TWI734612B - Miniaturization warehouse system - Google Patents

Abstract

A miniaturization warehouse system includes a shelf and a transporting device. The shelf has a fundamental layer and at least one extending layer. The extending layer is stacked on the fundamental layer, and is assemble to the fundamental layer. The shelf forms an operating space therein, and has a plurality of racks. The racks are arranged in multiple layers, and each layer has at least one rack. Each rack is a storage location with an independent coordinate for receiving an object container, such as a wafer case. The storage locations are distributed at the fundamental layer and the extending layer. The transporting device is disposed in the operating space of the shelf. The transporting device has an elevating mechanism and a robot arm. The elevating mechanism has a post which is connected and assembled with an extending post, so as to increase an upward displacement path of the robot arm. Therefore, the storage capacity is increased, the transportation of the warehouse system is more convenient, and the floor utilization is enhanced.

Description

Micro storage system

The invention relates to a micro-storage system, in particular to a micro-storage system that is equipped with a lifting mechanism and a mechanical arm to perform automatic loading and unloading operations of objects and containers, and can be displaced in response to the needs of the manufacturing process.

The automated storage system is mainly composed of three-dimensional material racks, unmanned transport vehicles, control systems and related peripheral equipment. For example, the applicant once proposed an "automated storage system" (TW M566708 patent case). Since the automated storage system can make full use of storage space, and can be controlled by computers and process equipment, and uses the principle of first-in-first-out to quickly and accurately carry out the retrieval and warehousing operations, it can achieve high-efficiency inventory management standards. Meet the needs of industries in the new era.

However, if the existing automated storage system adopts a lower height, it will reduce the storage capacity and the floor utilization rate. If a higher height is used, although it can increase the storage capacity and increase the floor utilization rate, it will cause inconvenience in transportation.

The technical problem to be solved by the present invention is to provide a micro storage system in view of the shortcomings of the prior art, which can increase the storage capacity, facilitate the transportation of the storage system, and increase the floor utilization rate.

In order to solve the above technical problems, the present invention provides a micro-storage system, including: a rack body, the rack body includes a basic layer and at least one extension layer, the extension layer is placed on the basic layer, and the extension layer and the Basic layer combination, the frame body forms a working space, the frame body is provided with a plurality of material racks, the material racks are arranged in multiple layers, and each layer is provided with at least one said material rack, and each material rack is an independent coordinate The storage positions, which are distributed on the basic layer and the extension layer, can be used to store objects and containers; and a conveying device, the conveying device is arranged in the work space of the rack, and the conveying device has a lift Mechanism and a mechanical arm, the lifting mechanism includes a column, an extension column and a drive mechanism, the column is erected in the work space of the frame, the extension column is connected and assembled on the upper end of the column, the drive mechanism The robot arm is arranged on the column body and the extension column, and the robot arm is installed on the driving mechanism, and the robot arm can be driven up and down by the driving mechanism to carry objects and containers.

The beneficial effect of the present invention is that the micro-storage system provided by the present invention includes a rack body and a conveying device. The frame body includes a basic layer and an extension layer. The basic layer and the extension layer have a multi-layer material rack. The conveying device has a lifting mechanism and a robotic arm. The robotic arm is installed on the lifting mechanism and is arranged in the work space of the frame. Since the storage position formed by each rack has an independent coordinate, the control system can be used to drive the handling device, and it can be accurately moved to any storage position to pick and place the object container, so as to carry out the loading and unloading of the object container. Outbound operations.

Furthermore, the frame body includes a basic layer and an extension layer, and the extension layer is stacked on the basic layer, so that the basic layer and the extension layer can form a higher frame body, thereby increasing the reserve. The column body of the lifting mechanism is connected with an extension column. It is used to increase the upward displacement of the robot arm. Therefore, the present invention can increase the storage capacity, facilitate the transportation of the storage system, and increase the floor utilization rate.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings about the present invention. However, the provided drawings are only for reference and description, and are not used to limit the present invention.

