CN218967333U

CN218967333U - Material receiving machine crown block manipulator workstation

Info

Publication number: CN218967333U
Application number: CN202223458773.3U
Authority: CN
Inventors: 孙礼飞; 李款; 李�浩
Original assignee: Laiyue Automation Technology Shanghai Co ltd
Current assignee: Laiyue Automation Technology Shanghai Co ltd
Priority date: 2022-12-23
Filing date: 2022-12-23
Publication date: 2023-05-05
Anticipated expiration: 2032-12-23

Abstract

The utility model relates to the technical field of semiconductors, in particular to a mechanical arm workstation of a crown block of a material collecting machine, which comprises a main body frame part, wherein a cartridge clip storage part is fixedly connected to the top of the main body frame part, a large material box tool part is fixedly connected to the top of the cartridge clip storage part, a mobile mechanical arm part is connected to one side of the inner wall of the main body frame part, a material collecting part is fixedly connected to the inside of the main body frame part, a product inlet is formed in the front surface of the main body frame part, and a transverse moving part is fixedly connected to one side of the inner wall of the main body frame part. The automatic feeding and discharging device has the characteristics of high positioning precision, high efficiency, high stability and automatic electric control, can be compatible with various product specifications, further realizes full-automatic product feeding and automatic feeding and discharging of the butt-joint crown block, is compatible with a manual operation mode, reduces manual participation, and realizes standardization, mechanization and automation of semiconductor product production, thereby reducing the labor intensity of workers.

Description

Material receiving machine crown block manipulator workstation

Technical Field

The utility model relates to the technical field of semiconductors, in particular to a workbench of a crown block manipulator of a material receiving machine.

Background

In the semiconductor industry, when a product is received and a sky is docked, a receiving machine is used for automatic feeding and discharging, the structure of the existing receiving machine is shown in fig. 1 and 2, the receiving machine comprises two groups of two-axis transfer manipulators (a), a conveying track and automatic width adjusting mechanism (b), a storage mechanism (c) and a rack (d), an empty cartridge clip (e) is firstly put into the storage mechanism (c) by manpower before the receiving machine works, the manual storage mechanism (c) positions and locks the empty cartridge clip (e), a machine button is manually confirmed after the empty cartridge clip (e) is positioned, then a two-axis transfer manipulator (a) acts, the conveying track and the automatic width adjusting mechanism (b) are moved to a specified position through two-axis module movement, then the conveying track and the automatic width adjusting mechanism (b) start to act, the conveying track and the automatic width adjusting mechanism (b) receive product information according to client equipment, the automatic width adjusting action is firstly carried out, the conveying track and the product is sent into the conveying track and the automatic width adjusting mechanism (b) at different positions until the cartridge clip (e) is fully positioned, and the signal clip (e) is automatically adjusted from the receiving machine, and then the empty cartridge clip (e) is completely received by the receiving machine, and the empty clip (e) is completely.

The existing material receiving machine has the following defects:

1. before the material receiving machine is started, the cartridge clip is manually placed in advance and the manual operation tool is manually operated to position the cartridge clip, so that the operation error is avoided due to the long-term manual operation, and the operation of the material receiving machine is caused to be faulty;

2. when the receiving machine receives the products into the cartridge clips to be filled, the manual operation tool is used for taking the cartridges, and when the cartridges are manually taken out, the products can slide out of the cartridges due to unstable manual control of force, so that the products are damaged;

3. after the full-material cartridge clip is taken out manually, the blocking pin (f) of the cartridge clip is locked manually, so that the labor intensity and the operation time of manpower are increased.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides the manipulator workstation of the crown block of the material receiving machine, which has the characteristics of high positioning precision, high efficiency, compatibility with various product specifications, strong stability and automatic electric control, thereby realizing the material receiving of full-automatic products and the automatic feeding and discharging of the butt joint crown block.

In order to solve the technical problems, the utility model provides the following technical scheme: the mechanical arm workstation of the stacker crane comprises a main body frame part, wherein the top of the main body frame part is fixedly connected with a cartridge clip storage part, and the top of the cartridge clip storage part is fixedly connected with a large material box tool part;

one side of the inner wall of the main body frame part is connected with a mobile manipulator part, the inside of the main body frame part is fixedly connected with a material receiving part, and the front of the main body frame part is provided with a product inlet.

Preferably, a lateral moving component is fixedly connected to one side of the inner wall of the main body frame component, the output end of the lateral moving component is fixedly connected with a lifting component, and the mobile manipulator component is fixedly connected to the output end of the lifting component.

