CN110620072A - Pick and place mechanism and conveying device - Google Patents
Pick and place mechanism and conveying device Download PDFInfo
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- CN110620072A CN110620072A CN201810628774.7A CN201810628774A CN110620072A CN 110620072 A CN110620072 A CN 110620072A CN 201810628774 A CN201810628774 A CN 201810628774A CN 110620072 A CN110620072 A CN 110620072A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 123
- 238000000926 separation method Methods 0.000 claims abstract description 9
- 239000000969 carrier Substances 0.000 claims abstract description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 14
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 5
- 235000012431 wafers Nutrition 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical group C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
Classifications
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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
- H01L21/6773—Conveying cassettes, containers or carriers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a pick-and-place mechanism and a conveying device, wherein the pick-and-place mechanism is used for picking and placing carriers, and comprises: a rotating part rotatably provided; the joint portion is connected with the rotation portion, and the rotation portion is used for driving the joint portion and rotates, and the joint portion can rotate the joint position with the carrier joint and dodge the position with the carrier separation. The clamping part is rotated to realize connection or separation with the carrier, the action is simple, the action of the pick-and-place mechanism can be simplified, and the clamping mode is adopted to be connected with the carrier, so that the connection is firm and reliable. Therefore, the technical scheme of the invention can simplify the action of the pick-and-place mechanism and can be reliably connected with the carrier, thereby improving the production efficiency and the safety.
Description
Technical Field
The invention relates to the technical field of material conveying, in particular to a taking and placing mechanism and a conveying device.
Background
The technical process in the field of semiconductors and solar energy has a plurality of working procedures, and various material conveying modes exist among the working procedures, wherein some working procedures are used for conveying a single wafer, and some working procedures are used for conveying a plurality of wafers simultaneously. In order to improve the production efficiency, a plurality of wafers can be placed in the same basket (carrier), and the basket is grabbed or released by the pick-and-place mechanism to realize the transmission. The picking and placing mechanism in the prior art has more execution actions in the process of picking and placing the flower basket, and is not reliable enough to be connected with the flower basket. The same problem exists for other carriers similar to flower baskets.
Disclosure of Invention
The invention provides a pick-and-place mechanism and a conveying device, which are used for solving the problems that the pick-and-place mechanism in the prior art has more execution actions and is unreliable in connection with a carrier.
In order to solve the above problem, according to an aspect of the present invention, there is provided a pick and place mechanism for picking and placing a carrier, the pick and place mechanism including: a rotating part rotatably provided; the joint portion is connected with the rotation portion, and the rotation portion is used for driving the joint portion and rotates, and the joint portion can rotate the joint position with the carrier joint and dodge the position with the carrier separation.
Further, the clamping portion includes: a rotating member connected to the rotating portion; the joint spare, the protrusion sets up on rotating the piece, and the joint spare is used for with the carrier joint.
Further, the rotation piece is discoid structure, and the joint spare sets up in the periphery of rotating along the radial protrusion that rotates the piece, and the joint spare is a plurality ofly, and a plurality of joint spares set up along the circumferencial direction interval that rotates the piece.
Further, along the rotation direction of rotating the piece, joint spare has first side and second side, and from the direction of first side to second side, the thickness of joint spare reduces gradually, and the second side is used for the tank bottom butt with the draw-in groove of carrier.
Further, get and put mechanism and still include the supporting part, and the supporting part includes first pedestal, and the rotation portion includes the pivot, and the pivot rotationally sets up in the cavity of first pedestal, and joint portion and the end connection of pivot.
Further, the supporting part further comprises a bearing, the bearing is arranged in the cavity of the first seat body, the rotating shaft penetrates through the bearing, the rotating shaft is vertically arranged, a limiting step is arranged on the side wall of the rotating shaft, and the limiting step is abutted to the upper end face of the bearing.
Further, the supporting part still includes the second pedestal, and the second pedestal is connected with first pedestal, and the mechanism of putting of getting still includes: and the driving part is arranged on the second seat body, and a driving shaft of the driving part is in driving connection with the rotating shaft.
Further, the drive portion is revolving cylinder, and the cavity of second pedestal and the cavity intercommunication of first pedestal, the drive shaft wear to establish in the cavity of second pedestal, and rotation portion still includes the shaft coupling, and the drive shaft passes through the shaft coupling with the pivot and is connected.
