CN111332781A

CN111332781A - Full-automatic product handling equipment

Info

Publication number: CN111332781A
Application number: CN202010308914.XA
Authority: CN
Inventors: 王嘉祯; 谭璜; 徐建
Original assignee: Mi Fei Industrial Shanghai Co ltd
Current assignee: Mi Fei Industrial Shanghai Co ltd
Priority date: 2020-04-19
Filing date: 2020-04-19
Publication date: 2020-06-26

Abstract

The invention discloses full-automatic product handling equipment which comprises an AGV, an electric cabinet, a mechanical arm, a non-standard clamping jaw and an electronic goods shelf, wherein the non-standard clamping jaw is fixed on the mechanical arm through a flange plate. The invention aims to provide a trend of full-automatic conveying of a wafer conveying box along with the increasing full-automatic degree of the semiconductor industry, which can avoid potential risks caused by manual operation and reduce the labor load of people, and meanwhile, the full-automatic conveying is convenient to realize the tracing of product processing and the full automation of the product processing process.

Description

Full-automatic product handling equipment

Technical Field

The invention relates to the field of intelligent transportation, in particular to full-automatic product transportation equipment.

Background

At present, the mode of carrying through manual usually realizes the transport of above product, and the product has the value higher, the heavier characteristics of goods, and in the handling, there is the product risk of falling. Meanwhile, the wafer transfer box is heavy, the load of manual carrying is large, the risk of manual carrying is further increased, products are not monitored in the manual carrying process, the position of the products cannot be determined in real time by an upper system, and the upper system can read product information aiming at the problems in the related technology only when goods are placed at corresponding positions, and an effective solution is not provided at present.

Disclosure of Invention

The present invention is directed to a fully automatic product handling apparatus to solve the above problems.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a full-automatic product handling equipment, includes AGV, electric cabinet, arm, non-standard clamping jaw and electron goods shelves, non-standard clamping jaw passes through the ring flange to be fixed on the arm, its characterized in that, and the board is fixed on the electrical apparatus mounting panel is placed to the product, the electrical apparatus mounting panel includes first detector, on-vehicle RFID reading equipment and product locating pin.

Furthermore, the electric cabinet adopts the layering arrangement and includes outer electrical apparatus mounting panel, power module, camera controller and camera knob.

Further, the electric appliance mounting panel inlayer is fixed with arm control panel, switch, independently research and development control panel and industrial computer.

Furthermore, the homemade non-standard clamping jaw is respectively provided with an optical fiber shooting sensor, an industrial camera and a second detector.

Furthermore, an independent research and development electronic shelf, an independent research and development RFID reading device and a camera identification point area are arranged in the electric cabinet.

Furthermore, an auxiliary navigation sensor and an origin sensor are respectively arranged on the AGV and the electric cabinet.

Compared with the prior art, the invention has the following beneficial effects:

1. through interaction with an upper system, full-automatic grabbing and carrying of the wafer transfer box are achieved, and further full automation of product production is achieved;

2. the labor load of field operators can be effectively reduced, and possible accidents caused by manual carrying can be avoided. In the whole grabbing and carrying process, the product is always in a monitored state, and product information is fed back to an upper-layer system in real time, so that the whole process is controllable. When the misoperation is caused by emergency and human factors, the problems can be found in time, the man-machine cooperation can be realized by selecting the processing mode according to the problem types, and the field personnel cannot be injured.

3. Through the cooperation with intelligent terminal (electron goods shelves, customer's board), can realize the complete retrospection of product production process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a front view of the present invention;

FIG. 4 is a partial view of the present invention;

FIG. 5 is a schematic view of the electronic shelf of FIG. 1 of the present invention;

FIG. 6 is a partial view of an electronic shelf of the present invention;

FIG. 7 is a schematic illustration of the structural back view of the present invention with reference numbers:

1. self-feeding guide transport vehicles; 2. an electric cabinet; 3. a mechanical arm; 4. self-made non-standard clamping jaws; 5. an electrical appliance mounting plate; 6. a product placement board; 7. a first detector; 8. a vehicle-mounted RFID reading device; 9. positioning pins of the product; 10. an outer-layer electric appliance mounting plate; 11. a power supply module; 12. a camera controller; 13. a camera knob; 14. a mechanical arm control panel; 15. a switch; 16. a control panel; 17. an engineering machine; 18. a correlation fiber optic sensor; 19. an industrial camera; 20. a second detector; 21. an electronic shelf; 22. an RFID reading device; 23. a camera identification point area; 24. an auxiliary navigation sensor; 25. and an origin sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "top", "bottom", "one side", "the other side", "front", "back", "middle part", "inside", "top", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-7, a fully automatic product handling apparatus according to an embodiment of the present invention;

1. the electric cabinet is erected on the AGV, and the mechanical arm is fixedly connected with the AGV through the supporting structure. And designing a self-made non-standard clamping jaw according to the characteristics of the overall dimension of the wafer transmission box. The self-made non-standard clamping jaw is connected with the mechanical arm through the mechanical arm flange plate, and the mechanical arm drives the self-made non-standard clamping jaw to realize the grabbing function of the semiconductor wafer box.

2. The electric appliance mounting plate 5, the product placing plate 6, the detection product sensor 7, the vehicle-mounted RFID reading device 8 and the product positioning pin 9 are arranged on the electric appliance mounting plate, and the product placing plate is fixed on the electric appliance mounting plate. On the board was placed to the product, it had sensor, on-vehicle RFID reading equipment, product locating pin to be equipped with the product detection. The accurate positioning of the product on the product placing plate is realized by the positioning pin. When the product is placed on the product placing plate, whether the product has a sensor receiving signal or not is detected, and the signal is fed back to an independent research and development control plate in the electric cabinet. The control panel controls the work of the vehicle-mounted RFID reading equipment and reads the vehicle-mounted product signal. And then, the serial numbers of the vehicle-mounted products are uniformly collected to an industrial personal computer and uploaded to an upper system, and after the products are taken away, whether the products have sensors or not is detected.

3. Outer electrical apparatus mounting panel 10, power module 11, camera controller 12, camera knob 13, in order to increase product maintainability, the electric cabinet adopts the layering setting. And power is taken from the AGV to the power module, and then power is distributed to all electric appliance parts. The camera controller and the camera knob realize the control of the clamping jaw CCD industrial camera module.

4. The electric appliance mounting plate 5, the mechanical arm control panel 14, the switch 15, the autonomous research and development control panel 16, the industrial personal computer 17, the mechanical arm control panel, the switch, the autonomous research and development control panel and the industrial personal computer are fixed on the inner-layer electric appliance mounting plate, and the mechanical arm control panel realizes control over the mechanical arm. The switch implements a WiFi connection. The autonomous research and development control panel collects signals of whether a product is detected on the product placing plate, the product is provided with a sensor, an RFID detection device, an original point sensor and a lamp belt controller, and the signals are collected and transmitted to the industrial personal computer and the mechanical arm control module.

5. The correlation optical fiber sensor 18, the industrial camera 19 and the detection product sensor 20 are used for photographing and calculating the calibration point and correcting the deviation of the grabbing position. Whether the product exists at the grabbing position or not is judged by detecting whether the product exists at the grabbing position or not. In the grabbing process, the correlation optical fiber sensor judges the posture of the grabbed product. And if the product is placed unstably or no product exists at the corresponding position due to the interference of unexpected factors, alarming and feeding back a signal to an upper-layer system.

6. The system comprises an independent research and development electronic shelf 21, an independent research and development RFID reading device 22 and a camera identification point area 23, wherein a camera takes pictures in the identification point area, and compares identification points to adjust the position. And then, the mechanical arm guides the clamping jaw to grab according to the corrected coordinates. The illustrated state is a product grabbing state from an autonomous development electronic shelf. And the autonomous RFID reading equipment on the electronic goods shelf can read the product information on the goods shelf and feed back the product number to the upper-layer system. Whether the product grabbing is correct or not can be judged through comparison between the system grabbing instruction and the actual product grabbing number.

