An automated material box handling and storage system
By designing vertically distributed storage cabinets and a 3-axis robotic arm on the AGV, efficient exchange of material boxes is achieved, solving the problem of low material box exchange efficiency in the semiconductor packaging process of AGV and realizing automated operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- JIANGSU GUOXIN INTELLIGENT EQUIP CO LTD
- Filing Date
- 2025-06-16
- Publication Date
- 2026-06-30
AI Technical Summary
Existing AGVs require frequent exchange of material boxes during semiconductor packaging, resulting in low efficiency and an inability to efficiently complete the removal and placement of material boxes.
Design an automated material box handling and storage system. By vertically distributing storage cabinet one and storage cabinet two, and utilizing the 3-axis robotic arm and pick-and-place components on the AGV, efficient exchange of material boxes can be achieved between the AGV and the storage cabinet.
It improves the efficiency of material box exchange, saves time and costs, and realizes the automated operation of material box handling and storage.
Smart Images
Figure CN224439583U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of material box transportation technology, specifically to an automatic material box handling and storage system. Background Technology
[0002] A wafer cassette is a box specifically designed for storing wafers during the semiconductor packaging process. In semiconductor packaging, wafers need to be sliced or die-cast, thus requiring AGVs (Automated Guided Vehicles) to move the wafer cassettes. In this case, the AGV described in application number 202510279680.3 is an integrated AGV for wafer handling and storage. The AGV is equipped with a protective cover, a shelf within the protective cover, and a 3-axis robotic arm.
[0003] At this point, the AGV transports the material box containing the material pieces to the required equipment for processing, and then collects and stores the empty material box. However, after the AGV transports the material box containing the material pieces to the various equipment, it is necessary to place the material box containing the material pieces back into the AGV. This requires taking out the empty material box from the AGV and putting in the material box containing the material pieces. To solve the above technical problem, the applicant has developed a new technical solution in the actual production process to solve the above technical problem. Summary of the Invention
[0004] To address the aforementioned technical shortcomings, the purpose of this utility model is to provide an automatic material box handling and storage system, which has the advantage of removing empty material boxes from the AGV trolley and placing material boxes containing material sheets into them.
[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:
[0006] This utility model provides an automatic material box handling and storage system, including a storage cabinet one for holding material boxes containing material sheets, a storage cabinet two for empty material boxes and equipped with a picking and placing component for picking up material boxes, and an AGV trolley. The storage cabinet one and storage cabinet two are vertically distributed. The 3-axis robotic arm on the AGV trolley is distributed towards the picking and placing port of the storage cabinet one. The protective cover on the AGV trolley has a picking and placing port on the side near the shelf on the AGV trolley, and the size of the picking and placing port covers the shelf. The picking and placing port on the AGV trolley is distributed towards the opening of the storage cabinet two.
[0007] By adopting the above technical solution, the vertical distribution of storage cabinet 1 and storage cabinet 2 facilitates the AGV trolley to drive to the corner they form, allowing the 3-axis robotic arm on the AGV trolley to be positioned towards the retrieval outlet of storage cabinet 1. This makes it easy to retrieve the material boxes from the retrieval outlet of storage cabinet 1 and place them on the shelf of the AGV trolley. Before this, the retrieval and placement components of storage cabinet 2 first retrieve an empty material box from the shelf of the AGV trolley. After an empty material box is retrieved from the shelf of the AGV trolley and stored in storage cabinet 2, the 3-axis robotic arm on the AGV trolley then retrieves a material box containing a material piece and stores it on the shelf of the AGV trolley. The above steps are repeated so that an empty material box on the AGV trolley is retrieved and a material box containing a material piece is placed in it, saving time and improving efficiency.
[0008] Preferably, it also includes a positioning component that allows the AGV to move to the required positions in storage cabinet one and storage cabinet two.
[0009] Preferably, the positioning component includes a vertical rod set on the ground, the vertical rod being located between the storage cabinet and the AGV trolley, the upper end of the vertical rod being provided with horizontally distributed fixing plates, the fixing plates being provided with two trapezoidal positioning plates on the side away from the storage cabinet, the bottom of the AGV trolley's base plate being provided with an insert plate, the insert plate being provided with slots for inserting the two positioning plates, and the bottom of both slots being provided with position sensors.
[0010] Preferably, the width direction of storage cabinet one is aligned with the length direction of storage cabinet two, so that the width direction of storage cabinet one extends to the vicinity of the partition of storage cabinet two, and the retrieval outlet of storage cabinet one is distributed close to the partition of storage cabinet two.
