CN216996561U - Robot clamping device, support plate material box and composite robot - Google Patents

Abstract

The utility model provides a robot clamping device, a carrier plate material box and a composite robot, wherein the robot clamping device comprises a clamping jaw mechanism, and the clamping jaw mechanism comprises: the robot gripper comprises a gripper rod piece, a gripper finger piece, a guide piece and an elastic piece, wherein the second end of the gripper rod piece is connected with the gripper end of a robot, a first groove is formed in the first end of the gripper rod piece, the first part of the gripper finger piece is limited in the first groove, the elastic piece elastically supports the gripper finger piece in the first groove, a finger hook is arranged at the second part of the gripper finger piece, the guide piece is arranged on the finger hook and expands a distance outwards towards the finger hook, and the guide piece enables the finger hook to enter a clamping space to lift a clamping table through the induction of a positioning part of an adapting piece so as to form automatic correction in the clamping process.

Description

Robot clamping device, support plate material box and composite robot

Technical Field

The utility model relates to the technical field of robots, in particular to a robot clamping device, a support plate material box and a compound robot.

Background

At present, in each stage (e.g., encapsulation stage) of a semiconductor product manufacturing or processing procedure, a Magazine (commonly called a carrier Magazine and a PCB Magazine) is usually used to load various semiconductor component products (e.g., PCB boards carrying chips) in batch for transportation, positioning and storage.

However, the semiconductor manufacturing factory has high requirements on the cleanliness and safety of products, and if the board cassette falls down during the manufacturing process, the semiconductor component products loaded therein will be damaged and polluted, and the batch of products will be discarded, which will not only cause the enterprises to suffer high production loss, but also cause the problems of capacity reduction, and the like, so that such production accidents cannot be tolerated by the semiconductor manufacturing enterprises.

Therefore, the current semiconductor production enterprises generally require manual work to complete the processes of transferring, loading and unloading the carrier boxes in the equipment. However, with the increasing increase of labor cost and the improvement of production efficiency and accuracy requirements at present, a reliable scheme capable of realizing automatic clamping and automatic carrying of the carrier magazine is urgently needed in the field.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a robot clamping device, a carrier plate material box and a compound robot, so as to at least improve the fault-tolerant rate of automatically clamping the carrier plate material 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 magazine having a body provided with a coupling member, wherein a first side of the coupling member is provided with a support wall, a first side of the coupling member is provided with a positioning portion having a circular arc-shaped recess, the first side of the coupling member is connected to a top of the body to form a fall from the top of the body through the support wall so as to define a clamping space between the top of the body and a bottom of the coupling member, 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, disposed at a claw end of a robot, for clamping the carrier magazine, the robot clamping device including a gripper mechanism, the gripper mechanism including: the robot comprises a claw rod piece, a claw finger piece, a guide piece and an elastic piece, wherein 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, the 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 and expands a distance outwards from the finger hook, and the guide piece prompts the finger hook to enter a clamping space to lift the clamping table under the induction of a positioning part of a matching and connecting piece.

In a possible preferred embodiment, the first slot has a notch at a wall thereof, and a first opening is provided between the first and second portions of the finger member to receive at least a portion of the guide member, and when the finger member is pressed into the first slot, the guide member abuts the notch of the first slot to limit the depth of the finger member pressed into the first slot.

In a possible preferred embodiment, a notch is provided at a groove wall of the first groove, a first opening is provided between the first part and the second part of the claw finger to accommodate at least part of the guide member, when the claw finger is pressed into the first groove, the guide member abuts against the notch of the first groove to limit the depth of the claw finger pressed into the first groove and stop the guide member, so as to limit the induction of the positioning portion, and the guide member is provided with a first mark for recognizing the relative displacement of the first mark to obtain the stop of the guide member, thereby identifying the pressing limit of the claw rod.

