Robotic hand and decontamination station apparatus

Abstract

The application discloses a mechanical hand and a purification table device. The mechanical hand comprises two clamping jaws, a translation mechanism, a controller and a detection assembly. The two clamping jaws are spaced apart and are respectively used for grabbing two ends of a carrier. The translation mechanism is connected with the two clamping jaws. The detection assembly is arranged on the translation mechanism. The controller is electrically connected with the detection assembly and the translation mechanism. After the detection assembly detects the first position and the second position respectively, feedback signals are sent to the controller, so that the controller controls the translation mechanism to automatically drive the clamping jaws to move to the first position or the second position where the carrier is stored, thereby reducing the risk of the translation mechanism driving the clamping jaws to be empty, or the controller controls the translation mechanism to automatically drive the clamping jaws and the carrier to idle at the second position or the first position, thereby reducing the risk of collision between the two carriers, helping to improve the automation function of the mechanical hand, and further improving the working efficiency of the mechanical hand.

Description

Technical Field

[0001] This application relates to the field of photovoltaic material manufacturing equipment, and in particular to a robotic arm and a clean bench device. Background Technology

[0002] In the production of photovoltaic materials, carriers are needed to support and transport the sheets. During the sheet transport, a robotic arm is required to move the carrier carrying the sheets horizontally from a first position to a second position.

[0003] When a robotic arm is handling materials, it needs to determine whether there is a carrier at the first location to avoid grabbing empty space, or whether there is a carrier at the second location to avoid the risk of collisions between the two carriers during transport. However, current robotic arms typically rely on manual observation and judgment before manual control to move the carrier, resulting in low work efficiency. Utility Model Content

[0004] In view of this, this application provides a robotic arm to solve the problem of low working efficiency of existing robotic arms.

[0005] One embodiment of this application provides a robotic arm, including: two grippers, a translation mechanism, a controller, and a detection component. The two grippers are spaced apart and are used to grasp both ends of a carrier. The translation mechanism is connected to the two grippers and is used to drive the two grippers to reciprocate along the X-axis, so that the carrier grasped by the two grippers can be transferred between a first position and a second position. The X-axis is the translation direction of the translation mechanism. The detection component is disposed on the translation mechanism and is used to detect the first position or the second position, and send a feedback signal to the translation mechanism based on the detection result. The feedback signal is used to indicate whether there is a carrier at the first position or the second position. The controller is electrically connected to the detection component and the translation mechanism respectively. The controller is used to send a first control signal to the translation mechanism based on the feedback signal and control the operation of the translation mechanism.

[0006] In the above embodiments, after detecting the first position and the second position respectively, the detection component sends a feedback signal to the controller, so that the controller controls the translation mechanism to automatically move the gripper to the first position or the second position where the carrier is stored, thereby reducing the risk of the translation mechanism causing the gripper to miss its target, or the controller controls the translation mechanism to automatically move the gripper and the carrier to the idle second position or the first position, thereby reducing the risk of the two carriers colliding, which helps to improve the automation function of the robot and thus improve the working efficiency of the robot.

[0007] In some embodiments, the translation mechanism includes two translation components, each including a first cantilever and a second cantilever. The first cantilever of each translation component includes a first end and a second end disposed opposite to each other along the X-axis. The second cantilever of each translation component includes a third end and a fourth end disposed opposite to each other along the X-axis. In each translation component, the second cantilever is slidably connected to the corresponding first cantilever and is located below the first cantilever, and the gripper is slidably connected to the second cantilever. When every two grippers are located on both sides of the first position along the Y-axis, each gripper is located at the corresponding third end, and the fourth end is located below the first end of the corresponding first cantilever. When the two grippers are located on both sides of the second position, each gripper is located on both sides of the corresponding fourth end along the Y-axis, and the fourth end is located below the second end of the corresponding first cantilever, with the Y-axis perpendicular to the X-axis. By slidingly connecting the first and second cantilevers and the grippers, the grippers can move between the first and second positions while the translation components can extend and retract, thereby reducing the risk of the translation components obstructing the first or second position. Furthermore, when the gripper moves relative to the second cantilever, the second cantilever can move relative to the first cantilever, thereby helping to improve the movement efficiency of the gripper.

[0008] In some embodiments, the robotic arm further includes a lifting mechanism, which comprises a lifting drive assembly, two columns, and two lifting members, with two translational components located between the two columns. One lifting member is connected to one column and a first cantilever of the translational mechanism, and the distance between the column and the second end in the X-axis direction is greater than the distance between the column and the first end in the X-axis direction. The lifting drive assembly is drively connected to at least one lifting member, and is used to drive the lifting member to slide relative to the column, thereby causing the first cantilever to move vertically. The lifting drive assembly drives the first cantilever to move vertically via the lifting member, enabling the translational components to drive the gripper to acquire or release the carrier at different heights. Simultaneously, by moving the column closer to the second end, the distance from the column to the first position is shortened.