[0011] Preferably, a horizontal rod is fixedly connected to the upper end of the vertical rod. The longitudinal section of the horizontal rod is rectangular. The fixing plate is installed on the horizontal rod and is slidably connected to the horizontal rod along its length. The fixing plate is provided with a limiting member to restrict the movement of the fixing plate. The length direction of the horizontal rod is distributed along the length direction of the storage cabinet.
[0012] Preferably, the limiting member includes a locking rod disposed at the upper end of the horizontal rod and extending to the upper surface of the fixing plate. The fixing plate has a sliding groove for the locking rod to slide in. The length direction of the sliding groove is distributed along the length direction of the horizontal rod. The upper surface of the fixing plate has a recessed groove with a size larger than the sliding groove and communicating with the sliding groove. The upper end of the locking rod extends into the recessed groove. Each locking rod has a locking block threadedly connected to its upper end. The locking block abuts against the bottom of the recessed groove.
[0013] The beneficial effects of this utility model are as follows: After storage cabinet one and storage cabinet two are vertically distributed, it is convenient for the AGV trolley to drive to the corner point they form, so that the 3-axis robotic arm on the AGV trolley is positioned towards the take-out outlet of storage cabinet one, making it easy to pick up the material box at the take-out outlet of storage cabinet one and put it on the shelf on the AGV trolley. Before that, the pick-and-place component of storage cabinet two first picks up the empty material box on the shelf on the AGV trolley. After the empty material box on the shelf on the AGV trolley is picked up and stored in storage cabinet two, the 3-axis robotic arm on the AGV trolley then picks up a material box containing a material piece and stores it on the shelf on the AGV trolley. The above steps are repeated so that the empty material box on the AGV trolley is taken out and a material box containing a material piece is put in at the same time, saving time and improving efficiency. Attached Figure Description
[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0015] Figure 1 This is a schematic diagram of the structure of this embodiment;
[0016] Figure 2 This is a structural diagram illustrating storage cabinet one and storage cabinet two in this embodiment;
[0017] Figure 3 This is a schematic diagram illustrating the structure of the AGV vehicle in this embodiment;
[0018] Figure 4 This is a schematic diagram illustrating the structure of the AGV trolley after it leaves the storage cabinet.
[0019] Figure 5 This is a schematic diagram illustrating the bottom structure of storage cabinet one, storage cabinet two, and the AGV trolley after they are combined in this embodiment;
[0020] Figure 6 This is a schematic diagram illustrating the structure of the insert plate in this embodiment;
[0021] Figure 7 This is a schematic diagram illustrating the structure of the settling tank in this embodiment.
[0022] Explanation of reference numerals in the attached figures:
[0023] In the diagram: 1. Storage cabinet one; 11. Retrieval port; 2. Storage cabinet two; 21. Retrieval and placement components; 211. Opening; 22. Partition; 3. AGV trolley; 31. 3-axis robotic arm; 32. Protective cover; 33. Retrieval and placement port; 34. Shelf; 4. Vertical rod; 41. Fixing plate; 42. Positioning plate; 43. Insert plate; 44. Position sensor; 45. Slot; 46. Horizontal rod; 47. Moving groove; 48. Settling tank. Detailed Implementation
[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0025] An automated material box handling and storage system, such as Figure 1 and Figure 2 and Figure 3 and Figure 4 The system includes a storage cabinet 1 for holding boxes containing material sheets, a storage cabinet 2 for emptying boxes and equipped with a picking and placing component 21 for picking up boxes, and an AGV trolley 3. The AGV trolley 3 is a type of integrated AGV for handling and storing material boxes, as applied for with application number 202510279680.3. Storage cabinet 1 is a type of material box or basket storage cabinet applied for by the applicant, with application number 2025211623048. Storage cabinet 2 is a type of material box receiving storage cabinet applied for by the applicant, with application number 202521162303.3. The picking and placing component 21 on storage cabinet 2 has a detailed structure that will not be described in detail here.
[0026] like Figure 1 and Figure 2 and Figure 3 and Figure 4 Storage cabinet 1 and storage cabinet 2 are vertically distributed. The 3-axis robotic arm 31 on the AGV trolley 3 is distributed towards the retrieval outlet 11 of storage cabinet 1. The protective cover 32 on the AGV trolley 3 has a retrieval opening 33 on the side near the shelf 34 on the AGV trolley 3. The size of the retrieval opening 33 covers the shelf 34. The retrieval opening 33 on the AGV trolley 3 is distributed towards the opening 211 of storage cabinet 2, so that the retrieval component 21 on storage cabinet 2 can take the empty material box on the shelf 34.