Further, the pick and place mechanism further comprises: the limiting part is connected with the first base body and used for limiting the rotation of the carrier so as to enable the clamping part to be clamped with or separated from the carrier.
Further, the spacing portion includes: and the limiting column is used for being spliced with the carrier.
According to another aspect of the present invention, there is provided a conveying device, including a carrier and a pick-and-place mechanism, wherein the carrier is used for holding materials, the pick-and-place mechanism is used for picking and placing the carrier, the pick-and-place mechanism is the above pick-and-place mechanism, and the carrier has a slot for matching and connecting with a clamping portion of the pick-and-place mechanism.
Further, the carrier also has: the avoidance hole is arranged at the end part of the carrier, the clamping groove is arranged on the inner wall of the avoidance hole, and the rotating piece of the clamping part can stretch into and withdraw from the avoidance hole; dodge the groove, set up at the tip of carrier, dodge groove and draw-in groove intercommunication, the joint spare of joint portion can stretch into and withdraw from and dodge the groove.
Further, along the direction of rotation of rotating the piece, from the notch of draw-in groove to the tank bottom of draw-in groove, the width of draw-in groove reduces gradually.
Further, the carrier also has: and the limiting hole is arranged at intervals with the clamping groove and is used for being matched and connected with the limiting part of the pick-and-place mechanism.
According to another aspect of the present invention, there is provided a conveying device, including a moving mechanism and a pick-and-place mechanism, the pick-and-place mechanism is disposed on the moving mechanism, the moving mechanism is configured to drive the pick-and-place mechanism to move integrally, and the pick-and-place mechanism is the above-mentioned pick-and-place mechanism.
By applying the technical scheme of the invention, the rotating part and the clamping part are arranged in the pick-and-place mechanism, so that the clamping part can be driven by the rotating part to rotate so as to clamp or separate the clamping part with or from the carrier. The technical scheme of the invention can realize the connection or separation with the carrier by rotating the clamping part, has simple action, can simplify the action of the pick-and-place mechanism, and is connected with the carrier in a clamping way, thereby having firm and reliable connection. Therefore, the technical scheme of the invention can simplify the action of the pick-and-place mechanism and can be reliably connected with the carrier, thereby improving the production efficiency and the safety.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a pick and place mechanism provided in an embodiment of the present invention;
FIG. 2 illustrates a bottom view of the pick and place mechanism of FIG. 1;
FIG. 3 shows a cross-sectional view of the clip of FIG. 2 at position B-B;
FIG. 4 is a schematic diagram of a transfer device provided in a second embodiment of the present invention;
fig. 5 shows a top view of the carrier of fig. 4;
fig. 6 shows a partial cross-sectional view of the carrier of fig. 5 at position a-a;
fig. 7 shows a schematic diagram of a conveying device provided in the third embodiment of the present invention.
Wherein the figures include the following reference numerals:
10. a support portion; 11. a first seat body; 12. a bearing; 13. a second seat body; 20. a rotating part; 21. a rotating shaft; 22. a coupling; 30. a clamping part; 31. a rotating member; 32. a clamping piece; 321. a first side surface; 322. a second side surface; 40. a drive section; 41. a drive shaft; 50. a limiting part; 51. a limiting column; 100. a pick and place mechanism; 200. a carrier; 201. a card slot; 202. avoiding holes; 203. an avoidance groove; 204. a limiting hole; 300. and a moving mechanism.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to fig. 3, a pick and place mechanism according to a first embodiment of the present invention is used for picking and placing a carrier, and the pick and place mechanism includes: a rotating part 20 rotatably provided; joint portion 30 is connected with rotation portion 20, and rotation portion 20 is used for driving joint portion 30 and rotates, and joint portion 30 can rotate the joint position with the carrier joint and dodge the position with the carrier separation. In this embodiment, the carrier refers to a tool or an appliance for holding an article.