[0009] In some embodiments, the controller is further configured to send a second control signal to the lifting drive assembly based on the feedback signal, and control the lifting drive assembly to operate. By detecting the first and second positions at different heights through the detection component, the controller sends a second control signal to the lifting drive assembly after receiving the feedback signal, thereby controlling the lifting drive assembly to automatically drive the translation mechanism to move up and down. This enables the translation lifting mechanism to drive the gripper to acquire or release the carrier at different heights, further improving the automation function of the robot.

[0010] In some embodiments, the translation mechanism further includes a first link, which is connected to two first cantilever arms respectively. The first link connects the two first cantilever arms, enabling them to move synchronously up and down, thereby allowing the two grippers to move synchronously up and down.

[0011] In some embodiments, the translation mechanism further includes a second link, which is connected to two second cantilever arms respectively. The connection of the second link to the two second cantilever arms allows the two second cantilever arms to move synchronously relative to the first cantilever arm, thereby enabling the two grippers to move synchronously.

[0012] In some embodiments, the detection assembly includes at least two detectors, all of which are distributed along a direction spaced apart from the two grippers. At least two of the detectors are used to detect a first position, and at least two of the detectors are used to detect a second position. When the translation mechanism includes a first link, all detectors are connected to the first link. Alternatively, when the translation mechanism includes a second link, all detectors are connected to the second link. By positioning the detectors on the first or second link, the detectors are located between the two grippers to detect the carrier, thereby improving the accuracy of carrier detection. Furthermore, the spaced distribution of the detectors improves the detection accuracy along the length of the carrier through multiple detectors.

[0013] In some embodiments, the extension direction of the second link and / or the first link is parallel to the direction in which the two grippers are spaced apart. By making the first and second links parallel to the direction in which the two grippers are spaced apart, the distance between each detector on the first or second link and the first or second position is the same, which helps to reduce the detection error between detectors.

[0014] In some embodiments, the translation mechanism further includes a first drive assembly and a second drive assembly. The first drive assembly includes a first motor disposed on the first cantilever and tractively connected to the second cantilever, the first motor driving the second cantilever to move relative to the first cantilever. The second drive assembly includes a second motor disposed on the second cantilever and tractively connected to the gripper, the second motor driving the gripper to move relative to the second cantilever. When the translation mechanism includes a first link, the first drive assembly further includes a first synchronous shaft, the two ends of which are rotatably connected to the two first cantilevers respectively. The first synchronous shaft is also tractively connected to the first motor and the two second cantilevers respectively, and the first link is also used to support the rotation of the first synchronous shaft. When the translation mechanism includes a second link, the second drive assembly further includes a second synchronous shaft, the two ends of which are rotatably connected to the two second cantilevers respectively. The second synchronous shaft is also tractively connected to the second motor and the two second cantilevers respectively, and the second link is also used to support the rotation of the second synchronous shaft. The arrangement of the first and second synchronous shafts enables simultaneous driving of the two second cantilevers or the two grippers, thereby improving the uniformity of the driving force distribution of the first and second motors. Meanwhile, the first and second connecting rods support the first and second synchronous shafts respectively, thereby reducing the risk that the first and second synchronous shafts may deform due to their excessive span.

[0015] In some embodiments, the detection component includes a laser sensor and / or an infrared sensor disposed on the translation mechanism. The laser sensor is used to detect whether a vehicle is present at a first or second position and sends a feedback signal to the controller. The infrared sensor is used to detect whether a vehicle is present at the first or second position, and / or the infrared sensor is used to detect the temperature of the vehicle at the first or second position and sends a feedback signal to the controller. The arrangement of the laser sensor and / or the infrared sensor enables the detection of whether a vehicle is present at the first or second position.

[0016] One embodiment of this application also provides a clean bench device, including a cabinet, a pusher mechanism, a temporary storage rack, and a robotic arm as described above. The cabinet includes two opposing sides, the pusher mechanism is located on one side of the cabinet, and the temporary storage rack is located on the other side of the cabinet. The robotic arm is located between the pusher mechanism and the temporary storage rack for transferring a carrier between the pusher mechanism and the temporary storage rack. Attached Figure Description

[0017] Figure 1 This is a top view of a photovoltaic material processing equipment provided in an embodiment of this application.

[0018] Figure 2 This is a schematic diagram of a robotic arm structure provided in one embodiment of this application.

[0019] Figure 3 for Figure 2The diagram shows the working state of the detection component of the robotic arm, where S represents the path of the detection signal emitted by the detection component.

[0020] Figure 4 for Figure 2 A side view of the robotic arm grasping the vehicle in the first position.

[0021] Figure 5 for Figure 2 A side view of the robotic arm grasping the vehicle in the second position.

[0022] Figure 6 for Figure 2 A frontal view of the robotic arm in the image.