[0027] like Figure 1 and Figure 2 and Figure 3 and Figure 4After storage cabinet 1 and storage cabinet 2 are vertically distributed, it is convenient for the AGV trolley 3 to drive to the corner they form, so that the 3-axis robotic arm 31 on the AGV trolley 3 is positioned towards the take-out outlet 11 of storage cabinet 1, making it easy to pick up the material box at the take-out outlet 11 of storage cabinet 1 and put it on the shelf 34 on the AGV trolley 3. Before this, the pick-and-place component 21 of storage cabinet 2 first picks up the empty material box on the shelf 34 on the AGV trolley 3. After the empty material box on the shelf 34 on the AGV trolley 3 is picked up and stored in storage cabinet 2, the 3-axis robotic arm 31 on the AGV trolley 3 picks up a material box containing a material piece and stores it on the shelf 34 on the AGV trolley 3. The above steps are repeated so that the empty material box on the AGV trolley 3 is picked up and a material box containing a material piece is put in, saving time and improving efficiency.
[0028] like Figure 1 and Figure 2 and Figure 3 and Figure 4 Then, the AGV trolley 3, filled with material boxes, transports the material boxes to various devices. After that, the AGV trolley 3, filled with empty material boxes, moves to the corner of storage cabinet 1 and storage cabinet 2 to carry out the actions of transporting empty material boxes into storage cabinet 2 and transporting material boxes filled with material boxes into AGV trolley 3, thereby realizing the automated operation of material box transportation and storage in the workshop.
[0029] like Figure 3 and Figure 5 and Figure 6 It also includes positioning components that allow the AGV trolley 3 to move to the required positions in storage cabinet 1 and storage cabinet 2. The positioning components facilitate the positioning of the AGV trolley 3 as it moves to the desired positions in storage cabinet 1 and storage cabinet 2.
[0030] like Figure 3 and Figure 5 and Figure 6The positioning components include a vertical rod 4 mounted on the ground, positioned between storage cabinet 1 and AGV trolley 3, with a gap between the vertical rod 4 and storage cabinet 1. A horizontally distributed fixing plate 41 is mounted on the upper end of the vertical rod 4. Two trapezoidal positioning plates 42 are mounted on the side of the fixing plate 41 facing away from storage cabinet 1. The shorter side of the positioning plate 42 is located within a slot 45, and the longer side is fixedly connected to the fixing plate 41. An insertion plate 43 is located at the bottom of the AGV trolley 3's base plate, with slots 45 for the two positioning plates 42 to be inserted. Position sensors 44 are located at the bottom of both slots 45. When the AGV trolley 3 moves to one side of storage cabinet 1 and engages with the positioning plates 42, only when both positioning plates 42 are inserted into both slots 45 and detected by the position sensors 44 as having moved to the appropriate position, does it indicate that the AGV trolley 3 has moved into position, facilitating the 3-axis robotic arm 31 of the AGV trolley 3 to align with the retrieval outlet 11 of storage cabinet 1 and retrieve the material box.
[0031] like Figure 3 and Figure 5 and Figure 6 The width of storage cabinet 1 is aligned with the length of storage cabinet 2. After alignment, the width of storage cabinet 1 extends to the vicinity of the partition 22 of storage cabinet 2. The partition 22 can be extended out. The retrieval outlet 11 of storage cabinet 1 is distributed close to the partition 22 on storage cabinet 2. This facilitates the movement of AGV trolley 3 to the corner formed by the perpendicular distribution of storage cabinet 1 and storage cabinet 2. The retrieval and placement outlet 33 on AGV trolley 3 is distributed towards the opening 211 of storage cabinet 2. The 3-axis robotic arm 31 on AGV trolley 3 is distributed towards the retrieval outlet 11 of storage cabinet 1.
[0032] like Figure 5 and Figure 6 and Figure 7 To adjust the position of the positioning plate 42 so that it can be inserted into the slot 45, a horizontal rod 46 is fixedly connected to the upper end of the vertical rod 4. The longitudinal section of the horizontal rod 46 is rectangular. A fixing plate 41 is installed on the horizontal rod 46 and slides along the length of the horizontal rod 46. The fixing plate 41 is provided with a limiting member to restrict its movement. The length of the horizontal rod 46 is distributed along the length of the storage cabinet 1. The purpose of the horizontal rod 46 is to facilitate the sliding of the fixing plate 41. When the fixing plate 41 slides, it can adjust the relative position of the positioning plate 42 and the slot 45, facilitating the insertion of the positioning plate 42 into the slot 45. The limiting member facilitates fixing the fixing plate 41 to the horizontal rod 46.
