TWM659545U - Transport device - Google Patents

Transport device Download PDF

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Publication number
TWM659545U
TWM659545U TW113202594U TW113202594U TWM659545U TW M659545 U TWM659545 U TW M659545U TW 113202594 U TW113202594 U TW 113202594U TW 113202594 U TW113202594 U TW 113202594U TW M659545 U TWM659545 U TW M659545U
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Taiwan
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lifting
transverse
group
slide rail
carrier
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TW113202594U
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Chinese (zh)
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陳劍龍
吳盛傑
曾凱駿
張祐忠
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迅得機械股份有限公司
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Publication of TWM659545U publication Critical patent/TWM659545U/en

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一種搬運裝置,用於傳送載具,該搬運裝置包括一基座、一橫移機構、一升降機構及一夾爪機構。橫移機構設置於基座,升降機構連接於橫移機構及夾爪機構之間。夾爪機構能用以夾持載具,並由橫移機構驅動橫移,且能由升降機構驅動載具升降移動,使載具能搬運至預定位置。所述橫移機構包含橫移動力組、兩段式滑軌及橫移皮帶組,兩段式滑軌搭配橫移皮帶組可進行兩段式行程,可增加橫移機構的移動行程。所述升降機構包含升降動力組及升降皮帶組,升降皮帶組包含多個升降皮帶,升降動力組能驅動該些升降皮帶同步升降,以驅動夾爪機構及載具升降移動。A transport device is used to transport a carrier, and the transport device includes a base, a transverse movement mechanism, a lifting mechanism and a clamping mechanism. The transverse movement mechanism is arranged on the base, and the lifting mechanism is connected between the transverse movement mechanism and the clamping mechanism. The clamping mechanism can be used to clamp the carrier, and is driven to move transversely by the transverse movement mechanism, and the lifting mechanism can drive the carrier to move up and down, so that the carrier can be transported to a predetermined position. The transverse movement mechanism includes a transverse movement power group, a two-stage slide rail and a transverse movement belt group. The two-stage slide rail and the transverse movement belt group can perform a two-stage travel, which can increase the travel range of the transverse movement mechanism. The lifting mechanism includes a lifting power group and a lifting belt group. The lifting belt group includes a plurality of lifting belts. The lifting power group can drive the lifting belts to rise and fall synchronously, so as to drive the clamping claw mechanism and the carrier to rise and fall.

Description

搬運裝置Transport device

本創作涉及一種搬運裝置,尤指一種可應用於無人搬運車的搬運裝置。This invention relates to a transport device, in particular to a transport device that can be applied to an unmanned transport vehicle.

現有的無人搬運車已設有橫移機構,能驅動載具橫移,使載具不限定運送到正下方,然而現有橫移機構的移動行程有限,仍無法使載具橫移至較遠的位置。Existing unmanned transport vehicles are already equipped with a lateral movement mechanism that can drive the vehicle to move laterally so that the vehicle is not limited to being transported directly below. However, the movement range of the existing lateral movement mechanism is limited and the vehicle cannot be moved laterally to a farther position.

本創作所要解決的技術問題在於,針對現有技術的不足提供一種搬運裝置,可增加橫移機構的移動行程,能將載具橫移至較遠的位置。The technical problem to be solved by this invention is to provide a transport device to address the deficiencies of the prior art, which can increase the travel range of the lateral movement mechanism and move the carrier laterally to a farther position.