In a possible preferred embodiment, the guide comprises: the roller is connected with the finger hook through the rotating shaft, the size of the roller exceeds the size of the finger hook so as to cover at least part of the finger hook to form a guide part and define a non-roller covering area of the finger hook as a lifting part, and the roller enters the circular arc-shaped notch through the induction of the positioning part of the connecting piece so as to promote the positioning of the lifting part of the finger hook to position and hold the clamping table of the connecting piece.

In a possible preferred embodiment, the robot clamping device further comprises a side blocking mechanism, which includes: the driving 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 driving unit, and the stop lever is connected with the linkage end of the driving unit so as to be driven by the driving unit to be in surrounding posture to be stopped at the side surface of the support plate material box.

In a possible preferred embodiment, the transmission unit comprises: the first end of each cantilever is connected with the first gear and the second gear respectively, the first gear and the second gear are connected with the support respectively and are meshed with each other for linkage, the driving machine is in transmission connection with at least one of the first gear or the second gear, and the second end of each cantilever is connected with the stop lever.

In a possible preferred embodiment, the transmission unit further comprises: and the limiting part is L-shaped and is fixed on the bracket close to the limiting position at the first end of the cantilever, so that when the cantilever is driven to the preset limiting position along with the first gear/the second gear, the first end of the cantilever is prevented from continuously moving.

In order to achieve the above object, according to a third aspect of the present invention, there is provided a robot clamping device disposed at a claw end of a robot for clamping the carrier magazine, comprising: clamping jaw mechanism, side fender mechanism, this clamping jaw mechanism includes: the robot comprises a claw rod piece, a claw finger piece, a guide piece and an elastic piece, wherein the second end of the claw rod piece is connected with the claw end of the robot, a first groove is arranged at the first end of the claw rod piece, the 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 and expands a certain distance outwards from the finger hook, the guide piece is induced by a positioning part of a matching and connecting piece to enable the finger hook to lift a clamping table of the matching and connecting piece, a notch is arranged at the groove wall of the first groove, a first opening is arranged between the first part and the second part of the claw finger piece to accommodate at least part of the guide piece, and when the claw finger piece is pressed into the first groove, the guide piece is abutted against the notch of the first groove to limit the depth of the claw finger piece pressed into the first groove; this side keeps off mechanism includes: support, driving machine, drive unit, pin, this drive unit and driving machine respectively with leg joint to fix at the robot claw end through the support, wherein this drive unit includes: the first end of each cantilever is connected with the first gear and the second gear respectively, the first gear and the second gear are connected with the support respectively and are in meshed linkage with each other, the driving machine is in transmission connection with at least one of the first gear or the second gear, and the second end of each cantilever is connected with the stop lever so as to drive the stop lever to block the side face of the carrier plate material box in an encircling posture.

In order to achieve the above object, according to a fourth aspect of the present invention, there is also provided a compound robot for carrying the carrier magazine described above, including: the arm removes the chassis, and this arm setting is on removing the chassis, and it still includes: the clamping assembly is assembled at the claw end of the mechanical arm, and the clamping assembly is formed by adopting the robot clamping device comprising any one of the robot clamping devices.

According to the robot clamping device, the carrier plate material box and the composite robot, the structures of the existing carrier plate material box and the mechanical arm clamping jaw are improved, so that materials in the carrier plate material box are not easily damaged when the mechanical arm clamps the carrier plate material box, and meanwhile, automatic correction can be formed by matching the clamping jaw mechanism with the matching piece of the carrier plate material box in the clamping process, so that the reliability in clamping is ensured, and the fault tolerance rate of the mechanical arm clamping jaw when the carrier plate material box is clamped is reduced.

