CN114380047B - A robot clamping device and clamping method thereof, a plate carrier box, and a composite robot - Google Patents
A robot clamping device and clamping method thereof, a plate carrier box, and a composite robot Download PDFInfo
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- CN114380047B CN114380047B CN202210199191.3A CN202210199191A CN114380047B CN 114380047 B CN114380047 B CN 114380047B CN 202210199191 A CN202210199191 A CN 202210199191A CN 114380047 B CN114380047 B CN 114380047B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/673—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere using specially adapted carriers or holders; Fixing the workpieces on such carriers or holders
- H01L21/6732—Vertical carrier comprising wall type elements whereby the substrates are horizontally supported, e.g. comprising sidewalls
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
- H01L21/687—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches
- H01L21/68707—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a robot blade, or gripped by a gripper for conveyance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/025—Boxes
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- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明提供了一种机器人装夹装置及其夹装方法、载板料盒、复合机器人，其中该机器人装夹装置包括夹爪机构，该夹爪机构包括：爪杆件，爪指件，引导件，弹性件，其中所述爪杆件第二端与机器人爪端连接，所述爪杆件第一端上设有第一槽，所述爪指件的第一部分限制在第一槽内，所述弹性件在第一槽内弹性支撑爪指件，所述爪指件的第二部分处设有指钩，所述引导件设置在指钩上，并向指钩外扩展一段距离，所述引导件经配接件定位部的诱导，促使指钩进入装夹空间以托举装夹台，以在夹装过程中形成自动修正。
The present invention provides a robot clamping device and a clamping method thereof, a plate carrier box, and a composite robot, wherein the robot clamping device includes a clamping claw mechanism, which includes: a claw rod, a claw finger, a guide, and an elastic member, wherein the second end of the claw rod is connected to the robot claw end, the first end of the claw rod is provided with a first groove, the first part of the claw finger is limited in the first groove, the elastic member elastically supports the claw finger in the first groove, the second part of the claw finger is provided with a finger hook, the guide member is arranged on the finger hook and extends a distance outward of the finger hook, the guide member is guided by the positioning part of the matching member, so as to prompt the finger hook to enter the clamping space to lift the clamping table, so as to form automatic correction during the clamping process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot clamping device, a clamping method of the robot clamping device, a plate carrying box and a compound robot.
Background
Currently, in various stages (such as a sealing stage) in a manufacturing or processing procedure of a semiconductor product, magazine cassettes (commonly called carrier cassettes and PCB cassettes) are generally used to load various semiconductor component products (such as a PCB 8 with chips) in batches for transportation, positioning and storage.
However, the semiconductor production factories are limited to have extremely high requirements on the cleanliness and safety of products, if the carrier box falls down in the production process, the carrier box will damage and pollute the semiconductor component products carried therein, and further the product batch is abandoned, which not only causes high production loss for enterprises, but also causes problems of productivity reduction and the like, so that such production accidents are intolerable for the semiconductor production enterprises.
For this reason, the current procedures of transferring and loading the carrier plate material boxes into and from the equipment by the semiconductor manufacturing enterprises are usually required to be completed manually. However, with increasing labor cost and increasing production efficiency and accuracy requirements, a reliable scheme capable of implementing automatic clamping and automatic carrying on the carrier plate material box is needed in the art.
Disclosure of Invention
The invention mainly aims to provide a robot clamping device, a clamping method thereof, a plate loading box and a compound robot, so as to at least improve the fault tolerance of an automatic plate loading box and form automatic correction in the clamping process.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a carrier plate box, wherein a box body is provided with an adapter, a first surface of the adapter is provided with a supporting wall, a first side of the adapter is provided with a positioning portion having a circular arc-shaped recess, the adapter is connected to a top of the box body, and the first surface of the adapter and the top of the box body form a drop through the supporting wall, so that a clamping space is formed between the top of the box body and a bottom surface of the adapter, and a clamping table is defined beside the positioning portion.
In order to achieve the above object, according to a second aspect of the present invention, there is provided a robot clamping device provided at a robot claw end for clamping the above sheet cassette, comprising a claw mechanism including a claw bar, a claw finger, a guide member, and an elastic member, wherein the claw bar is connected at a second end thereof to the robot claw end, a first groove is provided at a first end thereof, a first portion of the claw finger is restrained in the first groove, the elastic member elastically supports the claw finger in the first groove, a second portion of the claw finger is provided with a finger hook, the guide member is provided on the finger hook and expands a distance outward of the finger hook, and the guide member urges the finger hook into a clamping space to lift a clamping table by induction of a fitting positioning portion.
