 1-4, characterized in that, The pick-and-place assembly is used to pick up and place workpieces, and the conveying mechanism further includes a conveying assembly for conveying scrap materials; The conveying assembly includes a mounting base and a conveying component. The conveying component is capable of picking up and placing excess material. The conveying component is disposed on the mounting base, and the mounting base is connected to the moving assembly. The conveying component and the picking / placing component are arranged to avoid each other.

6. The conveying mechanism according to claim 5, characterized in that, The moving component includes a moving base and a connecting base. The moving base is movable and adjustable in the horizontal direction, and the connecting base is adjustable in the vertical direction on the moving base. The material dispensing drive is located on the connecting base, and the picking and placing component is movable in the horizontal direction on the connecting base. The mounting base is vertically adjustable and positioned on the movable base, and the mounting base and the connecting base are vertically aligned to avoid each other.

7. The conveying mechanism according to claim 6, characterized in that, The conveying mechanism further includes a first driving member, which is disposed on the movable seat and drivenly connected to the connecting seat. The first driving member can drive the connecting seat to move up and down in the vertical direction. The conveying mechanism further includes a second driving member, which is disposed on the movable seat and drivenly connected to the mounting seat. The second driving member can drive the mounting seat to move up and down in the vertical direction.

8. The conveying mechanism according to claim 7, characterized in that, Both the pick-and-place component and the transport component employ a vacuum adsorption pick-and-place mechanism. The first driving component and the second driving component are both cylinders, and each cylinder is connected to a pressure reducing valve.

9. The conveying mechanism according to claim 7, characterized in that, The mounting base is provided with a through hole in the vertical direction. The first driving member can drive the connecting base, the material dispensing driving member and the picking and placing member disposed on the connecting base to simultaneously pass through the through hole in the vertical direction, and make the picking and placing end of the picking and placing member protrude downward from the picking and placing end of the conveying member. When the picking and placing end of the picking and placing component protrudes downward from the picking and placing end of the conveying component, the material dispensing drive component can drive multiple picking and placing components to move closer to or further away from each other in the horizontal direction.

10. A conveying device, characterized in that, The conveying device includes a support frame, a drive mechanism, and a conveying mechanism as described in any one of claims 1-9. The drive mechanism is disposed on the support frame, and the movable component of the conveying mechanism is movably disposed on the support frame. The drive mechanism is drivenly connected to the movable component, and the drive mechanism can drive the movable component to move.

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