In addition, through the intervention of the side blocking mechanism in part of the implementation modes, after the clamping jaw mechanism is clamped, the side face of the carrier plate material box can be further encircled, on one hand, the material in the carrier plate material box can be prevented from leaking laterally, and meanwhile, the carrier plate material box can be further stabilized from the side face, so that the shaking of the carrier plate material box in the clamping and carrying process is relieved, the strict production process requirements are met, the procedures of transferring the carrier plate material box, loading and unloading equipment and the like by adopting the mechanical arm robot to replace manual intervention production become possible, the manual work is replaced, the automatic production is formed, and the possibility is provided for improving the production efficiency.

On the other hand, the robot clamping device provided by the scheme is suitable for additionally mounting or modifying 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 incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:

FIG. 1 is a schematic structural diagram of a carrier magazine according to the present invention;

FIG. 2 is a schematic structural diagram of the robot clamping device of the present invention assembled at the end of a robot claw to clamp a carrier magazine;

FIG. 3 is a schematic view of an assembly structure of the robot clamping device of the present invention;

FIG. 4 is a schematic structural view of the robot clamping device of the present invention for clamping a carrier magazine, wherein the adapter is in a perspective form;

FIG. 5 is a schematic structural view of the robot clamping device of the present invention;

FIG. 6 is a schematic structural view of a robot clamping device of the present invention;

FIG. 7 is a schematic structural diagram of the robot clamping device of the present invention assembled at the end of a robot claw to clamp a carrier magazine;

fig. 8 is a schematic structural diagram of a clamping jaw mechanism of the robot clamping device clamping a carrier box from the top and a side blocking mechanism surrounding the carrier box from the side.

Description of the reference numerals

The carrier plate magazine 1, the clamping jaw mechanism 2, the side blocking mechanism 3, the box body 11, the adapting piece 12, the supporting wall 13, the positioning part 14, the clamping space 15, the clamping table 16, the robot 9, the claw rod piece 21, the claw finger piece 22, the guide piece 23, the elastic piece 24, the first groove 25, the finger hook 26, the first opening 27, the first mark 28, the roller 231, the rotating shaft 232, the lifting part 233, the support 31, the driving machine 32, the transmission unit 33, the blocking rod 34, the limiting piece 35, the first gear 331, the second gear 332, the cantilever 333 and the PCB 8.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the following will clearly and completely describe the specific technical solution of the present invention with reference to the embodiments to help those skilled in the art to further understand the present invention. It should be apparent that the embodiments described herein are only a few embodiments of the present invention, and not all embodiments. It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without departing from the inventive concept and without conflicting therewith by those skilled in the art. All other embodiments based on the embodiments of the present invention, which can be obtained by a person of ordinary skill in the art without any creative effort, shall fall within the disclosure and the protection scope of the present invention.

Furthermore, the terms first, second and the like in the description and in the claims, and the accompanying 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 is interchangeable under appropriate circumstances such that the embodiments of the utility model described herein are capable of operation in sequences other than those described herein. Also, the terms "including" and "having," as well as any variations thereof, in the present invention are intended to cover non-exclusive inclusions. Unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and encompass, for example, both fixed and removable connections or integral connections; 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 meaning of the above terms in this case can be understood by those skilled in the art in combination with the prior art as the case may be.

Unless specifically stated otherwise, the term robot/robot arm in this case is understood to refer broadly to a robot comprising a robot arm, or a robot arm type robot.

The two finger clamping jaws of traditional mechanical arm usually adopt a clamping mode to clamp objects, so for box-shaped objects, two surfaces of the box body are usually pinched by a pinching mode to form stable gripping, however, for the carrier box with the existing structure, because precise semiconductor materials are stored in the carrier box, the box body needs to be prevented from being squeezed, and the gripping mode obviously causes squeezing force in the carrier box, so that the probability of damaging the materials in the carrier box is improved, meanwhile, a certain accuracy control threshold is provided for the gripping force of the mechanical arm clamping jaws, and the restrictions just cause that the gripping scheme formed by the traditional mechanical arm structure cannot be suitable for the clamping and transferring requirements of the carrier box.