Preferably, the large material box tool part comprises a bracket and a large material box, wherein the two sides of the top of the bracket are fixedly connected with supporting plates, the tops of the two supporting plates are fixedly connected with a plurality of positioning seats, the top of the bracket is fixedly connected with a positioning rod, and the top of one supporting plate is provided with a strip-shaped groove;

the bottom of big magazine is placed at the top of two backup pads, positioning seat and locating lever are used for the location to big magazine.

Preferably, the big magazine tool part further comprises a fixing plate, the middle part of the fixing plate is fixedly connected with a jacking cylinder, the top of the jacking cylinder is fixedly connected with a lifting plate, two sides of the top of the lifting plate are fixedly connected with ejector rods, and the top of each ejector rod penetrates through the strip-shaped groove and is abutted to the bottom of the big magazine.

Preferably, the mobile manipulator component comprises a fixing frame, the fixing frame is fixedly connected with the output end of the lifting component, a push-pull assembly is fixedly connected to the inside of the fixing frame, a clamping piece is fixedly connected to the output end of the push-pull assembly, a mobile assembly is fixedly connected to the top of the clamping piece, a light source is fixedly connected to the output end of the mobile assembly, and a vision photographing camera is fixedly connected to the bottom of the light source.

Preferably, a first cylinder is movably connected to one side of the fixing frame, and a tray is fixedly connected to the output end of the first cylinder.

Preferably, the top of mount fixedly connected with second cylinder, the output fixedly connected with release mechanism of second cylinder.

Preferably, the unlocking mechanism comprises a servo motor, the output end of the servo motor is fixedly connected with a spring floating mechanism, and the bottom of the spring floating mechanism is fixedly connected with an unlocking head.

By means of the technical scheme, the utility model provides the manipulator workstation of the stacker crane of the material receiving machine, which has at least the following beneficial effects:

1. the receiving machine has the characteristics of high positioning precision, high efficiency, high stability and automatic electric control, can be compatible with various product specifications, further realizes full-automatic product receiving and automatic feeding and discharging of the butt-joint crown block, is compatible with a manual operation mode, reduces manual participation, realizes standardization, mechanization and automation of semiconductor product production, reduces labor intensity of workers, saves time, improves production efficiency and productivity, and is suitable for the standard of modern automatic production.

2. This material collecting machine, through the setting of big magazine frock part, the overhead traveling crane is put big magazine into the top of backup pad, and big magazine is guided in advance through the locating seat earlier, and accurate is placed to big magazine by the accurate direction of locating lever again, triggers the operation of jacking cylinder afterwards, and the jacking cylinder carries out the jacking to the lifter plate for ejector pin butt is on big magazine, and the convenience is fixed the cartridge clip in the big magazine.

3. This receipts material machine, through the setting of removing manipulator part, sideslip part and elevating component, the sideslip part drives the elevating component and moves about, elevating component drives and removes manipulator part reciprocates, can take out the cartridge clip from big magazine through the holder, bar code information on the cartridge clip can be read through light source and vision camera of shooing, first cylinder action is held up the cartridge clip through the tray afterwards, the information through the vision feedback of vision camera is moved the release mechanism to the dowel position of cartridge clip, the second cylinder action is whole descends the release mechanism, the release head is laminated with the dowel of cartridge clip, servo motor rotation drives the release head and rotates the dowel unblock on the cartridge clip, confirm again through the vision of vision camera of shooing whether the dowel position is in the unblock position, after the vision is more than the mistake, remove manipulator part and receive in the material part, receive the product in the product entry and put into the cartridge clip into, after the cartridge clip will be taken out from the cartridge clip in the material part, take out the release mechanism and take out the cartridge clip from the material, take out the release mechanism and fully to finish the magazine simultaneously, the operation is accomplished with the cartridge clip is completed with high accuracy and high accuracy after the cartridge clip has been moved, the stability has been accomplished to the cartridge carrier is finished.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this application:

FIG. 1 is a schematic diagram of a prior art structure of the present utility model;

FIG. 2 is a schematic view of a prior art cartridge clip according to the present utility model;

FIG. 3 is a schematic diagram of the structure of the present utility model;

FIG. 4 is a schematic view of the internal structure of the present utility model;

FIG. 5 is a schematic diagram of the structure of the large-cartridge tooling component of the present utility model;

FIG. 6 is a schematic diagram of the upper structure of the large cartridge tooling assembly of the present utility model;

FIG. 7 is a schematic view of the lower part structure of the large magazine tooling part of the present utility model;

FIG. 8 is a left side view of the mobile manipulator assembly structure of the present utility model;

FIG. 9 is a right side view of the mobile manipulator assembly of the present utility model;

fig. 10 is a schematic structural view of a second cylinder and an unlocking mechanism of the present utility model.