In a possibly preferred embodiment, a recess is provided at the wall of the first slot, a first opening is provided between the first and second portions of the finger to accommodate at least part of the guide, and when the finger is pressed into the first slot, the guide abuts the recess of the first slot to limit the depth to which the finger is pressed into the first slot.
In a possible preferred embodiment, a notch is provided at the wall of the first slot, a first opening is provided between the first and second portions of the finger to accommodate at least part of the guide, and when the finger is pressed into the first slot, the guide abuts against the notch of the first slot to limit the depth of the finger into the first slot and stop the guide to limit the guidance of the positioning portion, and a first mark is provided on the guide to identify the relative displacement of the first mark to learn the stop of the guide, thereby identifying the jaw lever depression limit.
In a possible preferred embodiment, the guide comprises a roller, a rotating shaft, the roller is connected with the finger hook through the rotating shaft, the roller is beyond the finger hook in size to cover at least part of the finger hook to guide and define a non-roller cover area of the finger hook as a lifting part, the roller enters into a circular arc-shaped notch of the finger hook through the induction of the positioning part of the matching part, and the lifting part of the finger hook is further promoted to position a clamping table for supporting the matching part.
In a possible preferred embodiment, the robot clamping device further comprises a side blocking mechanism, wherein the side blocking mechanism comprises a support, a driving machine, a transmission unit and a blocking rod, the transmission unit and the driving machine are respectively connected with the support so as to be fixed at the claw end of the robot through the support, the driving machine is connected with the driving end of the transmission unit, and the blocking rod is connected with the linkage end of the transmission unit so as to be driven by the transmission unit to block the side face of the sheet carrying material box in an encircling mode.
In a possible preferred embodiment, the transmission unit comprises a first gear, a second gear and cantilevers, wherein the first end of each cantilever is respectively connected with the first gear and the second gear, the first gear and the second gear are respectively connected with the bracket and meshed and linked with each other, the driver is in transmission connection with at least either the first gear or the second gear, and the second end of each cantilever is connected with the stop lever.
In a possibly preferred embodiment, the transmission unit further comprises a limiting member in the shape of an L, which is fixed on the bracket at a limiting position near the first end of the cantilever, so as to prevent the first end of the cantilever from moving continuously when the cantilever is driven to a preset limit position along with the first gear/the second gear.
In order to achieve the above object, according to a third aspect of the present invention, there is provided a robot clamping device provided at a robot jaw end for clamping the sheet cassette, comprising a jaw mechanism including a jaw member, a jaw finger, a guide, and an elastic member, wherein the jaw member is connected at a second end thereof to the robot jaw end, the jaw member is provided at a first end thereof with a first groove, a first portion of the jaw finger is restrained in the first groove, the elastic member elastically supports the jaw finger in the first groove, a second portion of the jaw finger is provided with a finger hook, the guide is provided on the finger hook and extends a distance outside the finger hook, the guide is induced by an adapter positioning portion to cause the finger hook to lift a clamping table of the adapter, a notch is provided at a wall of the first groove, a first opening is provided between the first portion and the second portion of the jaw finger to accommodate at least a part of the guide, and when the jaw finger is pressed into the first groove, the guide and the first finger is pressed into the notch with a first groove to limit a depth of the first groove; the side blocking mechanism comprises a support, a driving machine, a transmission unit and a blocking rod, wherein the transmission unit and the driving machine are respectively connected with the support so as to be fixed at the end of a robot claw through the support, the transmission unit comprises a first gear, a second gear and cantilevers, the first end of each cantilever is respectively connected with the first gear and the second gear, the first gear and the second gear are respectively connected with the support and are in meshed linkage, the driving machine is connected with at least one of the first gear and the second gear in a transmission way, and the second end of each cantilever is connected with the blocking rod so as to drive the blocking rod to block the side surface of a plate carrying box in a surrounding posture.
In order to achieve the above object, according to a fourth aspect of the present invention, there is also provided a composite robot for carrying the above-mentioned carrier plate material cassette, which comprises a mechanical arm, a moving chassis, the mechanical arm being disposed on the moving chassis, and a clamping assembly fitted to a claw end of the mechanical arm, wherein the clamping assembly is formed by using the robot clamping device including any one of the above-mentioned components.