By applying the technical scheme of the embodiment, the rotating portion 20 and the clamping portion 30 are arranged in the pick-and-place mechanism, so that the clamping portion 30 can be driven to rotate by the rotating portion 20, and the clamping portion 30 can be clamped with or separated from the carrier. The technical scheme of this embodiment can realize being connected or separating with the carrier through rotating joint portion 30, and the action is simple to can simplify the action of getting and putting the mechanism, and moreover, the technical scheme of this embodiment adopts the mode of joint to be connected with the carrier, and firm in connection is reliable. Therefore, the technical scheme of the embodiment can simplify the action of the pick-and-place mechanism and can be reliably connected with the carrier, thereby improving the production efficiency and the safety. For example, the pick-and-place mechanism can be applied to the grabbing or releasing of a basket for holding wafers in the fields of semiconductors and solar energy. The device can improve the convenience and the reliability when grabbing the flower basket.
In the present embodiment, the clip portion 30 includes: a rotor 31 connected to the rotor 20; and the clamping piece 32 protrudes from the rotating piece 31, and the clamping piece 32 is used for clamping with the carrier. Therefore, the clamping piece 32 can be driven by the rotating piece 31, and then the clamping piece 32 is clamped with or separated from the carrier. In this embodiment, a clamping groove may be provided on the carrier, and the clamping is realized by the cooperation of the raised clamping piece 32 and the clamping groove; a clamping groove can be formed in the clamping piece 32, and a protruding structure is arranged on the carrier to realize clamping.
As shown in fig. 2, the rotating member 31 is a disc-shaped structure, the clamping members 32 are arranged on the circumferential surface of the rotating member 31 along the radial protrusion of the rotating member 31, the clamping members 32 are multiple, and the plurality of clamping members 32 are arranged at intervals along the circumferential direction of the rotating member 31. The clamping at different positions of the plurality of clamping pieces 32 and the carrier can be arranged in such a way, so that the reliability of connection between the pick-and-place mechanism and the carrier can be improved. Moreover, the rotation of one rotating part 31 can drive a plurality of clamping parts 32 to rotate simultaneously so as to be connected with or separated from the carrier, and the operation is convenient and the efficiency is high.
In the present embodiment, the clamping member 32 is used for clamping with a clamping slot on the carrier. As shown in fig. 2 and 3, along the rotation direction of the rotation member 31, the engaging member 32 has a first side 321 and a second side 322, the thickness of the engaging member 32 gradually decreases from the first side 321 to the second side 322, and the second side 322 is used for abutting against the bottom of the slot of the carrier. So set up, joint spare 32 is the wedge structure, like this joint spare 32 with the carrier on the draw-in groove joint or when separating, the inclined plane of accessible wedge structure plays the guide effect to be convenient for joint spare 32 and draw-in groove be connected or the separation.
As shown in fig. 1, the pick and place mechanism further includes a support portion 10, and the support portion 10 is used for supporting the rotation portion 20. The supporting portion 10 includes a first seat 11, the rotating portion 20 includes a rotating shaft 21, the rotating shaft 21 is rotatably disposed in the cavity of the first seat 11, and the clamping portion 30 is connected to an end of the rotating shaft 21. Therefore, the clamping portion 30 can be driven to rotate by the rotating shaft 21, and the rotating shaft 21 can be protected by the first seat body 11. In this embodiment, the rotating shaft 21 may be connected to the first seat 11, so that the rotating shaft 21 can be supported by the first seat 11.
Specifically, the supporting portion 10 further includes a bearing 12, the bearing 12 is disposed in the cavity of the first seat 11, the rotating shaft 21 penetrates through the bearing 12, the rotating shaft 21 is vertically disposed, a limiting step is disposed on a side wall of the rotating shaft 21, and the limiting step abuts against an upper end face of the bearing 12. The friction resistance can be reduced by providing the bearing 12, facilitating the rotation of the rotating shaft 21. Through set up spacing step on the lateral wall at pivot 21 to with the up end butt of spacing step and bearing 12, can play the supporting role to pivot 21 through bearing 12 and first pedestal 11, thereby can improve the bearing capacity of getting and putting the mechanism. After the clamping portion 30 is connected to the carrier, the gravity of the carrier and the product in the carrier is transmitted to the rotating shaft 21 through the clamping portion 30, then transmitted to the bearing 12 through the rotating shaft 21, and then transmitted to the first seat 11, so that the weight of the carrier and the product can be borne by the first seat 11, and the bearing capacity of the pick-and-place mechanism can be improved. In this embodiment, the bearing 12 may be an angular contact ball bearing, which can simultaneously bear radial force and axial force, so as to better transmit the force and improve the reliability of the device. Specifically, the angular ball bearings may be installed in pairs in the cavity of the first seat 11, and the two angular ball bearings are abutted back to back.