為了解決上述的技術問題,本創作提供一種搬運裝置,用於傳送載具,該搬運裝置包括:一基座,該基座具有一頂板;一橫移機構,該橫移機構設置於該基座的頂板,該橫移機構包含一橫移動力組、至少一兩段式滑軌及至少一橫移皮帶組,該橫移皮帶組連接於該橫移動力組,該兩段式滑軌連接於該基座的頂板及該橫移皮帶組之間;一升降機構,該升降機構設置於該橫移機構的下方,該兩段式滑軌連接於該升降機構;以及一夾爪機構,該夾爪機構設置於該升降機構的下方,該升降機構連接於該橫移機構及該夾爪機構之間,該兩段式滑軌能導引該升降機構及該夾爪機構沿著一橫移方向移動,該夾爪機構能夾持該載具,並由該橫移機構驅動該載具沿著該橫移方向移動,且能由該升降機構驅動該載具升降移動。In order to solve the above technical problems, the invention provides a transport device for transporting a carrier, the transport device comprising: a base having a top plate; a transverse mechanism disposed on the top plate of the base, the transverse mechanism comprising a transverse power group, at least one two-stage slide rail and at least one transverse belt group, the transverse belt group being connected to the transverse power group, the two-stage slide rail being connected between the top plate of the base and the transverse belt group; a lifting mechanism, the lifting mechanism The two-stage sliding rail is arranged below the lateral movement mechanism, and the two-stage sliding rail is connected to the lifting mechanism; and a claw mechanism is arranged below the lifting mechanism, and the lifting mechanism is connected between the lateral movement mechanism and the claw mechanism. The two-stage sliding rail can guide the lifting mechanism and the claw mechanism to move along a lateral movement direction. The claw mechanism can clamp the carrier, and the lateral movement mechanism drives the carrier to move along the lateral movement direction, and the lifting mechanism can drive the carrier to move up and down.

本創作的有益效果在於,本創作所提供的搬運裝置,包括一基座、一橫移機構、一升降機構及一夾爪機構。橫移機構設置於基座的頂板,橫移機構包含一橫移動力組、至少一兩段式滑軌及至少一橫移皮帶組,橫移皮帶組連接於橫移動力組,兩段式滑軌連接於基座的頂板及橫移皮帶組之間,兩段式滑軌連接於升降機構,升降機構連接於橫移機構及夾爪機構之間,兩段式滑軌能導引升降機構及夾爪機構沿著橫移方向移動,夾爪機構能夾持載具,並由橫移機構驅動載具橫移,且能由升降機構驅動載具升降移動。本創作橫移機構的兩段式滑軌搭配橫移皮帶組,可進行兩段式行程,可增加橫移機構的移動行程,以便將載具橫移至較遠位置。The beneficial effect of the invention is that the transport device provided by the invention includes a base, a lateral movement mechanism, a lifting mechanism and a clamping claw mechanism. The transverse mechanism is arranged on the top plate of the base, and the transverse mechanism includes a transverse power group, at least one two-section slide rail and at least one transverse belt group. The transverse belt group is connected to the transverse power group, the two-section slide rail is connected between the top plate of the base and the transverse belt group, the two-section slide rail is connected to the lifting mechanism, and the lifting mechanism is connected between the transverse mechanism and the clamping claw mechanism. The two-section slide rail can guide the lifting mechanism and the clamping claw mechanism to move along the transverse direction, the clamping claw mechanism can clamp the carrier, and the transverse mechanism drives the carrier to move laterally, and the lifting mechanism can drive the carrier to move up and down. The two-stage slide rail of the transverse mechanism of this invention is matched with the transverse belt assembly, which can perform a two-stage travel, and can increase the moving stroke of the transverse mechanism so as to move the vehicle laterally to a farther position.

為使能更進一步瞭解本創作的特徵及技術內容,請參閱以下有關本創作的詳細說明與圖式,然而所提供的圖式僅用於提供參考與說明,並非用來對本創作加以限制。In order to further understand the features and technical content of this work, please refer to the following detailed description and diagrams of this work. However, the diagrams provided are only used for reference and explanation and are not used to limit this work.