Therefore, referring to fig. 1, the present invention provides a carrier magazine 1, wherein the magazine body 11 can adopt various existing schemes, but the top of the magazine body 11 is preferably provided with a coupling member 12, wherein a first surface of the coupling member 12, i.e. the bottom surface of the coupling member 12, extends out of a supporting wall 13, a positioning portion 14 having a circular arc-shaped notch is arranged on the first side of the coupling member 12, i.e. the side of the coupling member 12 facing to the two side openings of the magazine body 11, wherein after the coupling member 12 is connected with the top of the magazine body 11, the first surface of the coupling member 12 and the top surface of the magazine body 11 can form a fall through the supporting wall 13, so that a clamping space 15 is formed between the top surface of the magazine body 11 and the bottom surface of the coupling member 12, and a clamping table 16 is defined beside the positioning portion 14.

In order to adapt to the structure of the carrier magazine 1, as shown in fig. 1 to 8, the robot clamping device provided by the present invention is disposed at a claw end of a robot 9 for adaptively clamping the carrier magazine 1, wherein the robot clamping device preferably comprises a clamping jaw mechanism 2, wherein the clamping jaw mechanism 2 comprises: a claw rod 21, a claw finger 22, a guide 23, an elastic member 24, wherein the second end of the claw rod 21 is connected with the claw end of the robot 9, the claw rod 21 is provided with a first groove 25 at the first end thereof as shown in fig. 3, a first portion of the claw finger 22 is confined in the first groove 25, and the elastic member 24 is preferably a spring which elastically supports the claw finger 22 in the first groove 25, wherein the second portion of the claw finger 22 is provided with a finger hook 26.

Wherein, a notch is provided at the groove 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 a portion of the guiding member 23, and when the finger member 22 is pressed into the first groove 25, the guiding member 23 abuts against the notch of the first groove 25 to limit the depth of the finger member 22 pressed into the first groove 25.

Wherein the guide member 23 in the present embodiment includes: a roller 231 and a shaft 232, the roller 231 is connected with the finger hook 26 through the shaft 232, and the size of the roller 231 exceeds the finger hook 26 to cover at least part of the finger hook 26 to form a guide, and at the same time, defines the non-roller 231 covered area of the finger hook 26 as a lifting part 233, and the roller 231 at least partially enters the first opening 27, on one hand, the rolling of the roller 231 is not affected, on the other hand, when the roller 231 is made of flexible material, such as rubber, silica gel and the like, when the guide part 23 abuts against the notch of the first groove 25 to limit the claw finger 22, a secondary buffer can be further formed after the spring, thereby further reducing the downward pressure of the claw rod 21, and improving the fault tolerance and reliability.

Therefore, when the robot starts to clamp the carrier magazine 1, the claw rod 21 is firstly moved to the top of the carrier magazine 1 and gradually moved downwards to the top surface of the box body 11, and the claw finger 22 can form elastic buffer with the claw rod 21 through the elastic member 24 or the roller 231, so as to improve the fault tolerance rate when the robot operates the claw rod 21 to press downwards, and simultaneously can reduce the extrusion force of the claw finger 22 to the box body 11, and then the claw rod 21 starts to gradually close, because the roller 231 protrudes out of the claw hook 26, the claw hook 26 can be firstly contacted with at least part of the positioning part 14 on the side surface of the fitting part 12, and the roller 231 rolls and induces along the gradual closing force of the claw rod 21, so as to gradually adjust the direction of the carrier magazine 1 to form automatic correction, and finally when the roller 231 and the positioning part 14 reach the positioning position, the lifting part 233 of the claw hook 26 can be just positioned and inserted into the clamping space 15 of the fitting part 12, when the claw rod 21 starts to be lifted, the clamping table 16 of the connecting part 12 can be lifted to clamp the plate-carrying magazine 1.