[0023] Explanation of main component symbols

[0024] 100. Cleanroom equipment; 101. Cabinet; 10. Robotic arm; 11. Gripper; 12. Translation mechanism; 120. Translation assembly; 121. First cantilever; 1211. First end; 1212. Second end; 122. Second cantilever; 1221. Third end; 1222. Fourth end; 123. First drive assembly; 1231. First motor; 1232. First synchronous shaft; 124. Second drive assembly; 1241. Second motor; 1242. Second synchronous shaft; 125. First connecting rod; 126. Second connecting rod; 13. Detection assembly; 131. Detector; 14. Lifting mechanism; 141. Column; 142. Lifting drive assembly; 1421. Lifting motor; 1422. Third synchronous shaft; 143. Lifting component; 20. Pushing mechanism; 30. Temporary storage rack; 40. Carrier. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0026] The terms “top,” “upper,” “lower,” “front,” “back,” and similar expressions used in this article are for illustrative purposes only.

[0027] The terms “first”, “second”, etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implying the quantity, specific order, or primary and secondary relationship of the indicated technical features.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0029] This application provides a robotic arm, including: two grippers, a translation mechanism, a controller, and a detection component. The two grippers are spaced apart and are used to grasp both ends of a carrier. The translation mechanism is connected to the two grippers and drives them to reciprocate along the X-axis, enabling the carrier grasped by the grippers to be transferred between a first position and a second position. The X-axis is the translation direction of the translation mechanism. The detection component is located on the translation mechanism and is used to detect the first or second position. Based on the detection result, the detection component sends a feedback signal to the translation mechanism, indicating whether a carrier is present at the first or second position. The controller is electrically connected to both the detection component and the translation mechanism. Based on the feedback signal, the controller sends a first control signal to the translation mechanism and controls the translation mechanism to operate.

[0030] In the above embodiments, after detecting the first position and the second position respectively, the detection component sends a feedback signal to the controller, so that the controller controls the translation mechanism to automatically move the gripper to the first position or the second position where the carrier is stored, thereby reducing the risk of the translation mechanism causing the gripper to miss its target, or the controller controls the translation mechanism to automatically move the gripper and the carrier to the idle second position or the first position, thereby reducing the risk of the two carriers colliding, which helps to improve the automation function of the robot and thus improve the working efficiency of the robot.

[0031] Some embodiments of this application will now be described with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0032] Please see Figure 1 A purification table device 100 includes a cabinet 101 and a carrier 40 for storing sheet materials. The cabinet 101 is equipped with an air purification component and a cooling component to purify and cool the air inside the cabinet 101, thereby avoiding sheet material contamination and improving the cooling efficiency of the sheet materials.

[0033] In some embodiments, please refer to Figure 1 The clean bench equipment 100 also includes a pusher mechanism 20 and a temporary storage rack 30. The cabinet 101 has two opposing sides, with the pusher mechanism 20 and the temporary storage rack 30 located on opposite sides of the cabinet 101. The direction in which the pusher mechanism 20 and the temporary storage rack 30 are positioned relative to each other is defined as the X-axis. The pusher mechanism 20 moves the carrier 40 along the Y-axis between the cabinet 101 and the external reaction device, transferring the carrier 40 carrying sheet material from the cabinet 101 into the reaction device for processing, or transferring the carrier 40 from the reaction device into the cabinet 101. The temporary storage rack 30 supports the carrier 40 carrying the processed sheet material within the cabinet 101. The Y-axis is perpendicular to the X-axis.

[0034] In other embodiments, the temporary storage rack 30 is also used to store a carrier 40 containing sheets to be processed.

[0035] In some embodiments, please refer to Figure 2 The clean bench equipment 100 also includes a robotic arm 10, which includes a translation mechanism 12 and two grippers 11. The translation mechanism 12 is connected to the two grippers 11 and is used to synchronously drive the two grippers 11 to reciprocate between the temporary storage rack 30 and the pusher mechanism 20 along the X-axis direction, so that the two grippers 11 can grasp the two ends of the carrier 40 along the Y-axis direction and transfer the carrier 40 between the temporary storage rack 30 and the pusher mechanism 20.

[0036] For further details, please refer to Figure 2 and Figure 3 The robotic arm 10 also includes a detection component 13 and a controller (not shown). The detection component 13 is disposed on the translation mechanism 12, and the controller is electrically connected to the detection component 13 and the translation mechanism 12 respectively. Before the gripper 11 picks up the carrier 40, the detection component 13 sends a detection signal above the temporary storage rack 30 or the pusher mechanism 20. When the detection component 13 detects that there is a carrier 40 above the temporary storage rack 30 or the pusher mechanism 20, the detection component 13 sends a feedback signal to the controller according to the detection result, so that the controller sends a first control signal to the translation mechanism 12 to control the translation mechanism 12 to drive the gripper 11 to move towards the temporary storage rack 30 or the pusher mechanism 20, thereby reducing the risk that the gripper 11 will miss its target when the translation mechanism 12 drives the gripper 11 to move towards the temporary storage rack 30 or the pusher mechanism 20 where no carrier 40 is placed. Before the gripper 11 releases the carrier 40, the detection component 13 sends a detection signal above the temporary storage rack 30 or the pusher mechanism 20 to detect that there is no carrier 40 above the temporary storage rack 30 or the pusher mechanism 20. Based on the detection result, the detection component 13 sends a feedback signal to the controller, which then sends a first control signal to the translation mechanism 12. This controls the translation mechanism 12 to drive the gripper 11 to move the carrier 40 toward the temporary storage rack 30 or the pusher mechanism 20, thereby reducing the risk of collision between the two carriers 40 caused by the translation mechanism 12 driving the gripper 11 to move the carrier 40 toward the temporary storage rack 30 or the pusher mechanism 20 where another carrier 40 is placed. By setting up the detection component 13 to avoid the risk of collision between the gripper 11 and the carrier 40, the working efficiency and safety of the robot arm 10 are improved.