以下是通過特定的具體實施例來說明本創作所公開有關的實施方式,本領域技術人員可由本說明書所公開的內容瞭解本創作的優點與效果。本創作可通過其他不同的具體實施例加以施行或應用,本說明書中的各項細節也可基於不同觀點與應用,在不背離本創作的構思下進行各種修改與變更。另外,本創作的附圖僅為簡單示意說明,並非依實際尺寸的描繪,事先聲明。以下的實施方式將進一步詳細說明本創作的相關技術內容,但所公開的內容並非用以限制本創作的保護範圍。另外,本文中所使用的術語“或”,應視實際情況可能包括相關聯的列出項目中的任一個或者多個的組合。The following is an explanation of the implementation methods disclosed by this creation through specific concrete embodiments. Those skilled in the art can understand the advantages and effects of this creation from the contents disclosed in this manual. This creation can be implemented or applied through other different specific embodiments. The details in this manual can also be modified and changed in various ways based on different viewpoints and applications without departing from the concept of this creation. In addition, the drawings of this creation are only for simple schematic illustrations and are not depicted according to actual sizes. Please note in advance. The following implementation methods will further explain the relevant technical contents of this creation in detail, but the disclosed contents are not intended to limit the scope of protection of this creation. In addition, the term "or" used in this article may include any one or more combinations of the related listed items depending on the actual situation.

[實施例][Example]

請參閱圖1至圖4,本創作提供一種搬運裝置,用於傳送載具100(如圖6所示),所述載具100可為晶圓盒(FOUP)或卡匣等,該搬運裝置包括一基座1、一橫移機構2、一升降機構3及一夾爪機構4。Please refer to Figures 1 to 4. The present invention provides a transport device for transferring a carrier 100 (as shown in Figure 6). The carrier 100 can be a wafer box (FOUP) or a cassette, etc. The transport device includes a base 1, a lateral movement mechanism 2, a lifting mechanism 3 and a clamping mechanism 4.

該基座1具有一頂板11,該頂板11可呈方形板體,該頂板11的兩側或三側亦可進一步的各連接一側壁12,該些側壁12垂設於頂板11,使橫移機構2、升降機構3及夾爪機構4能容納於該些側壁12之間。在本實施例中,該些側壁12呈中空狀,使該些側壁12內各形成一容納空間13,而能用以容納電器單元5。The base 1 has a top plate 11, which can be a square plate. Two or three sides of the top plate 11 can be further connected to a side wall 12. The side walls 12 are vertically arranged on the top plate 11 so that the lateral movement mechanism 2, the lifting mechanism 3 and the clamping mechanism 4 can be accommodated between the side walls 12. In this embodiment, the side walls 12 are hollow, so that a receiving space 13 is formed in each of the side walls 12, which can be used to accommodate the electrical unit 5.

該橫移機構2設置於基座1的頂板11,橫移機構2設置於基座1的下方,升降機構3設置於橫移機構2的下方,夾爪機構4設置於升降機構3的下方,使基座1、橫移機構2、升降機構3及夾爪機構4由上而下依序設置,升降機構3連接於橫移機構2及夾爪機構4之間。該夾爪機構4能用以夾持載具100,並由橫移機構2驅動載具100沿著垂直於軌道的方向橫移,且能由升降機構3驅動載具升降移動,使載具100能搬運至預定位置。The lateral movement mechanism 2 is disposed on the top plate 11 of the base 1, the lateral movement mechanism 2 is disposed below the base 1, the lifting mechanism 3 is disposed below the lateral movement mechanism 2, and the clamping mechanism 4 is disposed below the lifting mechanism 3, so that the base 1, the lateral movement mechanism 2, the lifting mechanism 3 and the clamping mechanism 4 are disposed in sequence from top to bottom, and the lifting mechanism 3 is connected between the lateral movement mechanism 2 and the clamping mechanism 4. The clamping mechanism 4 can be used to clamp the carrier 100, and the lateral movement mechanism 2 drives the carrier 100 to move horizontally in a direction perpendicular to the track, and the lifting mechanism 3 can drive the carrier to move up and down, so that the carrier 100 can be transported to a predetermined position.