It should be noted that, in order to provide the fault tolerance for the depression of the pawl member 21 and feedback the characteristics suitable for the recognition of the automatic sensing system such as the machine vision recognition system for identifying the depression limit of the pawl member 21, in a preferred embodiment, as shown in fig. 3 to 4, the guide member 23 is provided with a first mark 28, the first mark 28 may be provided on the wheel surface of the roller 231, and the first mark 28 may be a mark or a line or a color with a gradual change suitable for the machine vision recognition system to sense, and when the characteristics are provided on the wheel surface of the roller 231, when the roller 231 abuts against the notch of the first groove 25 to limit the depth of the depression of the pawl member 22 into the first groove 25, the roller 231 is also stopped to limit the guidance of the positioning portion 14, i.e. when the roller 231 does not roll along the notch of the positioning portion 14 or the side wall of the fitting member 12, at this time, the first mark 28 cannot roll on the roller 231, so that the relative displacement thereof changes, and those skilled in the art can know that the possibility can be known by the machine vision recognition system, so as to know the situation and the brake of the roller 231, which are indicated by the situation, and further identify the limit of the depression of the claw rod member 21, thereby providing a possible basis for the robot to adjust the depression distance of the claw rod member 21 in time.

Therefore, the clamping jaw mechanism 2 is ingeniously designed, so that the fault tolerance can be ensured, automatic correction guidance is formed, and meanwhile, under the condition that no sensor is added, the recognition characteristic can be provided for the conventional automatic sensing system, and the structure of the scheme is possible to be integrated into automatic production.

It should be noted that the clamping structure of the robot clamping device and the carrier magazine 1 in this embodiment is substantially a clamping form in which the engaging piece 12 is held by the gripper mechanism 2 to be lifted, so that the clamping structure is different from the clamping structure of the conventional holding box 11 to be as far away from the box 11 as possible, and thus the box 11 itself is not easily squeezed, and the material in the box 11 is not easily damaged.

On the other hand, the position of the finger hook 26 is automatically corrected by adopting a unique guide structure until the finger hook is guided to enter 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, because the two sides of the carrier magazine 1 are open, the carrier magazine must be kept stable during the carrying and moving process, otherwise the material carried inside is easy to leak out from the side surface of the carrier magazine, and these limitations just cause that the holding manner formed by the traditional mechanical arm structure cannot be suitable for the clamping and transferring requirements of the carrier magazine 1.

For this purpose, in a preferred embodiment, as shown in fig. 5 to 8, the robot clamping device of the present invention further includes a side blocking mechanism 3 for forming a block from the openings on both sides of the box body 11 when the gripper mechanism 2 clamps the carrier cassette 1, wherein the side blocking mechanism 3 includes: a bracket 31, a driving machine 32, a transmission unit 33, and a stop lever 34, wherein the transmission unit 33 and the driving machine 32 are respectively connected with the bracket 31 to be fixed at the claw end of the robot 9 through the bracket 31, and the transmission unit 33 comprises: the carrier plate magazine comprises a first gear 331, a second gear 332 and a cantilever 333, wherein a 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 support 31 and are in meshed linkage with each other, the driver 32 is in transmission connection with at least one of the first gear 331 and the second gear 332, and a second end of each cantilever 333 is connected with the stop lever 34 to drive the stop lever 34 to block the side surface of the carrier plate magazine 1 in an encircling manner.

In order to improve the reliability of the side stop mechanism 3, as shown in fig. 7, the transmission unit 33 further includes: the limiting member 35 is L-shaped, and is fixed to the support 31 near the limiting position of the first end of the cantilever 333, so that when the cantilever 333 is driven to the predetermined limiting position along with the first gear 331/the second gear 332, the first end of the cantilever 333 is prevented from moving further, thereby preventing the carrier magazine 1 from being damaged.