In order to achieve the above object, according to a fifth aspect of the present invention, there is provided a clamping method of a robot clamping device for controlling the robot clamping device to clamp a sheet cassette as described above to clamp the sheet cassette, comprising the steps of driving a claw member by a robot claw end until the claw member contacts a top surface of a cassette body, gradually folding the claw member by the robot claw end to bring a guide member into contact with a positioning portion of an adapter member to form an induction for adjusting a direction of the sheet cassette until a finger hook is inserted into a clamping space of the adapter member, and lifting the claw member by the robot claw end to lift a clamping table of the adapter member via the finger hook.
According to the robot clamping device, the clamping method thereof, the sheet carrying box and the composite robot, the structure of the existing sheet carrying box and the mechanical arm clamping jaw is improved, so that materials in the sheet carrying box are not easy to damage when the mechanical arm clamps the sheet carrying box, and meanwhile, the mechanical arm clamping jaw mechanism is matched with the matching piece of the sheet carrying box in the clamping process, so that automatic correction can be formed, the reliability in clamping is ensured, and the fault tolerance of the mechanical arm clamping jaw when the sheet carrying box is clamped is reduced.
In addition, in some embodiments, after the clamping jaw mechanism is clamped, the clamping jaw mechanism can further form an encircling from the side surface of the sheet metal carrying box, so that on one hand, the side leakage of materials in the sheet metal carrying box can be prevented, and meanwhile, the sheet metal carrying box can be further stabilized from the side surface, so that shaking of the sheet metal carrying box in the clamping and carrying process is relieved, the sheet metal carrying box is suitable for stricter production process requirements, and therefore, the manipulator robot can replace manual intervention production to carry out procedures such as transferring and loading and unloading of the sheet metal carrying box, automatic production is replaced by manual intervention, and the possibility is provided for improving production efficiency.
On the other hand, the robot clamping device is suitable for being additionally arranged or refitted on the existing mechanical arm, so that the cost for upgrading the existing equipment is low, and the robot clamping device is suitable for market popularization.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic view of a carrier plate magazine according to the present invention;
FIG. 2 is a schematic view of a robot clamping device of the present invention assembled at a robot jaw end to clamp a loaded sheet cassette;
FIG. 3 is a schematic diagram of an assembly structure of the robot clamping device of the present invention;
FIG. 4 is a schematic view of a robot clamping device for clamping a loading plate box according to the present invention, wherein the adapter is in a perspective form;
FIG. 5 is a schematic structural view of the robotic clamping device of the present invention;
FIG. 6 is a schematic structural view of a robotic clamping device of the present invention;
FIG. 7 is a schematic view of a robot clamping device of the present invention assembled at a robot jaw end to clamp a loaded sheet cassette;
fig. 8 is a schematic structural view of a clamping jaw mechanism of the robot clamping device of the invention for clamping a plate box from the top, and a side blocking mechanism for embracing the plate box from the side.
Description of the reference numerals
The plate loading box 1, a clamping jaw mechanism 2, a side blocking mechanism 3, a box body 11, an adapter 12, a supporting wall 13, a positioning part 14, a clamping space 15, a clamping table 16, a robot 9, a claw rod piece 21, a claw finger piece 22, a guide piece 23, an elastic piece 24, a first groove 25, a finger hook 26, a first opening 27, a first mark 28, a roller 231, a rotating shaft 232, a lifting part 233, a bracket 31, a driving machine 32, a transmission unit 33, a stop lever 34, a limiting piece 35, a first gear 331, a second gear 332, a cantilever 333 and a PCB 8.
Detailed Description
In order that those skilled in the art can better understand the technical solutions of the present application, the following description will clearly and completely describe the specific technical solutions of the present application in conjunction with the embodiments to help those skilled in the art to further understand the present application. It will be apparent that the embodiments described herein are merely some, but not all embodiments of the application. It should be noted that embodiments of the present application and features of embodiments may be combined with each other by those of ordinary skill in the art without departing from the spirit of the present application and without conflicting with each other. All other embodiments, which are derived from the embodiments herein without creative effort for a person skilled in the art, shall fall within the disclosure and the protection scope of the present application.
