Floating docking transfer robot and transfer system

Abstract

The utility model relates to a kind of floating butt joint's carrying robot and carrying system. Among them, carrying robot includes: mobile mechanism, including mobile base;Self-adapting floating mechanism, with fixed end and floating end, fixed end connects mobile base, floating end has the freedom of rotation and translation;Conveying mechanism, including support assembly and conveying assembly, support assembly includes support body and plug-in piece, support body connects floating end, plug-in piece is fixed opposite support body, and plug-in piece is located at at least one end of support body along Y direction, when plug-in piece moves along Y direction, it can be guided and realize plug-in, conveying assembly is installed on support body, and conveying assembly is used to carry material and material along Y direction translation. Conveying mechanism can be fine-tuned to move horizontally and rotate during butt joint with machine, to provide convenience for the accurate transfer of flower basket. The utility model does not need carrying robot to be accurately positioned, while improving butt joint efficiency, reduce equipment cost.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a floating docking transport robot and transport system. Background Technology

[0002] In the semiconductor and photovoltaic manufacturing processes, baskets play a crucial role. Firstly, they act as a vital protective barrier for silicon wafers / cells during transportation, preventing physical damage to these fragile components. Even the slightest bump or scratch during transport can cause defects, severely impacting product quality, and baskets effectively mitigate this risk. Secondly, the centralized transport of silicon wafers / cells between machines using baskets significantly improves efficiency. This centralized transport model reduces the complex process of handling individual wafers, ensuring a smooth and efficient production process.

[0003] Currently, in these industries, handling robots are the primary means of transporting flower baskets. However, existing technologies have significant limitations. When handling robots dock with machine tools, docking errors often occur due to limitations in their own positioning accuracy. These errors can cause a series of problems, such as the flower baskets being prone to collisions during docking, which may not only damage the silicon wafers / cells inside the basket but also cause damage to both the basket and the machine tool. More importantly, these docking errors can prevent the accurate delivery of flower baskets to or from the machine tool, disrupting the normal operation of the entire production process.

[0004] One possible improvement is to increase the accuracy of the sensors to achieve precise docking. However, this approach faces several problems. First, there is the cost issue; high-precision sensors are expensive, significantly increasing equipment procurement and maintenance costs. Second, even with high-precision sensors, the additional time required for adjustment and calibration during the docking process will greatly reduce work efficiency, failing to meet the high-efficiency and rapid requirements of industrial production. Utility Model Content

[0005] Therefore, this utility model provides a floating docking transport robot and transport system to solve the problems of inaccurate docking and low efficiency of transport robots with machine platforms.

[0006] To solve the above-mentioned technical problems, this utility model provides a floating docking transport robot, comprising:

[0007] A mobile mechanism, including a mobile base, the mobile base being movable to different locations;

[0008] An adaptive floating mechanism has a fixed end and a floating end, the fixed end being connected to the movable base, and the floating end having degrees of freedom relative to the fixed end to rotate about the vertical direction and translate along the X direction;

[0009] A conveying mechanism includes a support assembly and a conveying assembly. The support assembly includes a support body and a connector. The support body is connected to the floating end. The connector is fixed relative to the support body and is located at at least one end of the support body along the Y direction. The connector can be guided and connected when it moves along the Y direction. The conveying assembly is mounted on the support body and is used to carry materials and drive the materials to move along the Y direction.

[0010] Furthermore, the connector is a connector plate, and the connector plate has a first guide slope, which is used to guide the connector to be inserted.

[0011] Furthermore, the adaptive floating mechanism includes:

[0012] A rotary guide assembly includes a first base plate, a slewing bearing, and a rotary support plate. The first base plate is the fixed end, the slewing bearing is mounted on the first base plate, and the rotary support plate is connected above the slewing bearing. The slewing bearing guides the rotary support plate to rotate in a vertical direction.