In this embodiment, the bearings may also be arranged in a manner that two bearings are arranged up and down in the cavity of the first seat 11, and a spacer ring is arranged between the two bearings, and the spacer ring may be made of a metal material, so that the lower bearing may be a common bearing, such as a deep groove ball bearing.
In this embodiment, the supporting portion 10 further includes a second seat 13, the second seat 13 is connected to the first seat 11, and the pick-and-place mechanism further includes: and a driving part 40 arranged on the second seat 13, wherein a driving shaft 41 of the driving part 40 is in driving connection with the rotating shaft 21. The driving portion 40 can drive the rotating shaft 21 to rotate, so that the clamping portion 30 can be clamped with or separated from the carrier. Moreover, the second seat 13 can support and fix the driving part 40. The driving unit 40 may be a driving member such as a motor or an air cylinder.
Specifically, in this embodiment, the driving portion 40 is a rotary cylinder, the cavity of the second seat 13 is communicated with the cavity of the first seat 11, the driving shaft 41 is inserted into the cavity of the second seat 13, the rotating portion 20 further includes a coupler 22, and the driving shaft 41 is connected to the rotating shaft 21 through the coupler 22. The driving part 40 is set as a rotary cylinder, and the rotation can be realized in a pneumatic mode, so that the structure is simple to operate and low in cost. The rotation angle of the rotary cylinder may be set to a predetermined value as needed. The coupling 22 connecting the driving shaft 41 and the rotating shaft 21 can facilitate the assembly of the pick-and-place mechanism. Moreover, the driving shaft 41 is inserted into the cavity of the second seat 13, so as to protect the rotating components.
In this embodiment, a key groove may be provided on the driving shaft 41 or the rotating shaft 21, and connected to the coupling by a key. In order to limit the axial direction of the drive shaft 41, a jackscrew may be provided on the coupling to fix the drive shaft 41. In order to facilitate the disassembly and assembly, the second seat body 13 may be provided with a avoiding hole so as to extend the tool disassembly jackscrew from the avoiding hole. In this embodiment, the second seat 13 may be provided as a flange structure, and the second seat 13 is connected to the first seat 11 by bolts.
As shown in fig. 1, the pick and place mechanism further includes: the limiting portion 50, the limiting portion 50 is connected to the first seat 11, and the limiting portion 50 is used for limiting the rotation of the carrier so as to clamp or separate the clamping portion 30 from the carrier. During the operation, can be earlier spacing to the carrier through setting up spacing portion 50, the carrier is unable to rotate like this, then rotatory joint portion 30 can realize the joint of joint portion 30 and carrier fast, accurately, prevents to appear not having the joint to go up or the joint problem that does not put in place. Therefore, the success rate and reliability of the carrier grabbing by the picking and placing mechanism can be improved through the limiting part 50 and the clamping part 30. In this embodiment, the position limiting portion 50 may be disposed below the first seat 11.
Specifically, the stopper portion 50 includes: the limiting column 51, the limiting column 51 is used for inserting with the carrier. The mode of accessible grafting realizes spacing to the carrier like this, this kind of mode simple structure, convenient operation. In the present embodiment, the position-limiting pillar 51 can be close to the carrier to realize the snap-fit connection or be far away from the carrier to realize the separation from the carrier. The stopper post 51 may be configured to be movable independently or the support portion 10 may move the stopper post 51.
In the present embodiment, the supporting portion 10 can drive the position-limiting post 51 to move along a predetermined direction, so that the position-limiting post 51 is inserted into or separated from the position-limiting hole of the carrier. As shown in fig. 2, the plurality of limiting columns 51 are provided, and the plurality of limiting columns 51 are disposed below the first seat 11 at intervals. Thus, the rotation of the carrier can be limited by the plurality of limiting columns 51, and the reliability of the pick-and-place mechanism can be improved.