7. And an origin sensor 27 for performing an origin aligning function of the arm. The mechanical arm returns to the original point after grabbing every time, and the follow-up grabbing precision is guaranteed.

(1) The circuit connection relation is as follows: and power is supplied to a power module in the electric cabinet from the AGV, and then power is distributed to each electrical component. The method specifically comprises the following steps: industrial cameras, industrial personal computers, mechanical arms, various sensors, industrial personal computers, switches, autonomous research and development control boards and the like. Some of the devices are powered directly by the AGV. When the AGV electric quantity is not enough, the accessible is automatic to filling the mode that electric pile charges or change the battery, realizes the function of charging.

(2) Monitoring communication and task communication:

in the grabbing process, the ultrasonic sensor confirms whether a product exists in the corresponding station. The CCD (industrial camera) corrects the grabbing position according to the position of the mark point, so that grabbing failure caused by positioning factors is avoided. In the grabbing process, the correlation optical fiber sensor judges the posture of a product on the clamping jaw. If in the handling, because of unexpected accident, the product has the risk of falling, and the sensor will detect above risk on the clamping jaw. The signals are fed back to the mechanical arm control board and the industrial personal computer. And if an error signal is fed back in the steps, carrying out next adjustment or stopping alarming according to the feedback signal. Meanwhile, at the intelligent storage end of the product, the number of the grabbed product is confirmed according to the RFID data of the product, and the grabbed product is fed back to an upper-layer system. The steps are that correct products are judged to be grabbed correctly and the grabbing steps are reliable and stable, the mechanical arm is matched with the clamping jaw to place corresponding products on the vehicle-mounted product placing plate, the presence or absence of a sensor signal of the products is triggered and detected, information is transmitted to the autonomous research and development control plate, and then the vehicle-mounted RFID equipment is used for monitoring the electronic tags of the products at corresponding positions. The signals are collected into the autonomous research and development control panel and are uniformly transmitted to the industrial personal computer, the vehicle-mounted photoelectric sensor is used for performing origin point correction on the mechanical arm, the relative position of the mechanical arm is kept unchanged, the vehicle-mounted auxiliary navigation sensor transmits the signals to the AGV navigation map for performing autonomous navigation correction, obstacles in the driving process are avoided, related personnel are convenient to debug, and when emergency occurs, the persons manually participate in adjustment. This product has still added scram switch and arm release switch.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. 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.

Claims

1. The utility model provides a full-automatic product handling equipment, includes AGV (1), electric cabinet (2), arm (3), non-standard clamping jaw (4) and electron goods shelves (21), non-standard clamping jaw (4) are fixed on arm (3) through the ring flange, and its characterized in that, board (6) are placed to the product and are fixed on electrical apparatus mounting panel (5), electrical apparatus mounting panel (5) include first detector (7), on-vehicle RFID reading equipment (8) and product locating pin (9).

2. The fully automated product handling device of claim 1, wherein the electrical cabinet (2) is in a layered arrangement and comprises an outer electrical mounting plate (10), a power module (11), a camera controller (12) and a camera knob (13).

3. The full-automatic product handling equipment according to claim 1, wherein the electric appliance mounting plate (5) is internally provided with a mechanical arm control board (14), a switch (15), an autonomous research and development control board (16) and an industrial personal computer (17).

4. The fully automated product handling apparatus according to claim 1, wherein the homemade non-standard gripper (5) is provided with a fiber optic sensor (18), an industrial camera (19) and a second detector (20), respectively.

5. The fully automated product handling device according to claim 1, wherein an independently developed electronic shelf (21), an independently developed RFID reading device (22) and a camera identification point area (23) are provided within the electrical cabinet (2).

6. The fully automatic product handling equipment according to claim 1, wherein an auxiliary navigation sensor (24) and a home sensor (25) are respectively provided on the electronic shelf (21) and the electronic control cabinet (2).