[0037] In some embodiments, the detection component 13 sends a detection signal unidirectionally to the temporary storage rack 30 or the pusher mechanism 20 along the X-axis direction.

[0038] In other embodiments, the detection component 13 sends detection signals bidirectionally to the temporary storage rack 30 and the pusher mechanism 20 along the X-axis.

[0039] In some embodiments, the controller includes a microcontroller.

[0040] In some embodiments, when the detection component 13 detects that there is a carrier 40 on the temporary storage rack 30, no carrier 40 on the temporary storage rack 30, a carrier 40 on the pusher mechanism 20, or no carrier 40 on the pusher mechanism 20, the feedback signal sent by the detection component 13 to the controller is different, so as to improve the accuracy of the controller in operating according to the feedback signal.

[0041] In some embodiments, please refer to Figure 2 , Figure 4 and Figure 5 The translation mechanism 12 includes two translation components 120 arranged opposite each other along the Y-axis. The two translation components 120 are located on both sides of the cabinet 101 along the Y-axis. One translation component 120 is connected to a gripper 11 to drive the two grippers 11 to move.

[0042] In some embodiments, please refer to Figures 2 to 5 Each translation component 120 includes a first cantilever 121 and a second cantilever 122. The first cantilever 121 in each translation component 120 includes a first end 1211 and a second end 1212 arranged opposite to each other along the X-axis. The second cantilever 122 in each translation component 120 includes a third end 1221 and a fourth end 1222 arranged opposite to each other along the X-axis. Each second cantilever 122 is slidably connected to the first cantilever 121 of the same translation component 120 and is located below the first cantilever 121 along the Z-axis. A gripper 11 is slidably connected to the corresponding second cantilever 122. When the gripper 11 moves relative to the second cantilever 122 along the X-axis, the second cantilever 122 can also move relative to the first cantilever 121 along the X-axis. The second cantilever 122 and the gripper 11 move in the same direction, allowing the gripper 11 to move between the temporary storage rack 30 and the pusher mechanism 20. Furthermore, when the gripper 11 moves relative to the second cantilever 122, the second cantilever 122 can also move relative to the first cantilever 121, thus improving the movement efficiency of the gripper 11. The Z-axis, Y-axis, and X-axis are all perpendicular to each other, with the positive direction of the Z-axis being the vertically upward direction of gravity.

[0043] For example, the fourth end 1222 of each second cantilever 122 is slidably connected to the first cantilever 121 of the same translation assembly 120. The first cantilever 121 is located on the side of the pusher mechanism 20 facing the temporary storage rack 30 along the X-axis, and the first end 1211 is closer to the pusher mechanism 20 than the second end 1212. When the two grippers 11 move to the sides above the pusher mechanism 20 along the Y-axis, each gripper 11 is located at the corresponding third end 1221, and the fourth end 1222 is located below the first end 1211 of the corresponding first cantilever 121. When the two grippers 11 move to the sides above the pusher mechanism 20 along the Y-axis, the gripper 11 is located at the corresponding fourth end 1222, and the fourth end 1222 is located below the second end 1212 of the corresponding first cantilever 121. The sliding connection between the first cantilever 121 and the second cantilever 122 allows the translation component 120 to be extended and retracted, enabling the second cantilever 122 to move away from the boat pushing mechanism 20. Since the second cantilever 122 extends all the way above the boat pushing mechanism 20, it helps to reduce the risk of the second cantilever 122 obstructing the boat pushing mechanism 20.

[0044] In other embodiments, the translation mechanism 12 includes two third cantilever arms (not shown), one of which can be connected to the cabinet 101 and a gripper 11 respectively, and the other of which can be connected to the cabinet 101 and another gripper 11 respectively. The third cantilever arms differ from the translation assembly 120, which has a first cantilever arm 121 and a second cantilever arm 122, in that they are non-retractable.

[0045] In other embodiments, the translation mechanism 12 includes a multi-jointed robotic arm located on the side of the cabinet 101 away from the reaction device along the Y-axis. One end of the robotic arm is connected to the cabinet 101, and the other end is connected to two grippers 11 and controls the opening and closing of the two grippers 11. By driving the two grippers 11 to move and act on both ends of the carrier 40 respectively through the robotic arm, the grippers 11 can also realize the function of transferring the carrier 40 between the temporary storage rack 30 and the pusher mechanism 20.