[0013] The translational guide assembly includes a second base plate, two sets of sliding joints, and two movable support plates. The second base plate is connected above the rotating support plate. The two sets of sliding joints are installed on the second base plate at intervals along the Y direction. The two movable support plates are respectively connected above the two sets of sliding joints. The movable support plates are the floating ends. The sliding joints guide the movable support plates to translate along the X direction.

[0014] Furthermore, the rotary guide assembly also includes a plurality of universal ball bearings, which are evenly distributed around the slewing bearing. The universal ball bearings are mounted on the first base plate and provide rolling support for the rotary support plate.

[0015] Furthermore, it also includes a locking mechanism, which includes two clamping devices respectively disposed on both sides of the conveying mechanism along the X direction. The two clamping devices are used to clamp the support assembly to restrict the conveying mechanism from rotating relative to the moving mechanism and / or moving along the X direction.

[0016] Furthermore, the support assembly also includes two limiting baffles, which are fixed relative to the support body. The two limiting baffles are located on both sides of the conveying assembly along the X direction, and are used to restrict the material on the conveying assembly from moving and tipping in the X direction.

[0017] Furthermore, the support assembly also includes two guide members, which are located on both sides of the material input end of the conveying assembly along the X direction, and the guide members are provided with a second guide slope for guiding the material.

[0018] Furthermore, the support assembly also includes a blocking member, which is fixed relative to the support body. The plug and the blocking member are located on both sides of the conveying assembly along the Y direction, and the blocking member is used to restrict the movement of materials on the conveying assembly.

[0019] Furthermore, the moving mechanism also includes a housing, which is connected above the moving base and encloses a buffer space. The buffer space has a material transfer port, and the conveying mechanism is connected within the buffer space, with its end having a connector extending out of the buffer space from the material transfer port.

[0020] This utility model also provides a floating docking transport system, including a machine platform and the transport robot. The machine platform is used to exchange materials with the transport robot. The machine platform is provided with a docking component. The docking component of the machine platform and the plug-in component of the transport robot are plugged into each other along the Y direction to realize the docking of the conveying mechanism of the machine platform and the transport robot.

[0021] Compared with the prior art, the above-mentioned technical solution of this utility model has the following advantages: The floating docking transport robot and transport system of this utility model, by setting an adaptive floating mechanism and plug-in components, enables the conveying mechanism to achieve translation and rotation. During the docking process between the conveying mechanism and the machine platform, fine adjustments to lateral movement and rotation can be made, facilitating the accurate transfer of flower baskets. This utility model eliminates the need for precise positioning of the transport robot, improving docking efficiency while reducing equipment costs. Attached Figure Description

[0022] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0023] Figure 1 This is a schematic diagram of the handling robot in this utility model;

[0024] Figure 2 This is a schematic diagram showing the connection of the conveying mechanism, the adaptive floating mechanism, and the limiting component in this utility model;

[0025] Figure 3 This is a schematic diagram of the conveying mechanism in this utility model;

[0026] Figure 4 This is a schematic diagram of the adaptive floating mechanism in this utility model;

[0027] Figure 5 This is a cross-sectional view of the adaptive floating mechanism in this utility model.

[0028] Explanation of reference numerals in the instruction manual:

[0029] 1. Moving mechanism; 11. Moving base; 12. Housing;

[0030] 2. Adaptive floating mechanism; 21. First base plate; 22. Slewing bearing; 23. Rotary support plate; 24. Second base plate; 25. Sliding pair; 26. Sliding support plate; 27. Universal ball bearing;

[0031] 3. Conveying mechanism; 31. Support body; 32. Connector; 321. First guide ramp; 33. Limiting baffle; 34. Guide component; 341. Second guide ramp; 35. Blocking component; 36. Synchronous pulley; 37. Synchronous belt; 38. Drive device;

[0032] 41. Clamping device. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0034] See Figures 1 to 5 As shown, this utility model provides an embodiment of a floating docking transport robot.

[0035] The aforementioned floating docking transport robot includes a mobile mechanism 1, an adaptive floating mechanism 2, and a conveying mechanism 3.

[0036] The mobile mechanism 1 includes a mobile base 11. The mobile base 11 can be moved to different locations.