As shown in fig. 4 to fig. 6, a second embodiment of the present invention provides a conveying device, which includes a carrier 200 and a pick-and-place mechanism 100, wherein the carrier 200 is used for holding materials, the pick-and-place mechanism 100 is used for picking and placing the carrier 200, the pick-and-place mechanism 100 is the pick-and-place mechanism 100 provided in the above embodiments, and the carrier 200 has a slot 201 for being connected with the engaging portion 30 of the pick-and-place mechanism 100 in a matching manner. Therefore, the carrier 200 and the pick-and-place mechanism 100 can be matched to convey products, so that the automatic conveying of the products is facilitated, and the production efficiency is improved. Moreover, the clamping groove 201 on the carrier 200 is matched with the clamping portion 30 on the pick-and-place mechanism 100, so that the carrier 200 can be connected with the pick-and-place mechanism 100 in a clamping manner, the connection is firm and reliable, and the safety is improved.
As shown in fig. 5 and 6, the carrier 200 further includes: an avoidance hole 202 arranged at the end of the carrier 200, a slot 201 arranged on the inner wall of the avoidance hole 202, and a rotating member 31 of the clamping portion 30 capable of extending into and exiting from the avoidance hole 202; dodge groove 203, the setting is at the tip of carrier 200, dodges groove 203 and draw-in groove 201 intercommunication, and the joint spare 32 of joint portion 30 can stretch into and withdraw from and dodge groove 203. This may facilitate the attachment or detachment of the pick and place mechanism 100 to the carrier 200. When the device is used, the rotating part 31 of the clamping part 30 extends into the avoiding hole 202, the clamping part 32 driving the clamping part 30 extends into the avoiding groove 203, then the rotating shaft 21 rotates to drive the clamping part 32 to rotate, and the clamping part 32 rotates to enter the clamping groove 201, so that the connection between the pick-and-place mechanism 100 and the carrier 200 is realized. The process of separating the pick-and-place mechanism 100 from the carrier 200 is the reverse of the above process.
In this embodiment, the avoiding groove 203 and the clamping groove 201 may be provided in plurality, and the plurality of clamping grooves 201 and the plurality of avoiding grooves 203 are provided in one-to-one correspondence, and are provided at intervals in the circumferential direction of the avoiding hole 202. Thus, the connection between the plurality of card slots 201 and the plurality of card members 32 can be realized, and the connection can be simultaneously realized or separated, and the connection is reliable and the operation is convenient.
In the present embodiment, the width of the slot 201 gradually decreases from the notch of the slot 201 to the bottom of the slot 201 in the rotation direction of the rotation member 31. Therefore, the clamping groove 201 can play a role in guiding when being clamped or separated with the clamping piece 32 with the wedge-shaped structure, so that the clamping piece 32 can be conveniently connected or separated with the clamping groove 201.
In the present embodiment, the carrier 200 further includes: the limiting hole 204 is arranged at an interval between the limiting hole 204 and the slot 201, and the limiting hole 204 is used for being matched and connected with the limiting part 50 of the pick-and-place mechanism 100. When the pick-and-place mechanism 100 is connected with the carrier 200, the carrier 200 can be prevented from rotating by the matching of the limiting part 50 and the limiting hole 204, and then the clamping part 30 can be rotated to quickly and accurately clamp the clamping part 30 with the carrier 200, so that the problem that the clamping is not carried out or the clamping is not in place can be prevented. Therefore, the positioning holes 204 can improve the success rate and reliability of the pick-and-place mechanism 100 in picking the carrier 200.
As shown in fig. 7, a third embodiment of the present invention provides another conveying apparatus, where the conveying apparatus includes a moving mechanism 300 and a pick-and-place mechanism 100, the pick-and-place mechanism 100 is disposed on the moving mechanism 300, the moving mechanism 300 is configured to drive the pick-and-place mechanism 100 to move integrally, and the pick-and-place mechanism 100 is the pick-and-place mechanism 100 provided in the first embodiment. The moving mechanism 300 can drive the pick-and-place mechanism 100 to move integrally, so as to facilitate the grabbing of the carrier 200 and the moving of the carrier 200 to a desired position. The moving mechanism 300 may be configured to move the pick-and-place mechanism 100 up and down, left and right, front and back, or in a rotational motion. In the embodiment, the moving mechanism 300 can drive the pick-and-place mechanism 100 to move up and down, so that the position limiting portion 50 can be inserted into the carrier 200, and then the engaging portion 30 can be rotated to connect the pick-and-place mechanism 100 with the carrier 200, and at this time, the moving mechanism 300 can drive the pick-and-place mechanism 100 to ascend to lift the carrier 200, and then can move horizontally to transfer the carrier and the product to a desired position. In the present embodiment, the support portion 10 in the pick and place mechanism 100 may be connected to the components in the moving mechanism 300. The moving mechanism 300 may employ an existing robot, which does not need to be specially designed. The pick-and-place mechanism 100 and the moving mechanism 300 in the third embodiment may be used in combination with the carrier 200 in the second embodiment.