Furthermore, the terms first, second and the like in the description and in the claims and drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those described herein. Also, the terms "comprising" and "having" and any variations thereof herein are intended to cover a non-exclusive inclusion. Unless specifically stated or limited otherwise, the terms "disposed," "configured," "mounted," "connected," "coupled" and "connected" are to be construed broadly, and may, for example, be fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected through an intermediary, or may be in communication with the interior of two elements. The specific meaning of the terms in this case will be understood by those skilled in the art in view of the specific circumstances and in combination with the prior art.
The term robot/arm is understood to refer broadly to a robot having a robot arm, or a robot arm, unless specifically indicated.
The two clamping jaws of the traditional mechanical arm are used for clamping objects in a clamping mode, so that for box-shaped objects, two sides of the box body are commonly clamped in a pinching mode to form stable holding, however, for the existing structure of the plate carrying box, the box body is required to avoid being extruded because of precise semiconductor materials are stored inside the box body, the squeezing force is obviously caused inside the box body in the pinching mode, so that the probability of damaging the materials inside the box body is improved, a certain accuracy control threshold is also provided for the holding strength of the clamping jaws of the mechanical arm, and the holding scheme formed by the traditional mechanical arm structure is just limited, so that the clamping and transferring requirements of the plate carrying box cannot be met.
For this reason, referring to fig. 1, the present invention provides a carrier plate case 1, wherein the case 11 can follow various prior art schemes, but the top of the case 11 is preferably provided with a mating member 12, wherein a first surface of the mating member 12, i.e. a bottom surface of the mating member 12, extends out of a supporting wall 13, a first side of the mating member 12, i.e. a side of the mating member 12 facing the opening of two sides of the case 11, is provided with a positioning portion 14 having a circular arc-shaped recess, wherein after the mating member 12 is connected to the top of the case 11, the first surface of the mating member 12 and the top surface of the case 11 form a drop through the supporting wall 13, so that a clamping space 15 is spaced between the top surface of the case 11 and the bottom surface of the mating member 12, to define a clamping table 16 beside the positioning portion 14.
In order to adapt the construction of the sheet metal box 1, the present invention provides the robot clamping device, as shown in fig. 1 to 8, which is arranged at the jaw end of the robot 9 for adapting the clamping of the sheet metal box 1, wherein the robot clamping device preferably comprises a clamping jaw mechanism 2, wherein the clamping jaw mechanism 2 comprises a jaw bar member 21, a jaw finger member 22, a guiding member 23, an elastic member 24, wherein the second end of the jaw bar member 21 is connected to the jaw end of the robot 9, wherein the jaw bar member 21 is provided with a first groove 25 at a first end thereof, as shown in fig. 3, a first part of the jaw finger member 22 is confined in the first groove 25, and the elastic member 24 is preferably a spring, which elastically supports the jaw finger member 22 in the first groove 25, wherein the second part of the jaw finger member 22 is provided with a finger hook 26.
Wherein, a notch is provided at the wall of the first groove 25, a first opening 27 is provided between the first portion and the second portion of the finger member 22 to accommodate at least part of the guide member 23, and when the finger member 22 is pressed into the first groove 25, the guide member 23 abuts against the notch of the first groove 25 to limit the depth of pressing the finger member 22 into the first groove 25.
The guide member 23 in this embodiment includes a roller 231 and a rotating shaft 232, wherein the roller 231 is connected with the finger hook 26 via the rotating shaft 232, and the roller 231 is sized beyond the finger hook 26 to cover at least part of the finger hook 26 to form a guide, and define a non-roller 231 covered area of the finger hook 26 as a lifting portion 233, and the roller 231 at least partially enters the first opening 27, so that on one hand, the rolling of the roller 231 is not affected, and on the other hand, when the roller 231 is made of a flexible material, such as rubber, silica gel, or the like, when the guide member 23 abuts against the notch of the first groove 25 to limit the claw finger 22, a secondary buffer is further formed after the spring, thereby further slowing down the downward force of the claw member 21, and improving the fault tolerance and reliability.
Therefore, when the robot starts to clamp the loading plate box 1, the claw bar 21 is firstly moved to the top of the loading plate box 1 and gradually moved down to the top surface of the box body 11, the claw finger 22 can form elastic buffer with the claw bar 21 through the elastic piece 24 or the roller 231, so as to improve the fault tolerance of the robot when the claw bar 21 is pressed down, meanwhile, the extrusion force of the claw finger 22 to the box body 11 can be relieved, then the claw bar 21 starts to gradually fold, at the moment, as the roller 231 protrudes compared with the finger hook 26, the claw bar 26 can be contacted with at least part of the positioning part 14 on the side surface of the adapting piece 12 before the finger hook 26 and is gradually folded along the claw bar 21, the roller 231 is rolled and induced to gradually adjust the direction of the loading plate box 1, and finally, when the roller 231 and the positioning part 14 reach the positioning position, the lifting part 233 of the finger hook 26 can be just positioned and inserted into the clamping space 15 of the adapting piece 12, at the moment, after the claw bar 21 starts to lift the platform 16 of the adapting piece 12, so as to form the clamping of the loading plate box 1.