請再參閱圖5,該橫移機構2包含一橫移動力組(例如包含一橫移馬達21及一螺桿組22)、至少一兩段式滑軌23及至少一橫移皮帶組24,橫移馬達21、螺桿組22、兩段式滑軌23及橫移皮帶組24可設置於一上殼體25。螺桿組22連接於橫移馬達21及橫移皮帶組24之間,使橫移皮帶組24連接於橫移動力組。兩段式滑軌23連接於基座1的頂板11及橫移皮帶組24之間,且兩段式滑軌23連接於升降機構3,該兩段式滑軌23能導引升降機構3及夾爪機構4沿著一橫移方向A移動。Please refer to FIG. 5 again. The transverse mechanism 2 includes a transverse power group (for example, a transverse motor 21 and a screw group 22), at least one two-stage slide rail 23 and at least one transverse belt group 24. The transverse motor 21, the screw group 22, the two-stage slide rail 23 and the transverse belt group 24 can be disposed on an upper housing 25. The screw group 22 is connected between the transverse motor 21 and the transverse belt group 24, so that the transverse belt group 24 is connected to the transverse power group. The two-section slide rail 23 is connected between the top plate 11 of the base 1 and the transverse belt assembly 24, and the two-section slide rail 23 is connected to the lifting mechanism 3. The two-section slide rail 23 can guide the lifting mechanism 3 and the clamping claw mechanism 4 to move along a transverse direction A.

該橫移馬達21可設置於基座1的頂板11的下方,螺桿組22包含一螺桿221、一螺帽222及一連動件223,螺桿221樞設於基座1的頂板11的下方處,螺帽222螺設於螺桿221上,連動件223連接於螺帽222,且螺桿221的一端可通過一傳動組224連接於橫移馬達21,該傳動組224可為皮帶傳動組或齒輪傳動組等。當橫移馬達21轉動時,能通過傳動組224驅動螺桿221轉動,以帶動螺帽222及連動件223沿著橫移方向A移動,該橫移方向A可為水平方向,該橫移方向A垂直於軌道。該連動件223連接於橫移皮帶組24,使螺桿組22連接於橫移皮帶組24。The transverse motor 21 can be arranged below the top plate 11 of the base 1. The screw assembly 22 includes a screw 221, a nut 222 and a connecting piece 223. The screw 221 is pivoted below the top plate 11 of the base 1. The nut 222 is screwed on the screw 221. The connecting piece 223 is connected to the nut 222. One end of the screw 221 can be connected to the transverse motor 21 through a transmission assembly 224. The transmission assembly 224 can be a belt transmission assembly or a gear transmission assembly, etc. When the transverse motor 21 rotates, the screw 221 can be driven to rotate through the transmission assembly 224, so as to drive the nut 222 and the connecting member 223 to move along the transverse direction A. The transverse direction A can be a horizontal direction, and the transverse direction A is perpendicular to the track. The connecting member 223 is connected to the transverse belt assembly 24, so that the screw assembly 22 is connected to the transverse belt assembly 24.

該兩段式滑軌23連接於基座1的頂板11及橫移皮帶組24之間,兩段式滑軌23沿著橫移方向A延伸適當的長度,而能導引升降機構3及夾爪機構4沿著橫移方向A移動。較佳的,兩段式滑軌23可設置為兩組,該兩組兩段式滑軌23間隔的設置且相互平行,可以更穩定的導引升降機構3及夾爪機構4橫向的移動,所述兩段式滑軌23的結構並不限制。The two-stage slide rail 23 is connected between the top plate 11 of the base 1 and the transverse belt assembly 24. The two-stage slide rail 23 extends along the transverse direction A for a suitable length, and can guide the lifting mechanism 3 and the clamping mechanism 4 to move along the transverse direction A. Preferably, the two-stage slide rail 23 can be provided as two groups, and the two groups of two-stage slide rails 23 are provided at intervals and parallel to each other, so as to more stably guide the transverse movement of the lifting mechanism 3 and the clamping mechanism 4. The structure of the two-stage slide rail 23 is not limited.