In the using process, firstly, the claw end of the robot 9 drives the claw rod piece 21 to press downwards until the claw finger piece 22 is contacted with the top surface of the box body 11; the claw end of the robot 9 drives the claw rod part 21 to gradually fold, so that the guide part 23 is in contact with the positioning part 14 of the matching part 12 to form an induction to adjust the direction of the carrier plate magazine 1 until the finger hook 26 is inserted into the clamping space 15 of the matching part 12; the gripper end of the robot 9 drives the gripper bar 21 upwards to lift the clamping table 16 of the adapter 12 via the finger hook 26. The robot then starts the driving machine 32, and drives the transmission unit 33 to move the blocking rod 34 to embrace and block the side surface of the carrier magazine 1 in an encircling manner. When the carrier magazine 1 is unloaded, the claw end of the robot 9 separates the claw bar 21 to lift away from the adapter 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 carrier magazine 1 in the arm-spreading unclamping posture.

Therefore, through the intervention of the side blocking mechanism 3, after the clamping jaw mechanism 2 finishes clamping, the side face of the carrier plate material box 1 can be further encircled, on one hand, the material in the carrier plate material box 1 can be blocked from leaking laterally, and meanwhile, the carrier plate material box 1 can be further stabilized from the side face, so that the shaking of the carrier plate material box 1 in the clamping and carrying process is relieved, therefore, the technical personnel in the field can know that the composite structure formed by the side blocking mechanism 3 and the clamping jaw mechanism 2 can be suitable for being simultaneously assembled at the claw end of a robot, and can also form functional cooperation, so that the carrying of the carrier plate material box 1 is stabilized, and the requirements of a stricter production process are met.

In another aspect, the present invention further provides a composite robot for carrying the carrier magazine 1 of the above embodiment, which includes: the arm removes the chassis, and this arm setting is on removing the chassis, and wherein should remove the chassis and can be AGV robot, and wherein this compound robot still includes: the clamping component is assembled at the claw end of the mechanical arm, and the clamping component is formed by the robot clamping device comprising any one of the embodiments.

In conclusion, the robot clamping device, the carrier plate magazine 1 and the compound robot provided by the utility model have the advantages that the structures of the existing carrier plate magazine 1 and the clamping jaws of the mechanical arm are improved, so that the material in the carrier plate magazine 1 is not easily damaged when the mechanical arm clamps the carrier plate magazine 1, and meanwhile, automatic correction can be formed by matching the clamping jaw mechanism 2 with the matching piece 12 of the carrier plate magazine 1 in the clamping process, so that the reliability in clamping is ensured, and the fault tolerance rate of the mechanical arm clamping jaws in clamping the carrier plate magazine 1 is reduced. Therefore, the robot with the mechanical arms can replace manual intervention production to carry out procedures such as transferring of the carrier box 1, loading and unloading of equipment and the like, automatic production can be formed by replacing manual work, and possibility is provided for improving production efficiency.

The preferred embodiments of the utility model disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the utility model to the precise embodiments 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 utility model and the practical application, to thereby enable others skilled in the art to best utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof, and any modification, equivalent replacement, or improvement made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims (10)

1. A support plate material box is provided with a matching piece on a box body and is characterized in that a support wall is arranged on a first surface of the matching piece, a positioning part with an arc-shaped notch is arranged on a first side of the matching piece, the first surface of the matching piece forms a fall with the top surface of the box body through the support wall after the matching piece is connected with the top of the box body, a clamping space is formed between the top surface of the box body and the bottom surface of the matching piece at intervals, and a clamping table is defined beside the positioning part.

2. A robot clamping device, arranged at a claw end of a robot, for clamping the carrier magazine according to claim 1, characterized by comprising a clamping jaw mechanism, which comprises: the robot comprises a claw rod piece, a claw finger piece, a guide piece and an elastic piece, wherein 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, the 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 and expands a distance outwards towards the finger hook, and the guide piece prompts the finger hook to enter a clamping space to lift the clamping table through the induction of the positioning part of the matching piece.