It should be noted that, in order to provide the pressing fault tolerance of the jaw lever 21 and to feed back the characteristics suitable for recognition by the automatic sensing system, such as the machine vision recognition system, for the purpose of identifying the pressing limit of the jaw lever 21, in the preferred embodiment, as shown in fig. 3 to 4, the guide member 23 is provided with a first mark 28, which first mark 28 may be provided on the tread of the roller 231, and the first mark 28 may be a mark or a line or a characteristic suitable for the perception by the machine vision recognition system, such as a gradual color, etc., while when the characteristic is provided on the tread of the roller 231, the roller 231 is stopped when the roller 231 is pressed against the notch of the first groove 25 by the limit jaw finger 22 to limit the induction of the positioning portion 14, i.e. the roller 231 does not roll along the notch of the positioning portion 14 or the side wall of the adapter 12, and the first mark 28 cannot roll on the roller 231 at this time, so that the relative displacement thereof is changed, while the person skilled in the person has the knowledge of the machine vision recognition system can recognize that the pressing limit of the jaw lever 21 is provided, and thus the pressing limit of the robot can be adjusted according to the pressing limit of the machine vision recognition system.
Therefore, the design of the clamping jaw mechanism 2 skillfully ensures fault tolerance, forms automatic correction guidance, and provides identification characteristics for the existing automatic sensing system under the condition of not adding a sensor, so that the structure of the clamping jaw mechanism provides possibility for integration into automatic production.
In addition, it should be noted that the clamping structure of the robot clamping device and the sheet-carrying material box 1 in the present embodiment is a clamping structure that the clamping device is substantially clamped by the clamping jaw mechanism 2 to clamp the adapting piece 12 for lifting, so that the clamping structure is different from the clamping structure of the existing holding box 11, so as to be away from the box 11 as far as possible, so that the box 11 itself is not easy to be extruded, and the material in the box 11 is not easy to be damaged.
On the other hand, the special guiding structure is adopted to automatically correct the position of the finger hook 26 until the finger hook is guided into the clamping space 15 to lift the clamping table 16, so that the fault tolerance and the reliability of the matching between the clamping jaw mechanism 2 and the matching piece 12 are ensured.
On the other hand, since the two sides of the loading plate box 1 are open, the loading plate box 1 must be kept stable during the carrying and moving process, otherwise, the materials carried in the loading plate box are easy to leak out from the side surfaces of the loading plate box, and these limitations just cause the requirement that the holding mode formed by adopting the traditional mechanical arm structure cannot be suitable for clamping and transferring the loading plate box 1.
For this purpose, in a preferred embodiment, as shown in fig. 5 to 8, the robot clamping device of the present invention further comprises a side blocking mechanism 3 for forming a blocking from openings on both sides of the box body 11 when the clamping jaw mechanism 2 clamps the plate material box 1, wherein the side blocking mechanism 3 comprises a bracket 31, a driving machine 32, a transmission unit 33, and a stop lever 34, the transmission unit 33 and the driving machine 32 are respectively connected with the bracket 31 to be fixed at the jaw end of the robot 9 through the bracket 31, the transmission unit 33 comprises a first gear 331, a second gear 332, and a cantilever 333, the first end of each cantilever 333 is respectively connected with the first gear 331 and the second gear 332, the first gear 331 and the second gear 332 are respectively connected with the bracket 31 and are in meshed linkage, the driving machine 32 is connected with at least either one of the first gear 331 or the second gear 332, and the second end of the cantilever 333 is connected with the stop lever 34 to drive the stop lever 34 to keep the side of the plate material box 1 in a encircling posture.
In addition, in order to improve the reliability of the side-stop mechanism 3, as shown in fig. 7, the transmission unit 33 further includes a limiting member 35, wherein the limiting member 35 is L-shaped and is fixed on the bracket 31 at a limiting position near the first end of the cantilever 333, so as to prevent the first end of the cantilever 333 from moving continuously when the cantilever 333 is driven to a preset limit position along with the first gear 331/the second gear 332, so as not to pinch the sheet metal box 1.