For ease of understanding, a specific embodiment of the present invention is described below. When the conveying device executes the action of taking the flower basket (carrier 200), the mechanical arm (moving mechanism 300) moves downwards as shown in fig. 4, and the four guide columns (limiting columns 51) of the limiting part 50 firstly enter the four guide holes (limiting holes 204) of the flower basket to realize the accurate positioning function; the wedge-shaped tongue (the clamping piece 32) falls into the wedge-shaped groove (the clamping groove 201) of the flower basket, the rotating piece 31 falls into the circular through hole (the avoiding hole 202) of the flower basket, and the manipulator controls the downward moving amount of the taking and placing mechanism so that the wedge-shaped tongue falls into the bottom of the wedge-shaped groove. The electromagnetic directional valve is electrified, the rotating cylinder (the driving part 40) rotates clockwise to drive the coupler and the rotating shaft 21 to rotate, the rotating piece 31 is fixed on the rotating shaft 21, so that the wedge-shaped tongue rotates to enter the wedge-shaped groove, and the guide post enters the guide hole, so that the wedge-shaped tongue and the guide post lock the flower basket together. When the manipulator lifts the flower basket upwards, the shaft shoulder of the rotating shaft 21 is fixed on the inner ring of the angular contact ball bearing, and the angular contact ball bearing can bear radial force and axial force, so that the heavy flower basket can be lifted. When the mechanical arm executes the action of the flower basket, the electromagnetic directional valve is powered off, the wedge-shaped tongue is driven to rotate by the thrust of compressed air, the wedge-shaped tongue is withdrawn to the outlet (avoiding groove 203) of the wedge-shaped groove, and the mechanical arm is lifted upwards to separate the picking and placing mechanism from the flower basket.
Through the technical scheme of the invention, the following technical effects can be achieved: the pick-and-place mechanism has small installation space and can be conveniently and quickly installed at the tail end of each mechanical arm or the arm of an AGV (automatic Guided Vehicle); the locking, lifting and separating processes of the flower basket are realized by using a transmission mode of the rotary cylinder and the bearing, the action is simple, and the consumed time is short; the precise mechanical positioning of the flower basket is realized in a guide column mode, a more precise sensor is not relied on, and the cost is saved; the device can also be arranged on a grabbing mechanism of other components and parts and is used for picking and placing components which are heavy and need accurate positioning.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
Claims (15)
1. A pick and place mechanism for picking and placing carriers, the pick and place mechanism comprising:
a rotating part (20) which is rotatably arranged;
joint portion (30), with rotation portion (20) are connected, rotation portion (20) are used for driving joint portion (30) rotate, joint portion (30) can rotate with the joint position of carrier joint and with the position of dodging of carrier separation.
2. Pick and place mechanism according to claim 1, characterised in that said snapping part (30) comprises:
a rotating member (31) connected to the rotating section (20);
joint spare (32), the protrusion set up in rotate on piece (31), joint spare (32) be used for with the carrier joint.
3. The pick and place mechanism according to claim 2, wherein the rotatable member (31) has a disc-shaped structure, the plurality of engaging members (32) are provided to protrude from a circumferential surface of the rotatable member (31) in a radial direction of the rotatable member (31), and the plurality of engaging members (32) are provided at intervals in a circumferential direction of the rotatable member (31).
4. Pick and place mechanism according to claim 2, characterised in that the catch (32) has a first side (321) and a second side (322) in the direction of rotation of the rotary member (31), the catch (32) having a decreasing thickness in the direction from the first side (321) to the second side (322), the second side (322) being intended to abut against a bottom of a slot of the carrier.
5. The pick and place mechanism according to claim 1, further comprising a support portion (10), wherein the support portion (10) comprises a first seat (11), the rotating portion (20) comprises a rotating shaft (21), the rotating shaft (21) is rotatably disposed in a cavity of the first seat (11), and the engaging portion (30) is connected to an end of the rotating shaft (21).