The following are specific specific examples to illustrate related implementations disclosed in the present invention, and those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be based on different viewpoints and applications, and various modifications and changes can be made without departing from the concept of the present invention. In addition, the drawings of the present invention are merely schematic illustrations, and are not drawn according to actual dimensions, and are stated in advance. The following embodiments will further describe the related technical content of the present invention in detail, but the disclosed content is not intended to limit the protection scope of the present invention. In addition, the term "or" used in this document may include any one or a combination of more of the associated listed items depending on the actual situation.

[Example]

Please refer to FIG. 1 to FIG. 4, the present invention provides a micro storage system, which includes a frame 1 and a conveying device 2.

The frame 1 includes a basic layer 11 and at least one extension layer 12. The number of extension layers 12 is not limited, and the extension layers 12 can be provided with one, two, three, or four according to needs. The extension layer 12 is stacked on the base layer 11, and the extension layer 12 is appropriately combined with the base layer 11. If there are multiple extension layers 12, the extension layers 12 are sequentially stacked from bottom to top, and these Appropriate combination between the extension layers 12. The extension layer 12 is superimposed on the basic layer 11, so that the basic layer 11 and the extension layer 12 can form a higher frame 1, thereby increasing the reserves.

A work space 13 is formed in the frame body 1, and a plurality of material racks 14 are provided in the frame body 1. The material racks 14 can be located on four sides of the work space 13, but are not limited. For example, the material racks 14 are also It can be located on one side, two sides or three sides of the working space 13. The material racks 14 are arranged in multiple layers, and at least one material rack 14 is arranged on each layer. Preferably, multiple material racks 14 are arranged on each layer. Each rack 14 is a storage location 141 with independent coordinates. The storage locations 141 are distributed on the base layer 11 and the extension layer 12 and can be used to store object containers (such as wafer cassettes). Specifically, the material racks 14 are distributed on the basic layer 11 and the extension layer 12, the basic layer 11 is provided with a plurality of material racks 14, and the material racks 14 in the basic layer 11 are arranged in multiple layers, and each layer At least one material rack 14 is provided, and preferably, multiple material racks 14 are provided on each layer. The extension layer 12 is also provided with a plurality of material racks 14. The material racks 14 in the extension layer 12 can be arranged in at least one layer (for example, one layer, two layers, or three layers, etc.), and each layer is provided with at least one material rack 14. Preferably, multiple material racks 14 are provided on each layer.

The shelf body 1 can also be provided with a feeding platform 15 and a feeding platform 16, and the feeding platform 15 and the feeding platform 16 can be set on the material shelf 14 with specific coordinates for temporarily storing the objects to be stored in and out of the warehouse. container. In this embodiment, the feeding platform 15 and the discharging platform 16 are arranged on the same side of the frame 1, but it is not limited. The feeding platform 15 and the discharging platform 16 can also be arranged on the frame 1 as needed. Different sides, or even set them on the same storage position 141 at the same coordinate. The feeding platform 15 and the discharging platform 16 may also be provided with a transfer mechanism 19 for transferring objects and containers.

The fixing method between the basic layer 11 and the extension layer 12 of the present invention is not limited. In this embodiment, the four corners of the basic layer 11 each have a first pillar 111, and the four corners of the extension layer 12 each have a second pillar. 121, the lower ends of the second pillars 121 are respectively placed on the upper ends of the first pillars 111, so that the extension layer 12 can be stacked on the base layer 11.

In this embodiment, the upper ends of the first pillars 111 are each provided with a pair of positioning pins 112 (as shown in FIG. 5 to FIG. 9), and the positioning pins 112 can be respectively installed on the first pillars 111. On the upper end of a first end plate 113. The alignment pins 112 are arranged upright, and the alignment pins 112 can be cone-shaped, that is, the outer diameter of the alignment pins 112 can decrease from bottom to top, and one is provided at the lower end of the second pillars 121. The alignment holes 122 can be respectively disposed on a second end plate 123 installed at the lower end of the second pillars 121. When the extension layer 12 is stacked on the base layer 11, the alignment pins 112 are inserted into the alignment holes 122, so that the alignment structure formed between the extension layer 12 and the base layer 11 can be accurately aligned. Bit.