[0037] The adaptive floating mechanism 2 has a fixed end and a floating end. Specifically, the fixed end is connected to the movable base 11; the floating end has degrees of freedom relative to the fixed end, including rotation about the vertical direction and translation along the X direction.

[0038] The conveying mechanism 3 includes a support assembly and a conveying assembly. The support assembly includes a support body 31 and a connector 32. The support body 31 is connected to the aforementioned floating end. The connector 32 is fixed relative to the support body 31. Furthermore, the connector 32 is at least located at one end of the support body 31 along the Y direction. The connector 32 can be guided and connected when moving along the Y direction. The conveying assembly is mounted on the support body 31. The conveying assembly is used to carry materials and drive the materials to translate along the Y direction.

[0039] In this embodiment, the X direction generally represents the width direction of the handling robot, and the Y direction generally represents the conveying direction of the conveying component. In most cases, the Y direction can be equated to the length direction of the handling robot. During the fine-tuning process of the adaptive floating mechanism 2, there may be a slight angular deviation between the conveying direction of the conveying component and the length direction of the handling robot. This is a necessary result of the adaptive floating mechanism rotating around the vertical direction to achieve precise docking of the conveying mechanism 3. Therefore, those skilled in the art can understand the X direction as the first direction and the Y direction as the second direction. There is no inherent limitation that the first and second directions are necessarily perpendicular to each other. Furthermore, in this embodiment, the material carried by the conveying component is generally a flower basket. The moving mechanism 1 can automatically move to different locations, thereby transporting the flower basket from one place to another. The adaptive floating mechanism 2 is used to give the conveying mechanism 3 a degree of freedom of rotation and translation within a certain range.

[0040] In a further embodiment, a floating docking transport system is provided, consisting of a transport robot and a platform. The platform is equipped with a docking component. This docking component engages with the transport robot's connector along the Y-direction, mutually restricting their lateral movement along the X-direction. Of the docking component and the transport robot's connector, one is a connector plate, and the other is a slot. When the connector plate is first inserted into the slot, its size is smaller than the slot. Therefore, even with positional errors, the connector plate can still be inserted. As the connector plate continues to be inserted, its size gradually approaches and eventually becomes identical to the slot, aligning the transport robot's connector and achieving precise docking and positioning between the platform and the conveying mechanism 3. This allows the baskets on the conveying mechanism 3 to be accurately transported to the platform, and the baskets on the platform to be accurately transported to the conveying mechanism.

[0041] By incorporating the adaptive floating mechanism 2 and the connector 32, the conveying mechanism 3 can achieve translation and rotation. During docking with the machine platform, the conveying mechanism 3 can undergo fine-tuning of lateral movement and rotation, facilitating the accurate transfer of flower baskets. This invention eliminates the need for a handling robot for precise positioning, improving docking efficiency while reducing equipment costs.

[0042] In this embodiment, the connector 32 of the conveying mechanism is a connector plate. The connector 32 has a first guide slope 321. Generally, the connector 32 has two mirror-symmetrically arranged first guide slopes 321. The first guide slopes 321 are used to guide the connector 32 to be inserted.

[0043] The extended surfaces of the two first guide slopes 321 of the connector 32 intersect to form a convex angle, and the intersection line of the extended surfaces of the two first guide slopes 321 of the connector 32 extends vertically. When the connector 32 is located on the positive Y-direction side of the bracket body 31, the distance between the two first guide slopes 321 gradually decreases along the positive Y-direction. The connector 32 is used in conjunction with the slot. The positive Y-direction end of the connector 32 enters the slot first. Since the X-direction dimension of the positive Y-direction end of the connector 32 is smaller than the X-direction dimension of the slot, the connector 32 can easily enter the slot. As the connector 32 is inserted into the slot, the X-direction dimensions of the connector 32 and the slot become consistent. At this time, the connector 32 and the slot can be positioned relative to each other.

[0044] In this embodiment, the adaptive floating mechanism 2 includes a rotary guide component and a translational guide component.