在本實施例中,該兩段式滑軌23可包含一滑軌單元231、至少一上滑塊232及至少一下滑塊233,上滑塊232及下滑塊233分別滑動的設置於滑軌單元231的上端及下端,較佳的,上滑塊232及下滑塊233可分別設置兩個或多個。上滑塊232可連接於基座1的頂板11,使兩段式滑軌23可連接於基座1的頂板11,滑軌單元231能相對於上滑塊232滑動,用以導引第一段的移動行程,下滑塊233能相對於滑軌單元231移動,用以導引第二段的移動行程,使兩段式滑軌23可導引兩段的移動行程。下滑塊233連接於升降機構3,使兩段式滑軌23連接於升降機構3,橫移機構2連接於升降機構3。兩段式滑軌23搭配橫移皮帶組24可進行兩段式行程,可增加橫移機構2移動行程。In this embodiment, the two-stage slide rail 23 may include a slide rail unit 231, at least one upper slide block 232 and at least one lower slide block 233. The upper slide block 232 and the lower slide block 233 are respectively slidably arranged at the upper end and the lower end of the slide rail unit 231. Preferably, two or more upper slide blocks 232 and lower slide blocks 233 may be respectively arranged. The upper slider 232 can be connected to the top plate 11 of the base 1, so that the two-stage slide rail 23 can be connected to the top plate 11 of the base 1, the slide rail unit 231 can slide relative to the upper slider 232 to guide the first stage of movement, and the lower slider 233 can move relative to the slide rail unit 231 to guide the second stage of movement, so that the two-stage slide rail 23 can guide the two stages of movement. The lower slider 233 is connected to the lifting mechanism 3, so that the two-stage slide rail 23 is connected to the lifting mechanism 3, and the transverse mechanism 2 is connected to the lifting mechanism 3. The two-stage slide rail 23 can be matched with the transverse belt assembly 24 to perform a two-stage travel, which can increase the movement travel of the transverse mechanism 2.

該橫移皮帶組24設置於兩段式滑軌23的一側,該橫移皮帶組24可包含兩輪座241、兩皮帶輪242及一傳動皮帶243,兩皮帶輪242分別樞設於兩輪座241上,傳動皮帶243繞設於兩皮帶輪242上。傳動皮帶243可分別通過一第一連接件244及一第二連接件245連接於上滑塊232及下滑塊233,使該橫移皮帶組24連接於兩段式滑軌23。所述橫移皮帶組24可設置有調整裝置246,能用以調整傳動皮帶243的張力,使傳動皮帶243維持適當的鬆緊度。在本實施例中,調整裝置246為調整螺絲,能轉動調整兩皮帶輪242的間距,用以調整傳動皮帶243的張力。The transverse belt assembly 24 is disposed on one side of the two-stage slideway 23. The transverse belt assembly 24 may include two wheel seats 241, two pulleys 242 and a transmission belt 243. The two pulleys 242 are pivoted on the two wheel seats 241, respectively, and the transmission belt 243 is wound around the two pulleys 242. The transmission belt 243 may be connected to the upper slider 232 and the lower slider 233 through a first connector 244 and a second connector 245, respectively, so that the transverse belt assembly 24 is connected to the two-stage slideway 23. The transverse belt assembly 24 may be provided with an adjustment device 246, which can be used to adjust the tension of the transmission belt 243 so that the transmission belt 243 maintains an appropriate degree of elasticity. In this embodiment, the adjustment device 246 is an adjustment screw that can be rotated to adjust the distance between the two pulleys 242 to adjust the tension of the transmission belt 243.