Therefore, through the intervention of the side blocking mechanism 3, after the clamping jaw mechanism 2 is clamped, the side of the sheet carrying box 1 can be further surrounded, on one hand, the side leakage of materials in the sheet carrying box 1 can be blocked, and meanwhile, the sheet carrying box 1 can be further stabilized from the side, so that the shaking of the sheet carrying box 1 in the clamping and carrying process is relieved, and therefore, according to the embodiment, a person skilled in the art can know that the composite structure formed by the side blocking mechanism 3 and the clamping jaw mechanism 2 is not only suitable for being simultaneously assembled at the claw end of a robot, but also can form functional cooperation, so that the carrying of the sheet carrying box 1 is stabilized, and the more strict production process requirements are met.
Corresponding to the embodiment, the invention also provides a clamping method of the robot clamping device, which is used for clamping the sheet-carrying material box 1, and comprises the steps that the claw end of the robot 9 drives the claw rod piece 21 to be pressed down until the claw finger piece 22 contacts with the top surface of the box body 11, the claw end of the robot 9 drives the claw rod piece 21 to be gradually folded, so that the guide piece 23 contacts with the positioning part 14 of the matching piece 12 to form induction to adjust the direction of the sheet-carrying material box 1 until the finger hook 26 is inserted into the clamping space 15 of the matching piece 12, and the claw end of the robot 9 drives the claw rod piece 21 to be lifted up so as to lift the clamping table 16 of the matching piece 12 through the finger hook 26.
The robot then starts the drive 32, which drives the transmission unit 33 to move the stop lever 34 in a clasping position against the side of the carrier plate magazine 1.
When the sheet metal box 1 is removed, the claw rod piece 21 is separated from the claw end of the robot 9 to be lifted away from the adapting piece 12, and at the same time, the robot starts the driving machine 32 to drive the transmission unit 33 to move the stop lever 34 to withdraw from the side surface of the sheet metal box 1 in the arm unfolding and encircling releasing posture.
The invention also provides a composite robot for carrying the plate carrying material box 1 of the embodiment, which comprises a mechanical arm and a moving chassis, wherein the mechanical arm is arranged on the moving chassis, the moving chassis can be an AGV robot, the composite robot further comprises a clamping assembly which is assembled at the claw end of the mechanical arm, and the clamping assembly is formed by adopting the robot clamping device comprising any embodiment.
In summary, according to the robot clamping device, the sheet carrying box 1 and the composite robot provided by the invention, the structures of the existing sheet carrying box 1 and the mechanical arm clamping jaw are improved, so that the mechanical arm is not easy to damage materials in the sheet carrying box 1 when the sheet carrying box 1 is clamped, and meanwhile, in the clamping process, the clamping jaw mechanism 2 is matched with the matching piece 12 of the sheet carrying box 1, so that automatic correction can be formed, the reliability in clamping is ensured, and the fault tolerance of the mechanical arm clamping jaw when the sheet carrying box 1 is clamped is reduced. Therefore, the manipulator robot is used for replacing manual intervention production to carry out procedures such as transferring the sheet carrying box 1, loading and unloading equipment and the like, automatic production is replaced by manual intervention, and possibility is provided for improving production efficiency.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is to be limited only by the following claims and their full scope and equivalents, and any modifications, equivalents, improvements, etc., which fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
It will be appreciated by those skilled in the art that the system, apparatus and their respective modules provided by the present invention may be implemented entirely by logic programming method steps, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., except for implementing the system, apparatus and their respective modules provided by the present invention in a purely computer readable program code. Therefore, the system, the device and the respective modules thereof provided by the invention can be regarded as a hardware component, and the modules for realizing various programs included therein can be regarded as a structure in the hardware component, and the modules for realizing various functions can be regarded as a structure in the hardware component as well as a software program for realizing the method.
Furthermore, all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program, where the program is stored in a storage medium and includes several instructions for causing a single-chip microcomputer, chip or processor (processor) to execute all or part of the steps in the methods of the embodiments of the application. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.
In addition, any combination of various embodiments of the present invention may be performed, so long as the concept of the embodiments of the present invention is not violated, and the disclosure of the embodiments of the present invention should also be considered.