3. A robot clamping device as claimed in claim 2 wherein a recess is provided in the wall of the first slot, a first opening is provided between the first and second portions of the finger member to receive at least part of the guide member, and when the finger member is pressed into the first slot, the guide member abuts the recess of the first slot to limit the depth to which the finger member is pressed into the first slot.

4. The robot clamping device of claim 2, wherein a notch is formed in a wall of the first groove, a first opening is formed between the first portion and the second portion of the finger member to accommodate at least a portion of the guide member, and when the finger member is pressed into the first groove, the guide member abuts against the notch of the first groove to limit the depth of the finger member pressed into the first groove and stop the guide member, so as to limit the induction of the positioning portion, and the guide member is provided with a first mark for identifying the relative displacement of the first mark to obtain the stop of the guide member, thereby identifying the pressing limit of the finger member.

5. The robotic clamp of claim 2, wherein the guide comprises: the roller is connected with the finger hook through the rotating shaft, the size of the roller exceeds the size of the finger hook, so that at least part of the finger hook is covered to form a guide, a non-roller covering area of the finger hook is defined as a lifting part, the roller enters the circular arc-shaped notch of the roller through the induction of the positioning part of the connecting piece, and the clamping table for positioning and supporting the connecting piece is positioned by the lifting part of the finger hook.

6. The robot clamping device of claim 2, further comprising a side stop mechanism comprising: the driving unit and the driving machine are respectively connected with the support and fixed at the claw end of the robot through the support, the driving machine is connected with the driving end of the driving unit, and the stop lever is connected with the linkage end of the driving unit and driven by the driving unit to be stopped at the side surface of the support plate material box in an encircling posture.

7. The robot clamping device of claim 6, wherein the transmission unit comprises: the driving machine comprises a first gear, a second gear and cantilevers, wherein the first end of each cantilever is connected with the first gear and the second gear respectively, the first gear and the second gear are connected with a support respectively and are in meshed linkage with each other, the driving machine is in transmission connection with at least one of the first gear and the second gear, and the second end of each cantilever is connected with a stop lever.

8. The robot clamping device of claim 7, wherein the transmission unit further comprises: the limiting part is L-shaped and fixed to the limiting position, close to the first end of the cantilever, on the support, so that when the cantilever is driven to the preset limiting position along with the first gear/the second gear, the first end of the cantilever is prevented from continuously moving.

9. A robot clamping device, arranged at a claw end of a robot, for clamping the carrier magazine according to claim 1, comprising: gripper mechanism, side fender mechanism, gripper mechanism includes: the robot comprises a claw rod piece, a claw finger piece, a guide piece and an elastic piece, wherein 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, the 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 and expands a distance outwards towards the finger hook, the guide piece is induced by the positioning part of the fitting piece to enable the finger hook to lift the clamping table of the fitting piece, a notch is formed in the groove wall of the first groove, a first opening is formed between the first part and the second part of the claw finger piece to accommodate at least part of the guide piece, and when the claw finger piece is pressed into the first groove, the guide piece abuts against the notch of the first groove to limit the depth of the claw finger piece pressed into the first groove; the side keeps off the mechanism and includes: support, driving machine, transmission unit, pin, transmission unit and driving machine are connected with the support respectively to fix at the robot claw end through the support, wherein transmission unit includes: the support comprises a first gear, a second gear and cantilevers, wherein the first end of each cantilever is connected with the first gear and the second gear respectively, the first gear and the second gear are connected with the support respectively and are in meshed linkage with each other, the driving machine is in transmission connection with at least one of the first gear or the second gear, and the second end of each cantilever is connected with a stop lever so as to drive the stop lever to block the side face of the support plate material box in an encircling mode.

10. A compound robot for carrying the carrier magazine of claim 1, comprising: the arm removes the chassis, the arm sets up on removing the chassis, its characterized in that still includes: a chuck assembly fitted to the claw end of the robot arm, wherein the chuck assembly is constituted by including the robot chuck device according to any one of claims 2 to 9.

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