In this embodiment, an intermediate plate 17 is respectively arranged between the first pillars 111 and the second pillars 121, and at least one adjusting screw 18 is screwed on the second end plate 123, and the intermediate plate 17 is There are abutment portions 171 corresponding to the adjustment screws 18, the adjustment screws 18 respectively contact the abutment portions 171, and when the adjustment screws 18 rotate, the levelness of the second end plates 123 can be adjusted to link the The extension layer 12 moves, so that the extension layer 12 can be adjusted in level. Preferably, the lower ends of the adjustment screws 18 are concave arc surfaces, and the upper ends of the abutting portions 171 are convex arc surfaces, so that the adjustment screws 18 and the abutting portions 171 can be in stable contact. After the first pillars 111 and the second pillars 121 are combined, the first pillars 111 and the second pillars 121 can be welded and fixed, so that the base layer 11 and the extension layer 12 are fixedly joined.

The conveying device 2 is arranged in the working space 13 of the frame 1. The conveying device 2 has a lifting mechanism 21 and a robotic arm 22 (as shown in FIGS. 10 to 12), and the robotic arm 22 can be driven with the lifting mechanism 21 When moving up and down, the lifting mechanism 21 includes a column 211, an extension column 212 and a driving mechanism 213. The column body 211 is fixed on the frame body 1, the column body 211 is erected in the working space 13 of the frame body 1, the extension column 212 is connected to the upper end of the column body 211, and the extension column 212 can extend to the frame body 1 The extension layer 12 can be used to increase the upward displacement stroke of the robotic arm 22.

The fixing method between the post 211 and the extension post 212 of the present invention is not limited. In this embodiment, the lower end of the extension post 212 is placed on the upper end of the post 211 so that the extension post 212 can be connected to the upper end of the post 211 . At least one first connecting plate 214 (as shown in FIGS. 10 to 12) is arranged between the extension column 212 and the column body 211, and the upper half and the lower half of the first connecting plate 214 are respectively fixed to the extension column 212 and The column 211, that is, the upper half and the lower half of the first connecting plate 214 can be fixed to the extension column 212 and the column 211 by screws (first screws 215) respectively, so that the column 211 and the extension The pillars 212 are fixedly combined. In this embodiment, a plurality of first connecting plates 214 are arranged between the extension column 212 and the column body 211, the first connecting plates 214 are elongated plates, and the first connecting plates 214 are arranged upright. The first connecting plates 214 are connected to multiple sides of the extension column 212 and the column body 211, so that the combination of the extension column 212 and the column body 211 is more stable.

In this embodiment, at least one second connecting plate 216 is further provided between the extension post 212 and the post 211, and the upper half and the lower half of the second connection plate 216 are respectively fixed to the extension post 212 and the post 211 , That is, the upper half and the lower half of the second connecting plate 216 can be fixed to the extension post 212 and the post 211 by screws (second screws 217) respectively, so that the post 211 and the extension post 212 are A fixed combination between them. In this embodiment, the second connecting plate 216 is a long strip, and the second connecting plate 216 is arranged horizontally, and the second connecting plate 216 is connected to at least one side of the extension column 212 and the column 211, The second connecting plate 216 and the first connecting plate 214 may be perpendicular to each other, so that the extension post 212 and the post 211 are more firmly combined. After the first connecting plate 214 and the second connecting plate 216 are combined between the column 211 and the extension column 212, the column 211 and the extension column 212 can be welded to fix the column 211 and the extension column 212. The connection is fixed, and then the second connecting plate 216 and the like can be removed.

In this embodiment, at least a pair of positioning grooves 218 (as shown in FIG. 13) may also be provided between the extension column 212 and the column body 211. The positioning grooves 218 are provided on one side of the extension column 212 near the lower end and One side of the column 211 is close to the upper end, and the alignment member 219 can be embedded in the alignment groove 218, so that the alignment structure is formed by the cooperation of the alignment groove 218 and the alignment member 219, so that the extension column 212 and the column 211 Can be accurately aligned between. The positioning member 219 can also be fixed to the extension post 212 and the post 211 by means of screw 220 locking or the like.