[0045] The rotary guide assembly includes a first base plate 21, a slewing bearing 22, and a rotary support plate 23. The first base plate 21 is the fixed end. The first base plate 21 is mounted on the movable base 11 of the moving mechanism 1. The slewing bearing 22 is mounted on the first base plate 21. The rotary support plate 23 is connected above the slewing bearing 22. The slewing bearing 22 guides the rotary support plate 23 to rotate in the vertical direction.

[0046] The translational guide assembly includes a second base plate 24, two sets of sliding joints 25, and two movable support plates 26. The second base plate 24 is fixedly connected above the aforementioned rotating support plate 23. The two sets of sliding joints 25 are mounted on the second base plate 24 at intervals along the Y direction. The two movable support plates 26 are respectively connected above the two sets of sliding joints 25. These two sets of sliding joints 25 are used to guide the movable support plates 26 to translate along the X direction.

[0047] The aforementioned first base plate 21, rotating support plate 23, second base plate 24, and movable support plate 26 are all support plates. The rotating support plate 23 and the second base plate 24 can be an integrated structure or simplified into a single support plate structure. The slewing bearing 22, also known as a turntable bearing, can be a thin-section four-point contact ball bearing, capable of withstanding large axial forces, thus providing stable rotational motion for heavy equipment. The sliding pair 25 is a lower pair, representing relative movement within a plane; a sliding pair is a kinematic pair with one degree of freedom. In this embodiment, each sliding pair 25 includes a slide rail extending along the X direction and at least two sliders slidingly engaging with the slide rail along its length. Each movable support plate 26 is fixedly connected to at least two sliders of the corresponding sliding pair 25.

[0048] Through the aforementioned adaptive floating mechanism 2, the conveying mechanism 3 can translate and rotate relative to the moving mechanism 1. Therefore, when the connector 32 is inserted and engaged with the docking part of the machine tool, it can guide and position the support body and the conveying components installed on the support body, thereby enabling the conveying mechanism 3 to quickly and accurately dock with the machine tool. In this embodiment, the machine tool can be a workbench of an automated production line or a storage device. Generally, the machine tool is equipped with a conveying track that docks with the conveying mechanism 3.

[0049] In this embodiment, the rotary guide assembly further includes a plurality of universal ball bearings 27. The aforementioned plurality of universal ball bearings 27 are disposed between the first base plate 21 and the rotary support plate 23 and are evenly distributed around the slewing bearing 22. The universal ball bearings 27 are mounted on the first base plate 21 and support the rotary support plate 23. The universal ball bearings 27 provide rolling support to the rotary support plate 23.

[0050] The universal ball bearing 27, commonly known as a bullseye bearing, generally includes a ball seat and a ball that is limited and connected to the ball seat. The ball seat is connected to the first base plate 21. The ball is supported by the rotating support plate 23 in a rolling manner.

[0051] In this embodiment, the handling robot further includes a locking mechanism. The locking mechanism includes two clamping devices 41. These two clamping devices 41 are respectively disposed on both sides of the conveying mechanism 3 along the X direction. The two clamping devices 41 are used to clamp the support assembly to restrict the conveying mechanism 3 from rotating relative to the moving mechanism 1 and / or moving along the X direction.

[0052] Two clamping devices 41 are arranged at a distance along the X-direction and located on both sides of the conveying mechanism 3. When the handling robot docks with the machine, the two clamping devices 41 release the conveying mechanism, allowing the conveying mechanism 3 to rotate vertically and translate along the X-direction, facilitating docking with the machine. When the handling robot is on the transport path, the two clamping devices 41 clamp the conveying mechanism, preventing the conveying mechanism 3 from rotating vertically or moving along the X-direction, thus preventing it from wobbling. Specifically, the clamping device 41 is a clamping cylinder.

[0053] In this embodiment, the support assembly further includes two limiting baffles 33. The two limiting baffles 33 are fixed relative to the support body 31. The two limiting baffles 33 are located on both sides of the conveying assembly along the X direction. The two limiting baffles 33 are used to restrict the movement and tipping of material on the conveying assembly in the X direction.