In the figure: 1. a main body frame member; 2. a clip storage member; 3. a large magazine tooling component; 301. a bracket; 302. a support plate; 303. a positioning seat; 304. a positioning rod; 305. a push rod; 306. a lifting plate; 307. a fixing plate; 308. jacking the air cylinder; 309. a large material box; 310. a cartridge clip; 4. moving the manipulator component; 401. a fixing frame; 402. a push-pull assembly; 403. a clamping member; 404. a moving assembly; 405. a light source; 406. a visual photographing camera; 407. a first cylinder; 408. a tray; 409. a second cylinder; 410. an unlocking mechanism; 4101. a servo motor; 4102. a spring floating mechanism; 4103. unlocking the lock head; 5. a material receiving part; 6. a product inlet; 7. a traversing member; 8. lifting parts.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-10, the manipulator workstation of the stacker crane comprises a main body frame part 1, wherein a cartridge clip storage part 2 is fixedly connected to the top of the main body frame part 1, and a large material box tool part 3 is fixedly connected to the top of the cartridge clip storage part 2.

In this application technical scheme, one side of main body frame part 1 inner wall is connected with mobile manipulator part 4, the inside fixedly connected with material collecting part 5 of main body frame part 1, the front of main body frame part 1 is equipped with product entry 6, have the positioning accuracy height, fast, can compatible multiple product specification, stability is strong and automatic automatically controlled characteristics, and then realize full-automatic product receipts material and automatic unloading of going up of butt joint crown block, and this material receiving machine is compatible manual operation mode, manual participation has been reduced, standardized, mechanization and the automation of semiconductor product production have been realized, thereby alleviate workman intensity of labour, save time, improve production efficiency and productivity, adapt to modern automated production's standard.

In this technical scheme, one side fixedly connected with sideslip part 7 of main body frame part 1 inner wall, the output fixedly connected with lifting unit 8 of sideslip part 7, mobile manipulator part 4 fixed connection is at the output of lifting unit 8.

In the technical scheme of the application, the large material box tooling part 3 comprises a support 301 and a large material box 309, wherein the two sides of the top of the support 301 are fixedly connected with support plates 302, the tops of the two support plates 302 are fixedly connected with a plurality of positioning seats 303, the top of the support 301 is fixedly connected with a positioning rod 304, and the top of one support plate 302 is provided with a strip-shaped groove;

in the present solution, the bottom of the big cartridge 309 is placed on top of the two support plates 302, and the positioning seat 303 and the positioning rod 304 are used for positioning the big cartridge 309.

In this technical scheme, big magazine frock part 3 still includes fixed plate 307, the middle part fixedly connected with jacking cylinder 308 of fixed plate 307, the top fixedly connected with lifter plate 306 of jacking cylinder 308, the both sides at lifter plate 306 top are all fixedly connected with ejector pin 305, the top of ejector pin 305 passes the bar groove and the butt is in the bottom of big magazine 309, the crown block puts into the top of backup pad 302 big magazine 309, big magazine 309 is guided in advance through positioning seat 303 earlier, make big magazine 309 place accurately by the smart direction of locating lever 304 again, trigger the operation of jacking cylinder 308 afterwards, jacking cylinder 308 carries out the jacking to lifter plate 306 for ejector pin 305 butt is on big magazine 309, the clip 310 in the big magazine 309 is fixed conveniently.

In this technical scheme, remove manipulator part 4 including mount 401, mount 401 fixed connection is at the output of lifting means 8, the inside fixedly connected with push-and-pull subassembly 402 of mount 401, the output fixedly connected with clamping piece 403 of push-and-pull subassembly 402, the top fixedly connected with moving assembly 404 of clamping piece 403, the output fixedly connected with light source 405 of moving assembly 404, the bottom fixedly connected with vision camera 406 of light source 405, one side swing joint of mount 401 has first cylinder 407, the output fixedly connected with tray 408 of first cylinder 407, the top fixedly connected with second cylinder 409 of mount 401, the output fixedly connected with release mechanism 410 of second cylinder 409.

In this technical scheme, the unlocking mechanism 410 includes a servo motor 4101, a spring floating mechanism 4102 is fixedly connected to an output end of the servo motor 4101, and an unlocking head 4103 is fixedly connected to a bottom of the spring floating mechanism 4102.