The structure of the driving mechanism 213 is not limited, and can be various existing driving mechanisms. The driving mechanism 213 is arranged on the column 211 and the extension column 212, and the robot arm 22 is installed on the driving mechanism 213, so that the driving mechanism can be used The mechanism 213 drives the robot arm 22 up and down. In this embodiment, the driving mechanism 213 includes a motor 2131, a lifting seat 2132, and a belt set 2133. The motor 2131 can be installed at the upper end of the extension column 212. The lifting seat 2132 can be lifted and lowered on the column 211 and the extension column 212. The lifting seat 2132 can be guided on the column 211 and the extension column by means of guide rails. 212 moves up and down. The belt set 2133 is connected to the motor 2131, and the lifting base 2132 is fixed on the belt set 2133. Therefore, the motor 2131 can be used to drive the belt set 2133 to operate, and the belt set 2133 drives the lifting base 2132 to move and move up and down. The belt set 2133 of the present invention can also be replaced by other linkage devices such as a chain set.

The robotic arm 22 is arranged on the lifting base 2132, so the lifting base 2132 of the driving mechanism 213 can be used to drive the robotic arm 22 to lift. The robotic arm 22 can be a multi-axis drive mechanism. One end of the robotic arm 22 has an operating end 221. The operating end 221 can be a fork or other device that can be inserted into the object container of the feeding platform 15 Any storage position 141 can be moved for storage, and an object container in any storage position 141 can also be inserted and moved to the discharge platform 16 for temporary storage in order to facilitate discharge.

The robot arm 22 is installed on the lifting mechanism 21 and is arranged in the working space 13 of the frame body 1. Since the storage position 141 formed by each material rack 14 has an independent coordinate, the control system can be used to drive the transportation The device 2 can be accurately moved to any storage position 141 for picking and placing of the object container, so as to carry out the loading and unloading operations of the object container.

[Beneficial effects of the embodiment]

The beneficial effect of the present invention is that the micro-storage system provided by the present invention includes a rack body and a conveying device. The frame body includes a basic layer and an extension layer. The basic layer and the extension layer have a multi-layer material rack. The conveying device has a lifting mechanism and a robotic arm. The robotic arm is installed on the lifting mechanism and is arranged in the work space of the frame. Since the storage position formed by each rack has an independent coordinate, the control system can be used to drive the handling device, and it can be accurately moved to any storage position to pick and place the object container, so as to carry out the loading and unloading of the object container. Outbound operations.

The frame body includes a basic layer and an extension layer. The extension layer is placed on the basic layer so that the basic layer and the extension layer can form a higher frame body to increase the storage. The column of the lifting mechanism is connected with an extension column to increase The upward displacement stroke of the mechanical arm. Therefore, the present invention can increase the storage capacity, facilitate the transportation of the storage system, and increase the floor utilization rate.

The content disclosed above is only the preferred and feasible embodiments of the present invention, and does not limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made using the description and schematic content of the present invention are included in the application of the present invention. Within the scope of the patent.

1: frame 11: Basic layer 111: The first pillar 112: Alignment pin 113: The first end plate 12: Extension layer 121: The second pillar 122: Counterpoint 123: second end plate 13: Work space 14: Material rack 141: Reserve 15: Feeding platform 16: discharge platform 17: Intermediate plate 171: Conflict Department 18: Adjustment screw 19: Transfer mechanism 2: Handling device 21: Lifting mechanism 211: Cylinder 212: Extension column 213: drive mechanism 2131: Motor 2132: Lifting seat 2133: belt set 214: The first connection board 215: The first screw 216: second connecting plate 217: second screw 218: Alignment Slot 219: Counterpoint 220: screw 22: Robotic arm 221: Operation End

Figure 1 is a perspective view of the micro-storage system of the present invention.

Figure 2 is a top view of the micro storage system of the present invention.

Figure 3 is a side view of the micro storage system of the present invention.

Figure 4 is a three-dimensional exploded view of the micro storage system of the present invention.

Figure 5 is a three-dimensional exploded view of the pillars of the base layer and the extension layer of the present invention.

Fig. 6 is a three-dimensional assembly view of the pillars of the base layer and the extension layer of the present invention (1).

Fig. 7 is a three-dimensional assembly view of the pillars of the basic layer and the extension layer of the present invention (2).

Figure 8 is a cross-sectional view (1) of the pillars of the base layer and the extension layer of the present invention.

Figure 9 is a cross-sectional view (2) of the pillars of the base layer and the extension layer of the present invention.

Fig. 10 is an exploded perspective view of the conveying device of the present invention.