當橫移馬達21轉動時,能通過傳動組224驅動螺桿221轉動,以帶動螺帽222及連動件223沿著橫移方向A移動,進而以連動件223連動橫移皮帶組24沿著橫移方向A移動,可進行第一段的移動行程。當橫移皮帶組24沿著橫移方向A向前移動時,該橫移皮帶組24亦能推動第二段的移動行程,使下滑塊233能相對於滑軌單元231移動,並帶動升降機構3及夾爪機構4沿著橫移方向A向前移動,利用兩段式滑軌23搭配橫移皮帶組24可進行兩段式行程。When the transverse motor 21 rotates, the screw 221 can be driven to rotate through the transmission assembly 224, so as to drive the nut 222 and the link 223 to move along the transverse direction A, and then the link 223 drives the transverse belt assembly 24 to move along the transverse direction A, so as to perform the first stage of the movement. When the transverse belt assembly 24 moves forward along the transverse direction A, the transverse belt assembly 24 can also push the second stage of the movement, so that the lower slide block 233 can move relative to the slide rail unit 231, and drive the lifting mechanism 3 and the clamping claw mechanism 4 to move forward along the transverse direction A. The two-stage slide rail 23 and the transverse belt assembly 24 can perform a two-stage travel.

請參閱圖7,在本實施例中,該升降機構3包含一升降動力組(例如包含一升降馬達31及一減速機32)及一升降皮帶組33,升降馬達31、減速機32及升降皮帶組33可設置於一中殼體34內。減速機32可為中空減速機,減速機32連接於升降馬達31及升降皮帶組33之間,使升降皮帶組33連接於升降動力組,升降皮帶組33包含多個升降皮帶輪331及多個升降皮帶332,升降皮帶輪331及升降皮帶332可設置三個或四個。升降馬達31能通過減速機32連接於該些升降皮帶輪331,該些升降皮帶332分別繞設於該些升降皮帶輪331上,該些升降皮帶332的一端連接於夾爪機構4。升降馬達31能通過減速機32驅動該些升降皮帶輪331轉動,用以連動該些升降皮帶332同步升降,以驅動夾爪機構4及載具100升降移動。該升降機構3上亦可設置一感測裝置35,該感測裝置35可為反射式感測裝置,並不予以限制,該感測裝置35能用以判別夾爪機構4是否偏移。Please refer to FIG. 7 . In this embodiment, the lifting mechanism 3 includes a lifting power unit (e.g., a lifting motor 31 and a speed reducer 32) and a lifting belt unit 33. The lifting motor 31, the speed reducer 32 and the lifting belt unit 33 can be disposed in a housing 34. The speed reducer 32 can be a hollow speed reducer. The speed reducer 32 is connected between the lifting motor 31 and the lifting belt unit 33, so that the lifting belt unit 33 is connected to the lifting power unit. The lifting belt unit 33 includes a plurality of lifting pulleys 331 and a plurality of lifting belts 332. Three or four lifting pulleys 331 and lifting belts 332 can be provided. The lifting motor 31 can be connected to the lifting pulleys 331 through the speed reducer 32, and the lifting belts 332 are respectively wound around the lifting pulleys 331, and one end of the lifting belts 332 is connected to the clamping claw mechanism 4. The lifting motor 31 can drive the lifting pulleys 331 to rotate through the speed reducer 32, so as to link the lifting belts 332 to rise and fall synchronously, so as to drive the clamping claw mechanism 4 and the carrier 100 to rise and fall. A sensing device 35 can also be provided on the lifting mechanism 3, and the sensing device 35 can be a reflective sensing device, which is not limited. The sensing device 35 can be used to determine whether the clamping claw mechanism 4 is offset.