When the lifting device is used, the crown block puts a large material box 309 into the top of the supporting plate 302, the large material box 309 is pre-guided by the positioning seat 303, then the positioning rod 304 is finely guided to enable the large material box 309 to be accurately placed, then the lifting cylinder 308 is triggered to operate, the lifting plate 306 is lifted by the lifting cylinder 308, the ejector rod 305 is abutted to the large material box 309, and the cartridge clip 310 in the large material box 309 is fixed;

the traversing part 7 drives the lifting part 8 to move left and right, the lifting part 8 drives the mobile manipulator part 4 to move up and down, the cartridge clip 310 can be taken out of the large material box 309 through the clamping piece 403, and bar code information on the cartridge clip 310 can be read through the light source 405 and the visual photographing camera 406;

then, the first cylinder 407 acts to lift the clip through the tray 408, the unlocking mechanism 410 is moved to the stop pin position of the clip 310 through the information of visual feedback of the visual photographing camera 406, the second cylinder 409 acts to lower the unlocking mechanism 410 as a whole, the unlocking head 4103 is attached to the stop pin of the clip 310, and the servo motor 4101 rotates to drive the unlocking head 4103 to rotate to unlock the stop pin on the clip 310;

the stop pin position on the cartridge clip 310 is confirmed again by the visual photographing of the visual photographing camera 406, after the stop pin position is confirmed to be in the unlocking position visually, the moving manipulator part 4 is moved into the material receiving part 5 by the actions of the transverse moving part 7 and the lifting part 8, and the material receiving part 5 receives and puts the semiconductor product from the product inlet 6 into the cartridge clip 310;

after the cartridge clip 310 is full, the moving manipulator part 4 takes the cartridge clip 310 out of the material receiving part 5, the unlocking mechanism 410 also completes the blocking pin closing operation of the cartridge clip 310 when the cartridge clip 310 is taken out, after the steps are completed, the moving manipulator part 4 sends the full cartridge clip 310 into the large material box 309, and the large material box 309 with the cartridge clip 310 is taken out through the crown block after confirming that the large material box 309 is full.

It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a receipts material machine overhead traveling crane manipulator workstation, includes main body frame part (1), its characterized in that: the top of the main body frame part (1) is fixedly connected with a cartridge clip storage part (2), and the top of the cartridge clip storage part (2) is fixedly connected with a large material box tool part (3);

one side of the inner wall of the main body frame part (1) is connected with a mobile manipulator part (4), the inside of the main body frame part (1) is fixedly connected with a material receiving part (5), and the front of the main body frame part (1) is provided with a product inlet (6).

2. The stacker crane manipulator workstation of claim 1, wherein: one side of the inner wall of the main body frame part (1) is fixedly connected with a transverse moving part (7), the output end of the transverse moving part (7) is fixedly connected with a lifting part (8), and the mobile manipulator part (4) is fixedly connected with the output end of the lifting part (8).

3. The stacker crane manipulator workstation of claim 1, wherein: the large material box tool part (3) comprises a support (301) and a large material box (309), wherein support plates (302) are fixedly connected to two sides of the top of the support (301), a plurality of positioning seats (303) are fixedly connected to the tops of the two support plates (302), a positioning rod (304) is fixedly connected to the top of the support (301), and a strip-shaped groove is formed in the top of one support plate (302);

the bottom of the big material box (309) is placed on the top of the two supporting plates (302), and the positioning seat (303) and the positioning rod (304) are used for positioning the big material box (309).

4. A stacker crane manipulator workstation according to claim 3, wherein: the large material box tool part (3) further comprises a fixing plate (307), the middle part of the fixing plate (307) is fixedly connected with a jacking cylinder (308), the top of the jacking cylinder (308) is fixedly connected with a lifting plate (306), two sides of the top of the lifting plate (306) are fixedly connected with ejector rods (305), and the top of the ejector rods (305) penetrates through the strip-shaped grooves and is abutted to the bottom of the large material box (309).

5. The stacker crane manipulator workstation of claim 2, wherein: the mobile manipulator component (4) comprises a fixing frame (401), the fixing frame (401) is fixedly connected with the output end of the lifting component (8), a push-pull assembly (402) is fixedly connected to the inside of the fixing frame (401), a clamping piece (403) is fixedly connected to the output end of the push-pull assembly (402), a mobile assembly (404) is fixedly connected to the top of the clamping piece (403), a light source (405) is fixedly connected to the output end of the mobile assembly (404), and a vision photographing camera (406) is fixedly connected to the bottom of the light source (405).

6. The stacker crane manipulator workstation of claim 5, wherein: one side of mount (401) swing joint has first cylinder (407), the output fixedly connected with tray (408) of first cylinder (407).

7. The stacker crane manipulator workstation of claim 5, wherein: the top fixedly connected with second cylinder (409) of mount (401), the output fixedly connected with release mechanism (410) of second cylinder (409).

8. The stacker crane manipulator workstation of claim 7, wherein: the unlocking mechanism (410) comprises a servo motor (4101), wherein the output end of the servo motor (4101) is connected with a spring floating mechanism (4102), and the bottom of the spring floating mechanism (4102) is fixedly connected with an unlocking head (4103).