[0033] like Figure 5 and Figure 6 and Figure 7The limiting component includes a locking rod (not shown in the figure) disposed at the upper end of the horizontal rod 46 and extending to the upper end face of the fixed plate 41. The fixed plate 41 has a moving groove 47 for the locking rod to slide. The length direction of the moving groove 47 is distributed along the length direction of the horizontal rod 46, so that when the fixed plate 41 slides on the horizontal rod 46, the locking rod slides in the moving groove 47. The upper end face of the fixed plate 41 has a recessed groove 48 with a size larger than the moving groove 47 and communicating with the moving groove 47. The upper end of the locking rod extends into the recessed groove 48. Each locking rod has a locking block threadedly connected to its upper end. The locking block abuts against the bottom of the recessed groove 48. When it is necessary to fix the position of the fixing plate 41, rotate the locking block to make the locking block abut against the bottom of the sink 48, thereby restricting the movement of the fixing plate 41. The sink 48 is designed so that the locking rod does not extend beyond the upper surface of the fixing plate 41, which makes it easy for the fixing plate 41 and the positioning plate 42 to move to the lower end of the AGV trolley 3 base plate. When it is necessary to move the fixing plate 41, simply rotate the locking block away from the sink 48.
[0034] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.
Claims
1. A magazine automatic handling and storage system, characterized by, The system includes a storage cabinet (1) for holding a box containing material pieces, a storage cabinet (2) for emptying the box and having a picking and placing component (21) for picking up the box, and an AGV trolley (3). The storage cabinets (1) and (2) are vertically distributed. The 3-axis robotic arm (31) on the AGV trolley (3) is distributed toward the retrieval outlet (11) of the storage cabinet (1). The protective cover (32) on the AGV trolley (3) has a picking and placing opening (33) on one side near the shelf (34) on the AGV trolley (3). The size of the picking and placing opening (33) covers the shelf (34). The picking and placing opening (33) on the AGV trolley (3) is distributed toward the opening (211) of the storage cabinet (2).
2. The automatic handling and storage system for material boxes according to claim 1, characterized in that, It also includes positioning components that enable the AGV (3) to move to the required positions of storage cabinet 1 (1) and storage cabinet 2 (2).
3. The automatic handling and storage system for boxes as claimed in claim 2, wherein, The positioning component includes a vertical rod (4) set on the ground. The vertical rod (4) is located between the storage cabinet (1) and the AGV trolley (3). The upper end of the vertical rod (4) is provided with a horizontally distributed fixing plate (41). The fixing plate (41) has two trapezoidal positioning plates (42) on the side away from the storage cabinet (1). The bottom of the bottom plate of the AGV trolley (3) is provided with an insert plate (43). The insert plate (43) has a slot (45) for inserting the two positioning plates (42). The bottom of the two slots (45) is provided with a position sensor (44).
4. The automatic magazine handling and storage system of claim 1, wherein, The width direction of the storage cabinet one (1) is aligned with the length direction of the storage cabinet two (2). After alignment, the width direction of the storage cabinet one (1) extends to the vicinity of the partition (22) of the storage cabinet two (2). The outlet (11) of the storage cabinet one (1) is distributed close to the partition (22) on the storage cabinet two (2).
5. The automatic handling and storing system for material boxes according to claim 3, wherein The upper end of the vertical rod (4) is fixedly connected to a horizontal rod (46). The longitudinal section of the horizontal rod (46) is rectangular. The fixing plate (41) is installed on the horizontal rod (46). The fixing plate (41) is slidably connected to the horizontal rod (46) along the length direction of the horizontal rod (46). The fixing plate (41) is provided with a limiting member to restrict the movement of the fixing plate (41). The length direction of the horizontal rod (46) is distributed along the length direction of the storage cabinet (1).
6. An automatic magazine handling and storage system as claimed in claim 5, characterized in that The limiting component includes a locking rod disposed on the upper end of the horizontal rod (46) and extending to the upper end face of the fixing plate (41). The fixing plate (41) is provided with a moving groove (47) for the locking rod to slide. The length direction of the moving groove (47) is distributed along the length direction of the horizontal rod (46). The upper end face of the fixing plate (41) is provided with a recess (48) larger than the moving groove (47) and communicating with the moving groove (47). The upper end of the locking rod extends into the recess (48). Each locking rod is threadedly connected to a locking block at its upper end. The locking block abuts against the bottom of the recess (48).