請參閱圖8至圖10,該夾爪機構4能用以夾持載具100,所述夾爪機構4包括一夾爪動力組(例如包含一驅動馬達41及一傳動皮帶組42)及兩夾爪43,驅動馬達41、傳動皮帶組42及夾爪43可設置於一下殼體44。傳動皮帶組42連接於驅動馬達41及兩夾爪43之間,使兩夾爪43連接於夾爪動力組。兩夾爪43為長形的夾持件,驅動馬達41能通過傳動皮帶組42驅動兩夾爪43,使兩夾爪43能夾持或放開載具100。下殼體44的底側於兩夾爪43的兩端間隔處亦可進一步設置有對照式感測器45,能用以偵測夾爪機構4是否有置入載具100。Please refer to Figures 8 to 10. The clamp mechanism 4 can be used to clamp the carrier 100. The clamp mechanism 4 includes a clamp power group (for example, including a drive motor 41 and a transmission belt assembly 42) and two clamps 43. The drive motor 41, the transmission belt assembly 42 and the clamp 43 can be arranged in a lower housing 44. The transmission belt assembly 42 is connected between the drive motor 41 and the two clamps 43, so that the two clamps 43 are connected to the clamp power group. The two clamps 43 are elongated clamping members. The drive motor 41 can drive the two clamps 43 through the transmission belt assembly 42, so that the two clamps 43 can clamp or release the carrier 100. A contrast sensor 45 may be further disposed on the bottom side of the lower housing 44 at the interval between the two ends of the two clamping claws 43 to detect whether the clamping claw mechanism 4 has a carrier 100 inserted therein.

在本實施例中,所述夾爪機構4還可包括一煞車器具46,煞車器具46連接於傳動皮帶組42,用以提供煞車功能。較佳的,驅動馬達41及煞車器具46分別設置於傳動皮帶組42的兩端處,可減少佔用的高度空間。In this embodiment, the clamp mechanism 4 may further include a brake device 46, which is connected to the transmission belt assembly 42 to provide a braking function. Preferably, the drive motor 41 and the brake device 46 are respectively arranged at the two ends of the transmission belt assembly 42, which can reduce the height space occupied.

在本實施例中,該夾爪機構4及該升降機構3之間設有一導引結構,該導引結構可包含多個導引柱47及多個導引座36,該些導引座36各設有一導引孔361(如圖7所示),該些導引柱47及該些多個導引座36能設置於夾爪機構4或升降機構3上,該夾爪機構4上升時,該些導引柱47能分別插置於相對應的導引孔361中,以提供導引定位的效果,使夾爪機構4準確的定位。In this embodiment, a guide structure is provided between the clamping mechanism 4 and the lifting mechanism 3, and the guide structure may include a plurality of guide posts 47 and a plurality of guide seats 36, and each of the guide seats 36 is provided with a guide hole 361 (as shown in FIG. 7 ). The guide posts 47 and the plurality of guide seats 36 can be provided on the clamping mechanism 4 or the lifting mechanism 3. When the clamping mechanism 4 rises, the guide posts 47 can be respectively inserted into the corresponding guide holes 361 to provide a guiding and positioning effect, so that the clamping mechanism 4 can be accurately positioned.

所述夾爪機構4還可包括多個水平調整機構48,在本實施例中,水平調整機構48設置有多個。所述水平調整機構48包含一皮帶連接件481、一第一座體482、一第一軸心483、一第二座體484、一第二軸心485、一水平感測器486及一調整螺絲487(如圖8所示),皮帶連接件481連接於升降皮帶332的一端(下端),第一座體482以第一軸心483連接於皮帶連接件481,第二座體484以第二軸心485連接於第一座體482,第一軸心483及第二軸心485水平設置且相互垂直,第一軸心483及第二軸心485可為鉸鏈銷等,主要作為固定用軸心。第二座體484固定於固定在下殼體44上的一固定座488,調整螺絲487穿過第二座體484並螺接於固定座488,當調整螺絲487轉動時,可藉以連動夾爪機構4水平移動,用以調整水平度。另,第二座體484上可設置水平感測器486,用以偵測水平度。The clamping claw mechanism 4 may further include a plurality of horizontal adjustment mechanisms 48. In this embodiment, a plurality of horizontal adjustment mechanisms 48 are provided. The horizontal adjustment mechanism 48 includes a belt connector 481, a first base 482, a first axis 483, a second base 484, a second axis 485, a horizontal sensor 486 and an adjustment screw 487 (as shown in FIG. 8 ). The belt connector 481 is connected to one end (lower end) of the lifting belt 332, the first base 482 is connected to the belt connector 481 via the first axis 483, the second base 484 is connected to the first base 482 via the second axis 485, the first axis 483 and the second axis 485 are horizontally arranged and perpendicular to each other, the first axis 483 and the second axis 485 can be hinge pins, etc., and are mainly used as fixing axes. The second seat 484 is fixed to a fixing seat 488 fixed to the lower shell 44. The adjusting screw 487 passes through the second seat 484 and is screwed to the fixing seat 488. When the adjusting screw 487 is rotated, the clamping claw mechanism 4 can be linked to move horizontally to adjust the level. In addition, a level sensor 486 can be set on the second seat 484 to detect the level.