[0046] In some embodiments, please refer to Figure 2 The translation mechanism 12 further includes a first drive assembly 123, which includes a first motor 1231 disposed on the first cantilever 121 and pulsatorically connected to the second cantilever 122. During operation, the first motor 1231 drives the second cantilever 122 to move relative to the first cantilever 121. And / or the translation mechanism 12 further includes a second drive assembly 124, which includes a second motor 1241 disposed on the second cantilever 122 and pulsatorically connected to the gripper 11. During operation, the second motor 1241 drives the gripper 11 to move relative to the second cantilever 122.

[0047] Furthermore, the first drive assembly 123 also includes a first synchronous shaft 1232, the two ends of which are rotatably connected to the first motor 1231 and the two first cantilever arms 121, respectively. And / or, the second drive assembly 124 also includes a second synchronous shaft 1242, the two ends of which are rotatably connected to the two second cantilever arms 122, and the second synchronous shaft 1242 is drively connected to the second motor 1241. Through the arrangement of the first synchronous shaft 1232 and the second synchronous shaft 1242, the first motor 1231 can simultaneously drive the two second cantilever arms 122 to move, and the second motor 1241 can simultaneously drive the two grippers 11 to move, thereby improving the uniformity of the driving force distribution of the first motor 1231 and the second motor 1241.

[0048] In some embodiments, a synchronous belt (not labeled) is rotatably mounted on the first cantilever 121 and the second cantilever 122, and the synchronous belt is respectively connected to a corresponding motor or synchronous shaft. The fourth end 1222 of the second cantilever 122 is fixedly connected to the synchronous belt on the first cantilever 121, so that the synchronous belt drives the second cantilever 122 to move relative to the first cantilever 121. The gripper 11 is fixedly connected to the synchronous belt on the second cantilever 122, so that the synchronous belt drives the gripper 11 to move relative to the second cantilever 122.

[0049] In some embodiments, the fourth end 1222 is slidably connected to the first cantilever 121 via a first slider (not identified), and is also connected to the timing belt on the first cantilever 121 via the first slider. And / or the gripper 11 is slidably connected to the second cantilever 122 via a second slider (not identified), and is also connected to the timing belt on the second cantilever 122 via the second slider.

[0050] In other embodiments, there are two motors: the first motor 1231 and the second motor 1241. One first motor 1231 is mounted on a first cantilever 121 and drives the second cantilever 122 to move via a synchronous belt. The second motor 1241 is mounted on the second cantilever 122 and drives the gripper 11 to move via a synchronous belt.

[0051] In some embodiments, please refer to Figure 2 The translation mechanism 12 also includes a second link 126, which is connected to two second cantilever arms 122 respectively, so that the two second cantilever arms 122 can move synchronously relative to the first cantilever arm 121, and drive the corresponding gripper 11 to move synchronously relative to the first cantilever arm 121, which helps to improve the consistency of the movement of the two grippers 11 relative to the first cantilever arm 121.

[0052] In some embodiments, there are two or more temporary storage racks 30 and push boat mechanisms 20. All temporary storage racks 30 and all push boat mechanisms 20 are spaced apart along the Z-axis. In the X-axis direction, one temporary storage rack 30 is correspondingly arranged with one push boat mechanism 20. The two grippers 11 can also move up and down along the Z-axis to grab the carrier 40 on the temporary storage rack 30 or push boat mechanism 20 at different heights, or transfer the carrier 40 to the temporary storage rack 30 or push boat mechanism 20 at different heights.

[0053] In some embodiments, please refer to Figures 2 to 5 The robotic arm 10 also includes a lifting mechanism 14, which comprises a lifting drive assembly 142, two columns 141, and two lifting members 143. A translation mechanism 12 is located between the two columns 141 to keep the columns 141 away from the two grippers 11, thereby reducing the risk of interference between the columns 141 and the carrier 40. One lifting member 143 is connected to one column 141 and the first cantilever 121 of the translation mechanism 12. The lifting drive assembly 142 is driven to at least one lifting member 143 to drive the lifting member 143 to slide relative to the column 141 and simultaneously drive the first cantilever 121, the second cantilever 122, and the grippers 11 to move up and down, thereby driving the grippers 11 to acquire or release the carrier 40 at different heights.

[0054] In some embodiments, when the gripper 11 moves toward the pusher mechanism 20 or the temporary storage rack 30, the lifting mechanism 14 drives the gripper 11 to move upward through the translation mechanism 12 to lift the carrier 40, thereby enabling the two grippers 11 to grasp the carrier 40, or the lifting mechanism 14 drives the gripper 11 to move downward through the translation mechanism 12 to place the carrier 40 on the pusher mechanism 20 or the temporary storage rack 30, thereby enabling the two grippers 11 to release the carrier 40.

[0055] In some embodiments, the column 141 is located between the pusher mechanism 20 and the temporary storage rack 30, and the first cantilever 121 extends toward the temporary storage rack 30. A portion of the first cantilever 121 coincides with the temporary storage rack 30 in the Y-axis direction, so that when the fourth end 1222 is located at the second end 1212 and the gripper 11 is located at the fourth end 1222, the gripper 11 can be sufficiently close to the temporary storage rack 30 so that the gripper 11 can pick up or release the carrier 40 above the temporary storage rack 30.