[0054] Two limiting baffles 33 are arranged at a distance along the X direction and are located on both sides of the conveying assembly. During the handling of the flower basket, the robot typically needs to turn, which can cause the basket to easily tip over due to inertia. Therefore, the limiting baffles 33 are provided. The limiting baffles 33 are relatively high, at least above the center of gravity of the material, to prevent the basket from tipping over. Since the limiting baffles 33 do not need to release the basket, they can be set as fixed baffles. The limiting baffles 33 are fixed relative to the support body 31, and the clamping device 41 clamps the limiting baffles 33. The limiting baffles 33 can serve as the mounting base for the clamping cylinder of the clamping device 41.

[0055] In this embodiment, the support assembly further includes two guide members 34. These two guide members 34 are fixed relative to the support body 31. The two guide members 34 are located on both sides of the material input end of the conveying mechanism 3 along the X direction. Each guide member 34 has a second guide ramp 341, which guides the material to move between the limiting baffles 33. The guide member 34 may be a guide side plate fixedly connected to the limiting baffles 33.

[0056] Two guide members 34 are arranged at a distance along the X direction and are located on both sides of the conveying mechanism 3. The extended surfaces of the second guide slopes 341 of the two guide members 34 intersect to form a concave angle, and the intersection line of the extended surfaces of the second guide slopes 341 of the two guide members 34 extends vertically. When the material moves onto the conveying assembly along the negative Y direction, the distance between the two second guide slopes 341 gradually increases along the positive Y direction. A guide channel is formed between the two guide members 34. When the basket passes through the guide channel, the guide channel is initially wider, and the basket can easily enter the guide channel. As the guide channel narrows, the channel guides and corrects the entering basket, so that the basket can eventually move accurately between the limiting baffles 33 of the conveying mechanism 3. The two guide members 34 are fixedly connected to the two limiting baffles 33.

[0057] In this embodiment, the support assembly further includes a blocking member 35, which is fixed relative to the support body 31. The plug-in member 32 and the blocking member 35 are respectively located on both sides of the conveying assembly along the Y direction. The blocking member 35 is used to restrict the material on the conveying mechanism 3 from moving in the negative Y direction. Generally, the blocking member 35 includes a blocking bracket spanning the support body and a blocking pad / buffer pad installed on the blocking bracket.

[0058] Since the conveying mechanism 3 feeds in from the positive Y direction end and discharges from the positive Y direction end, the negative Y direction end of the conveying mechanism 3 does not need to feed or discharge. In order to prevent materials from falling from the negative Y direction end of the conveying mechanism 3, the aforementioned blocking member 35 is provided.

[0059] In this embodiment, the aforementioned moving mechanism 1 further includes a housing 12. The housing 12 is connected above the aforementioned moving base 11 and encloses a buffer space. The buffer space has a material transfer port. The aforementioned conveying mechanism 3 is disposed within the buffer space. Furthermore, the end of the conveying mechanism with a connector extends out of the buffer space from the material transfer port. That is, a portion of the conveying mechanism 3 is located within the aforementioned buffer space, and another portion of the conveying mechanism 3 is located outside the aforementioned buffer space.

[0060] In practical applications, the moving mechanism 1 generally also includes a frame structure mounted on the moving base. The housing 12 covers these frame structures. The aforementioned frame structure enhances the structural performance of the housing 12, enabling it to provide dust protection and shielding against dust from the baskets, conveying mechanisms, and drive equipment in the buffer space. For example, in the event of an accidental collision, the housing 12 can provide a certain degree of cushioning. As mentioned earlier, the limiting baffle 33 can serve as the mounting base for the clamping cylinders of the clamping device 41. When the handling robot is on the transport path, the movable ends of the two clamping cylinders extend along the X direction and abut against the housing or the frame structure supporting the housing, thereby clamping the conveying mechanism 3 and preventing it from rotating in the vertical direction or moving along the X direction, thus preventing the conveying mechanism 3 from swaying.