6. The pick and place mechanism of claim 5, wherein the support portion (10) further comprises a bearing (12), the bearing (12) is disposed in the cavity of the first seat (11), the rotating shaft (21) penetrates through the bearing (12), the rotating shaft (21) is vertically disposed, and a side wall of the rotating shaft (21) has a limit step, and the limit step abuts against an upper end surface of the bearing (12).
7. Pick and place mechanism according to claim 5, characterized in that said support (10) further comprises a second seat (13), said second seat (13) being connected to said first seat (11), said pick and place mechanism further comprising:
and the driving part (40) is arranged on the second seat body (13), and a driving shaft (41) of the driving part (40) is in driving connection with the rotating shaft (21).
8. The pick and place mechanism of claim 7, wherein the driving portion (40) is a rotary cylinder, the cavity of the second seat (13) is communicated with the cavity of the first seat (11), the driving shaft (41) is inserted into the cavity of the second seat (13), the rotating portion (20) further comprises a coupling (22), and the driving shaft (41) is connected with the rotating shaft (21) through the coupling (22).
9. The pick and place mechanism of claim 5, further comprising:
spacing portion (50), spacing portion (50) with first pedestal (11) are connected, spacing portion (50) are used for the restriction the carrier rotates so that joint portion (30) with carrier joint or separation.
10. Pick and place mechanism according to claim 9, characterised in that said stop portion (50) comprises:
the limiting column (51), the limiting column (51) is used for being plugged with the carrier.
11. A conveying device comprising a carrier (200) and a pick and place mechanism (100), wherein the carrier (200) is used for containing materials, and the pick and place mechanism (100) is used for picking and placing the carrier (200), characterized in that the pick and place mechanism (100) is the pick and place mechanism (100) of any one of claims 1 to 10, and the carrier (200) is provided with a clamping groove (201) which is used for being matched and connected with a clamping part (30) of the pick and place mechanism (100).
12. The transfer device according to claim 11, wherein the pick and place mechanism (100) is the pick and place mechanism (100) according to any one of claims 2 to 4, the carrier (200) further having:
the avoiding hole (202) is formed in the end portion of the carrier (200), the clamping groove (201) is formed in the inner wall of the avoiding hole (202), and the rotating piece (31) of the clamping portion (30) can stretch into and withdraw from the avoiding hole (202);
dodge groove (203), set up the tip of carrier (200), dodge groove (203) with draw-in groove (201) intercommunication, joint spare (32) of joint portion (30) can stretch into and withdraw from dodge groove (203).
13. The transfer device according to claim 12, wherein the width of the slot (201) is gradually reduced from the notch of the slot (201) to the bottom of the slot (201) in the rotational direction of the rotary member (31).
14. The transfer device according to claim 11, wherein the pick and place mechanism (100) is the pick and place mechanism (100) of claim 9 or 10, the carrier (200) further having:
the limiting hole (204) and the clamping groove (201) are arranged at intervals, and the limiting hole (204) is used for being matched and connected with a limiting part (50) of the pick-and-place mechanism (100).
15. A conveyor comprising a moving mechanism (300) and a pick and place mechanism (100), wherein the pick and place mechanism (100) is disposed on the moving mechanism (300), and the moving mechanism (300) is used for driving the pick and place mechanism (100) to move integrally, and the pick and place mechanism (100) is the pick and place mechanism (100) according to any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810628774.7A CN110620072A (en) | 2018-06-19 | 2018-06-19 | Pick and place mechanism and conveying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810628774.7A CN110620072A (en) | 2018-06-19 | 2018-06-19 | Pick and place mechanism and conveying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110620072A true CN110620072A (en) | 2019-12-27 |
Family
ID=68919985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810628774.7A Pending CN110620072A (en) | 2018-06-19 | 2018-06-19 | Pick and place mechanism and conveying device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110620072A (en) |
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Effective date of registration: 20211026 Address after: Unit 611, unit 3, 6 / F, building 1, yard 30, Yuzhi East Road, Changping District, Beijing 102208 Applicant after: Zishi Energy Co.,Ltd. Address before: Room A129-1, No. 10 Zhongxing Road, Changping District Science and Technology Park, Beijing 102200 Applicant before: DONGTAI HI-TECH EQUIPMENT TECHNOLOGY Co.,Ltd. |
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