[0056] In some embodiments, the distance between the column 141 and the second end 1212 in the X-axis direction is greater than the distance between the column 141 and the first end 1211 in the X-axis direction. By bringing the column 141 closer to the first end 1211, the distance from the column 141 to the first position is shortened. Thus, when the gripper 11 grabs the carrier 40 in the pusher mechanism 20, it is farther away from the first end 1211 relative to the column 141. This can shorten the length of the translation mechanism 12 extending outward from the column 141, which helps to improve the stability of the connection between the translation mechanism 12 and the column 141.

[0057] For further details, please refer to Figure 3 and Figure 5 The first end 1211 of the first cantilever 121 is connected to the corresponding lifting component 143.

[0058] In some embodiments, the length of the first cantilever 121 is opposite to the length of the second cantilever 122 in the X-axis direction.

[0059] In some embodiments, please refer to Figure 2 The translation mechanism 12 also includes a first link 125, which is connected to two first cantilever arms 121 respectively, so that the two first cantilever arms 121 can move synchronously relative to the column 141, and drive the corresponding second cantilever arms 122 to move synchronously relative to the column 141, which helps to improve the consistency of the lifting and lowering movement of the two grippers 11.

[0060] In some embodiments, please refer to Figure 2 The first link 125 is rotatably connected to the first synchronous shaft 1232 to support the first synchronous shaft 1232, and / or the second link 126 is rotatably connected to the second synchronous shaft 1242 to support the second synchronous shaft 1242, which helps to reduce the risk that the first synchronous shaft 1232 and the second synchronous shaft 1242 are easily deformed due to the excessive span.

[0061] In some embodiments, please refer to Figure 2 The lifting drive assembly 142 includes a synchronous belt (not shown) and a third synchronous shaft 1422. One synchronous belt is rotatably connected to a column 141, and one lifting component 143 is fixedly connected to the synchronous belt on the corresponding column 141. The third synchronous shaft 1422 is connected to the two synchronous belts and the lifting motor 1421 respectively, so that the lifting motor 1421 drives the two synchronous belts to rotate simultaneously through the third synchronous shaft 1422, and synchronously drives the two lifting components 143 to move up and down.

[0062] In other embodiments, the number of lifting motors 1421 and synchronous belts is the same, with one lifting motor 1421 driving one synchronous belt to rotate.

[0063] In other embodiments, there is one synchronous belt, and the lifting motor 1421 drives only one synchronous belt to rotate. When one of the lifting components 143 drives the first cantilever 121 to move up and down, the first cantilever 121 indirectly drives the other first cantilever 121 to move up and down through the first link 125 or the second link 126.

[0064] In some embodiments, the detection component 13 is disposed on the first cantilever 121. Since the position of the first cantilever 121 in the X-axis direction remains unchanged, the distance from the detection component 13 to the pusher mechanism 20 and the temporary storage rack 30 in the X-axis direction remains unchanged relative to the detection component 13 disposed on the second cantilever 122, which helps to improve the detection accuracy of the detection component 13.

[0065] In other embodiments, the detection component 13 is disposed on the second cantilever 122.

[0066] Since the carriers 40 are all positioned in the middle of the boat-pushing mechanism 20 or the temporary storage rack 30, the distance between the carriers 40 of different sizes and the ends of the boat-pushing mechanism 20 or the temporary storage rack 30 varies. Please refer to [link / reference]. Figures 2 to 5 In some embodiments, when the translation mechanism 12 includes a first link 125, the detection component 13 is disposed on the first link 125 so that the detection component 13 can be positioned between the two grippers 11 and send detection signals toward the temporary storage rack 30 and / or the pusher mechanism 20 respectively. When a carrier 40 is placed on the temporary storage rack 30 and / or the pusher mechanism 20, the detection component 13 can detect the middle part of the carrier 40. The detection component 13 is positioned away from the two grippers 11 and close to one of the grippers 11 to detect the end of the carrier 40, so that the detection component 13 can accurately detect carriers 40 of different sizes, which helps to improve the detection accuracy of the detection component 13.

[0067] In other embodiments, the detection component 13 is located on the second link 126.

[0068] In some embodiments, please refer to Figure 6 The detection component 13 includes multiple detectors 131 disposed on the first link 125 or the second link 126. The multiple detectors 131 are spaced apart along the Y-axis direction, and all detectors 131 can send feedback signals to the translation mechanism 12 or the lifting drive component 142. By having multiple detectors 131 simultaneously send detection signals to the carrier 40, the detection component 13 can fully detect the carrier 40 on the boat pushing mechanism 20 or the temporary storage rack 30, which helps to improve the stability of the detection component 13 in performing the detection.

[0069] In some embodiments, at least two detectors 131 send detection signals unidirectionally toward the boat pushing mechanism 20 and at least two detectors 131 send detection signals unidirectionally toward the temporary storage rack 30.