[0061] In this embodiment, the conveying mechanism can be a belt conveyor. Specifically, the conveying assembly is a belt assembly, including a synchronous belt 37, a synchronous pulley 36, and a drive device 38. The drive device 38 drives the synchronous pulley 36 to rotate, the synchronous pulley 36 drives the synchronous belt 37 to move, and the synchronous belt 37 supports the material and drives the material to move.

[0062] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A floating docking transport robot, characterized in that, include: A mobile mechanism, including a mobile base, the mobile base being movable to different locations; An adaptive floating mechanism has a fixed end and a floating end, the fixed end being connected to the movable base, and the floating end having degrees of freedom relative to the fixed end to rotate about the vertical direction and translate along the X direction; A conveying mechanism includes a support assembly and a conveying assembly. The support assembly includes a support body and a connector. The support body is connected to the floating end. The connector is fixed relative to the support body and is located at at least one end of the support body along the Y direction. The connector can be guided and connected when it moves along the Y direction. The conveying assembly is mounted on the support body and is used to carry materials and drive the materials to move along the Y direction.

2. The handling robot according to claim 1, characterized in that, The connector is a connector plate, and the connector plate has a first guide slope, which is used to guide the connector to be inserted.

3. The handling robot according to claim 1, characterized in that, The adaptive floating mechanism includes: A rotary guide assembly includes a first base plate, a slewing bearing, and a rotary support plate. The first base plate is the fixed end, the slewing bearing is mounted on the first base plate, and the rotary support plate is connected above the slewing bearing. The slewing bearing guides the rotary support plate to rotate in a vertical direction. The translational guide assembly includes a second base plate, two sets of sliding joints, and two movable support plates. The second base plate is connected above the rotating support plate. The two sets of sliding joints are installed on the second base plate at intervals along the Y direction. The two movable support plates are respectively connected above the two sets of sliding joints. The movable support plates are the floating ends. The sliding joints guide the movable support plates to translate along the X direction.

4. The handling robot according to claim 3, characterized in that, The rotary guide assembly also includes multiple universal ball bearings, which are evenly distributed around the slewing bearing. The universal ball bearings are mounted on the first base plate and provide rolling support to the rotary support plate.

5. The handling robot according to claim 1, characterized in that, It also includes a locking mechanism, which includes two clamping devices, which are respectively located on both sides of the conveying mechanism along the X direction. The two clamping devices are used to clamp the support assembly to restrict the conveying mechanism from rotating relative to the moving mechanism and / or moving along the X direction.

6. The handling robot according to claim 1, characterized in that, The support assembly also includes two limiting baffles, which are fixed relative to the support body. The two limiting baffles are respectively located on both sides of the conveying assembly along the X direction, and are used to restrict the material on the conveying assembly from moving and tipping in the X direction.

7. The handling robot according to claim 1, characterized in that, The support assembly also includes two guide members, which are located on both sides of the material input end of the conveying assembly along the X direction. The guide members are provided with a second guide slope for guiding the material.

8. The handling robot according to claim 1, characterized in that, The support assembly also includes a blocking member, which is fixed relative to the support body. The plug and the blocking member are located on both sides of the conveying assembly along the Y direction, and the blocking member is used to restrict the movement of materials on the conveying assembly.

9. The handling robot according to claim 1, characterized in that, The moving mechanism also includes a housing connected above the moving base and enclosing a buffer space. The buffer space has a material transfer port. The conveying mechanism is located within the buffer space, and its end with a connector extends out of the buffer space from the material transfer port.

10. A floating docking transport system, characterized in that, The device includes a machine platform and a transport robot as described in any one of claims 1 to 9. The machine platform is used to exchange materials with the transport robot. The machine platform is provided with a docking part. The docking part of the machine platform and the plug-in part of the transport robot are plugged into each other along the Y direction to realize the docking of the conveying mechanism of the machine platform and the transport robot.

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