Claims (6)
1. The robot clamping device is arranged at the claw end of the robot and used for clamping and loading the plate box and is characterized by comprising a clamping jaw mechanism, a clamping jaw mechanism and a clamping mechanism, wherein the clamping jaw mechanism comprises a claw rod piece, a claw finger piece, a guide piece and an elastic piece, the second end of the claw rod piece is connected with the claw end of the robot, a first groove is formed in the first end of the claw rod piece, a first part of the claw finger piece is limited in the first groove, the elastic piece elastically supports the claw finger piece in the first groove, a finger hook is arranged at the second part of the claw finger piece, the guide piece is arranged on the finger hook, extends a certain distance outside the finger hook, and the guide piece promotes the finger hook to enter a clamping space to lift a clamping table of the plate box through induction of an adapting piece positioning part of the plate box;
the guide piece comprises a roller and a rotating shaft, wherein the roller is connected with the finger hook through the rotating shaft, the size of the roller exceeds the outer side of the finger hook so as to cover at least part of the finger hook to form guide, and a non-roller coverage area of the finger hook is defined as a lifting part;
the groove wall of the first groove is provided with a notch, a first opening is formed between the first part and the second part of the claw finger piece so as to accommodate at least part of the roller, and when the claw finger piece is pressed into the first groove, the roller is abutted against the notch of the first groove so as to limit the depth of the claw finger piece pressed into the first groove and stop the roller, so as to limit the induction of the positioning part, and a first mark is arranged on the roller so as to identify the relative displacement of the first mark to learn the stop of the roller, and then the pressing limit of the claw member is identified.
2. The robot clamping device according to claim 1, further comprising a side blocking mechanism, wherein the side blocking mechanism comprises a support, a driving machine, a transmission unit and a blocking rod, the transmission unit and the driving machine are respectively connected with the support and fixed at the end of the robot claw through the support, the driving machine is connected with the driving end of the transmission unit, and the blocking rod is connected with the linkage end of the transmission unit and is blocked at the side face of the sheet carrying box in an encircling mode through the driving of the transmission unit.
3. The robot clamping device according to claim 2, wherein the transmission unit comprises a first gear, a second gear and cantilevers, the first ends of the cantilevers are respectively connected with the first gear and the second gear, the first gear and the second gear are respectively connected with the bracket and meshed and linked with each other, the driving machine is in transmission connection with at least any one of the first gear and the second gear, and the second ends of the cantilevers are connected with the stop lever.
4. A carrier plate box for a robot clamping device according to any one of claims 1 to 3, wherein the carrier plate box body is provided with a matching piece, and the carrier plate box is characterized in that a supporting wall is arranged on a first surface of the matching piece, a positioning part with a circular arc-shaped notch is arranged on a first side of the matching piece, the matching piece is connected with the top of the box body, and a drop is formed between the first surface of the matching piece and the top of the box body through the supporting wall so as to form a clamping space between the top of the box body and the bottom of the matching piece at intervals, and a clamping table is defined beside the positioning part.
5. A composite robot for carrying the sheet metal box according to claim 4, comprising a mechanical arm and a movable chassis, wherein the mechanical arm is arranged on the movable chassis, and the composite robot is characterized by further comprising a clamping assembly which is assembled at the claw end of the mechanical arm, wherein the clamping assembly is formed by adopting the robot clamping device according to any one of claims 1 to 4.
6. A clamping method of a robot clamping device for operating the robot clamping device according to any one of claims 1 to 3 to clamp the carrier sheet material cassette according to claim 4, comprising the steps of:
the robot claw end drives the claw rod piece to press downwards until the claw finger piece contacts with the top surface of the plate carrying box body;
The robot claw end drives the claw rod piece to gradually fold so that the guiding piece is contacted with the matching piece positioning part to form induction to adjust the direction of the plate carrying box until the finger hook is inserted into the clamping space of the matching piece;
The robot claw end drives the claw rod member to lift up so as to lift the clamping table of the matching piece through the finger hook.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210199191.3A CN114380047B (en) | 2022-03-02 | 2022-03-02 | A robot clamping device and clamping method thereof, a plate carrier box, and a composite robot |
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| CN202210199191.3A CN114380047B (en) | 2022-03-02 | 2022-03-02 | A robot clamping device and clamping method thereof, a plate carrier box, and a composite robot |
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| CN114380047B true CN114380047B (en) | 2025-03-18 |
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| CN114380047A (en) | 2022-04-22 |
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