Fig. 11 is a three-dimensional assembly view of the conveying device of the present invention.

Fig. 12 is a cross-sectional view taken along line XII-XII in Fig. 11.

Fig. 13 is a perspective exploded view of a partial structure of the conveying device of the present invention.

1: frame

11: Basic layer

111: The first pillar

12: Extension layer

121: The second pillar

13: Work space

14: Material rack

141: Reserve

15: Feeding platform

16: discharge platform

19: Transfer mechanism

2: Handling device

21: Lifting mechanism

22: Robotic arm

Claims (10)

A micro-storage system includes: a rack body, the rack body includes a basic layer and at least one extension layer, the extension layer is placed on the basic layer, and the extension layer and the basic layer are combined to form an operation in the rack body Space, the rack body is provided with a plurality of material racks, the material racks are arranged in multiple layers, and each layer is provided with at least one said material rack, each material rack is a storage position with independent coordinates, and the storage positions are distributed in The basic layer and the extension layer can be used to store objects and containers; and a conveying device, the conveying device is arranged in the working space of the frame, the conveying device has a lifting mechanism and a mechanical arm, and the lifting mechanism includes A column, an extension column and a drive mechanism, the column is erected in the work space of the frame, the extension column is connected and assembled on the upper end of the column, the drive mechanism is arranged on the column and the extension column , The robotic arm is installed on the drive mechanism, and the drive mechanism can drive the robotic arm up and down to carry objects and containers; wherein at least an alignment slot is provided between the extension column and the column, and the alignment slot It is arranged at one side of the extension column close to the lower end and one side of the column body close to the upper end, and an alignment piece is embedded in the alignment groove. The micro storage system according to claim 1, wherein the four corners of the base layer each have a first pillar, the four corners of the extension layer each have a second pillar, and the lower ends of the second pillars are respectively placed on the first pillars. The upper ends of the pillars, the upper ends of the first pillars are each provided with a pair of positioning pins, the positioning pins are arranged upright, and the lower ends of the second pillars are each provided with a pair of positioning holes, and the positioning pins are respectively inserted into These alignment holes. The micro storage system according to claim 2, wherein the alignment pins are respectively arranged on a first end plate installed on the upper ends of the first pillars, and the alignment holes are respectively arranged on the first end plates. A second end plate at the lower end of the two pillars. The micro storage system according to claim 3, wherein an intermediate plate is respectively arranged between the first pillars and the second pillars, the second end plate is screwed with at least one adjusting screw, and the intermediate plate is provided with The conflicting portions corresponding to the adjusting screws respectively contact the conflicting portions, and the rotation of the adjusting screws can adjust the levelness of the second end plates to coordinate the extension layer to adjust the levelness. The micro storage system according to claim 4, wherein the lower ends of the adjusting screws are concave arc surfaces, and the upper ends of the abutting parts are convex arc surfaces. The micro storage system according to claim 2, wherein the alignment pins are cone-shaped, and the outer diameters of the alignment pins decrease from bottom to top. The micro storage system according to claim 1, wherein at least one first connecting plate is arranged between the extension column and the column, and the upper half and the lower half of the first connecting plate are respectively fixed to the extension column and the Cylinder. The micro storage system according to claim 7, wherein a plurality of the first connecting plates are arranged between the extension column and the column, the first connecting plates are elongated plates, and the first connecting plates The boards are arranged upright, and the first connecting boards are connected to the extension column and multiple sides of the column body. The micro storage system according to claim 8, wherein at least one second connecting plate is further provided between the extension column and the column, and the upper half and the lower half of the second connecting plate are respectively fixed to the extension column and The column, the second connecting plate is a strip-shaped plate, and the second connecting plate is arranged horizontally, the second connecting plate is connected to at least one side of the extension column and the column, the second connecting plate It is perpendicular to the first connecting plate. The micro-storage system according to claim 1, wherein the driving mechanism includes a motor, a lifting seat and a belt set, the mechanical arm is arranged on the lifting seat, and the lifting seat can be raised and lowered on the column and the extension Column, the belt set is connected to the motor, and the lifting seat is fixed on the belt set, the motor can drive the The belt group operates, and the lifting seat and the robot arm are moved up and down through the belt group.

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