[0070] In some embodiments, all detectors 131 send detection signals bidirectionally toward the boat pushing mechanism 20 and the temporary storage rack 30.

[0071] In some embodiments, the first motor 1231, the second motor 1241 and / or the lifting motor 1421 are electrically connected to the controller.

[0072] In some embodiments, when the detection component 13 detects that the pusher mechanism 20 or the temporary storage rack 30 at the same height does not need to pick up or put down the carrier 40, the detection component 13 sends a feedback signal to the controller, so that the controller sends a second control signal to the lifting drive component 142 based on the result of the feedback signal, so as to control the lifting drive component 142 to automatically drive the lifting member 143 to move up and down, and synchronously drive the translation mechanism 12 and the gripper 11 to move to other heights. When the detection component 13 detects that the pusher mechanism 20 or the temporary storage rack 30 at other heights needs to pick up or put down the carrier 40, the detection component 13 sends a feedback signal to the controller again, so that the controller sends a second control signal to the lifting drive component 142 based on the result of the feedback signal, so as to control the lifting drive component 142 to stop working, so that the pusher mechanism 20 or the temporary storage rack 30 with the gripper 11 moving at different heights can pick up or put down the carrier 40.

[0073] In some embodiments, the detector 131 includes a laser sensor electrically connected to the controller and capable of sending a feedback signal to the controller. During operation, the laser sensor sends a feedback signal to the pusher mechanism 20 and / or the temporary storage rack 30. When the gripper 11 needs to retrieve the carrier 40 from the pusher mechanism 20 or the temporary storage rack 30, the laser sensor detects that there is a carrier 40 on the pusher mechanism 20 or the temporary storage rack 30, and then sends a feedback signal to the controller. This causes the controller to control the translation mechanism 12 to drive the gripper 11 to move towards the temporary storage rack 30 or the pusher mechanism 20. Conversely, when the laser sensor detects that there is no carrier 40 on the pusher mechanism 20 or the temporary storage rack 30, the laser sensor sends a feedback signal to the controller. This causes the controller to control the lifting mechanism 14 to drive the translation mechanism 12 and the gripper 11 to move up and down until the laser sensor detects that there is a carrier 40 on the pusher mechanism 20 or the temporary storage rack 30 at another height. Then, the laser sensor sends a feedback signal to the translation mechanism 12, causing the controller to control the lifting mechanism 14 to stop operating.

[0074] Similarly, when the gripper 11 needs to release the carrier 40 from the pusher mechanism 20 or the temporary storage rack 30, after the laser sensor detects that there is no carrier 40 on the pusher mechanism 20 or the temporary storage rack 30, the laser sensor sends a feedback signal to the controller, so that the controller controls the translation mechanism 12 to drive the gripper 11 to move the carrier 40 toward the temporary storage rack 30 or the pusher mechanism 20.

[0075] In some embodiments, the detector 131 includes an infrared sensor electrically connected to the controller and capable of sending a feedback signal to the controller. By sending infrared signals to the temporary storage rack 30 or the pusher mechanism 20 respectively, the function of detecting whether there is a carrier 40 on the temporary storage rack 30 or the pusher mechanism 20 can also be achieved.

[0076] Because the temperature of the sheet material differs before and after the reaction, the temperature of the carrier 40 immediately after being removed from the reaction apparatus, the temperature of the carrier 40 when it is placed on the temporary storage rack 30 to cool down, and the temperature of the carrier 40 before entering the reaction apparatus decrease sequentially. Simultaneously, some of the temporary storage racks 30 are also used to temporarily store the carriers 40 carrying the sheet material to be processed. When the detector 131 includes an infrared sensor, the infrared sensor can identify different temperatures, thus detecting whether the carrier 40 on the pusher mechanism 20 is the carrier before entering the reaction apparatus or the carrier 40 after being removed from the reaction apparatus, and detecting whether the carrier 40 on the temporary storage rack 30 is the carrier carrying the sheet material to be processed or the carrier 40 after cooling down. This allows the infrared sensor to send a feedback signal to the controller, preventing the controller from controlling the translation mechanism 12 to drive the gripper 11 to mistakenly transfer the carrier 40 from the pusher mechanism 20 before entering the reaction apparatus to the temporary storage rack 30, or mistakenly transfer the carrier 40 cooling down on the temporary storage rack 30 to the pusher mechanism 20, thereby improving the accuracy of the robot arm 10 in grasping the carrier 40.

[0077] In other embodiments, the carrier 40 is identified manually or by other means as it is just removed from the reaction apparatus, as it is being cooled on the temporary storage rack 30, or as it is about to enter the reaction apparatus.

[0078] In some embodiments, detector 131 includes both a laser sensor and an infrared sensor, such that the laser sensor with higher positional accuracy and the infrared sensor capable of identifying temperature work together to improve the accuracy of the detection carrier 40 of detector 131.

[0079] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of this application's disclosure.

Claims

1. A robot for transferring a carrier, characterized in that include: Two grippers are provided, spaced apart, and each gripper is used to grip both ends of the vehicle. A translation mechanism is provided, which is connected to the two grippers. The translation mechanism is used to synchronously drive the two grippers to reciprocate along the X-axis direction so that the carrier gripped by the two grippers can be transferred between a first position and a second position. The X-axis direction is the translation direction of the translation mechanism. Controller; A detection component is disposed on the translation mechanism. The detection component is used to detect the first position or the second position and send a feedback signal to the controller according to the detection result. The feedback signal is used to indicate whether the vehicle is at the first position or the second position. The controller is electrically connected to the detection component and the translation mechanism respectively. The controller is used to send a first control signal to the translation mechanism according to the feedback signal and control the translation mechanism to work.

2. The robot according to claim 1, characterized in that The translation mechanism includes two translation components. Each translation component includes a first cantilever and a second cantilever. The first cantilever of each translation component includes a first end and a second end that are arranged opposite to each other along the X-axis direction. The second cantilever of each translation component includes a third end and a fourth end that are arranged opposite to each other along the X-axis direction. In each of the translation components, the second cantilever is slidably connected to the first cantilever and is located below the first cantilever, and the gripper is slidably connected to the second cantilever; When the two grippers are located on both sides of the first position along the Y-axis, each gripper is located at the corresponding third end, and the fourth end is located below the first end of the corresponding first cantilever. When the two grippers are located on both sides of the second position along the Y-axis direction, each gripper is located at the corresponding fourth end, and the fourth end is located below the second end of the corresponding first cantilever. The Y-axis direction is perpendicular to the X-axis direction.

3. The robot of claim 2, wherein The robotic arm also includes a lifting mechanism, which includes a lifting drive assembly, two columns and two lifting components, with the two translational components located between the two columns. A lifting component is connected to one of the columns and the first cantilever of the translation mechanism, and the distance between the column and the second end in the X-axis direction is greater than the distance between the column and the first end in the X-axis direction. The lifting drive assembly is connected to at least one of the lifting components in a transmission manner. The lifting drive assembly is used to drive the lifting component to slide relative to the column and drive the first cantilever to move up and down.

4. The robot of claim 3, wherein The controller is also used to send a second control signal to the lifting drive assembly based on the feedback signal, and control the lifting drive assembly to work.

5. The robotic arm according to claim 3, characterized in that, The translation mechanism further includes a first link, which is connected to the two first cantilever arms respectively.

6. The robotic arm according to claim 2, characterized in that, The translation mechanism also includes a second link, which is connected to the two second cantilever arms respectively.

7. The robotic arm according to claim 5 or 6, characterized in that, The detection component includes at least two detectors, all of which are distributed along the direction of the two grippers, at least two of which are used to detect the first position and at least two of which are used to detect the second position; When the translation mechanism includes a first link, all detectors are connected to the first link; or When the translation mechanism includes a second link, all detectors are connected to the second link.

8. The robotic arm according to claim 7, characterized in that, The extension direction of the second link and / or the first link is parallel to the direction in which the two grippers are spaced apart.

9. The robotic arm according to claim 5 or 6, characterized in that, The translation mechanism further includes a first drive assembly and a second drive assembly. The first drive assembly includes a first motor disposed on the first cantilever and drivenly connected to the second cantilever. The first motor is used to drive the second cantilever to move relative to the first cantilever. The second drive assembly includes a second motor disposed on the second cantilever and drivenly connected to the gripper. The second motor is used to drive the gripper to move relative to the second cantilever. When the translation mechanism includes a first link, the first drive assembly also includes a first synchronous shaft, the two ends of which are respectively rotatably connected to the two first cantilever arms, the first synchronous shaft is also respectively connected to the first motor and the two second cantilever arms, and the first link is also used to support the rotation of the first synchronous shaft. When the translation mechanism includes a second link, the second drive assembly also includes a second synchronous shaft. The two ends of the second synchronous shaft are respectively rotatably connected to the two second cantilever arms. The second synchronous shaft is also respectively connected to the second motor and the two second cantilever arms. The second link is also used to support the rotation of the second synchronous shaft.

10. The robotic arm according to claim 1, characterized in that, The detection components include a laser sensor and / or an infrared sensor disposed on the translation mechanism; The laser sensor is used to detect whether the vehicle is present at the first or second location and to send a feedback signal to the controller. The infrared sensor is used to detect whether the vehicle is present at the first position or the second position, and / or the infrared sensor is used to detect the temperature of the vehicle at the first position or the second position and send a feedback signal to the controller.

11. A clean bench device, characterized in that, The device includes a cabinet, a boat-pushing mechanism, a temporary storage rack, and a robotic arm as described in any one of claims 1 to 10 above. The cabinet includes two opposing sides, the boat-pushing mechanism is located on one side of the cabinet, and the temporary storage rack is located on the other side of the cabinet. The robotic arm is positioned between the boat-pushing mechanism and the temporary storage rack, and is used to transfer the carrier between the boat-pushing mechanism and the temporary storage rack.

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