所述夾爪機構4還可包括一彈性下壓機構49(如圖10所示),能彈性壓制於載具100的頂部。在本實施例中,該彈性下壓機構49包含一壓制件491、一連動桿492、一升降固定座493及一彈性件494,壓制件491連接於連動桿492的下端,升降固定座493固定於下殼體44,連動桿492可升降的設置於升降固定座493,彈性件494抵觸於連動桿492,該彈性件494能推動連動桿492及壓制件491向下移動,使壓制件491彈性壓制於載具100,使載具100穩固的定位。The clamp mechanism 4 may further include an elastic pressing mechanism 49 (as shown in FIG. 10 ) that can be elastically pressed on the top of the carrier 100 . In this embodiment, the elastic downward pressing mechanism 49 includes a pressing member 491, a connecting rod 492, a lifting and fixing seat 493 and an elastic member 494. The pressing member 491 is connected to the lower end of the connecting rod 492, the lifting and fixing seat 493 is fixed to the lower shell 44, the connecting rod 492 is liftably arranged on the lifting and fixing seat 493, and the elastic member 494 abuts against the connecting rod 492. The elastic member 494 can push the connecting rod 492 and the pressing member 491 to move downward, so that the pressing member 491 is elastically pressed on the carrier 100, so that the carrier 100 is stably positioned.

[實施例的有益效果][Beneficial Effects of Embodiments]

本創作的有益效果在於,本創作所提供的搬運裝置,包括一基座、一橫移機構、一升降機構及一夾爪機構。橫移機構設置於基座的頂板,橫移機構包含一橫移動力組、至少一兩段式滑軌及至少一橫移皮帶組,橫移皮帶組連接於橫移動力組,兩段式滑軌連接於基座的頂板及橫移皮帶組之間,兩段式滑軌連接於升降機構,升降機構連接於橫移機構及夾爪機構之間,兩段式滑軌能導引升降機構及夾爪機構沿著橫移方向移動,夾爪機構能夾持載具,並由橫移機構驅動載具橫移,且能由升降機構驅動載具升降移動。本創作橫移機構的兩段式滑軌搭配橫移皮帶組,可進行兩段式行程,可增加橫移機構的移動行程,以便將載具橫移至較遠位置。The beneficial effect of the invention is that the transport device provided by the invention includes a base, a lateral movement mechanism, a lifting mechanism and a clamping claw mechanism. The transverse mechanism is arranged on the top plate of the base, and the transverse mechanism includes a transverse power group, at least one two-section slide rail and at least one transverse belt group. The transverse belt group is connected to the transverse power group, the two-section slide rail is connected between the top plate of the base and the transverse belt group, the two-section slide rail is connected to the lifting mechanism, and the lifting mechanism is connected between the transverse mechanism and the clamping claw mechanism. The two-section slide rail can guide the lifting mechanism and the clamping claw mechanism to move along the transverse direction, the clamping claw mechanism can clamp the carrier, and the transverse mechanism drives the carrier to move laterally, and the lifting mechanism can drive the carrier to move up and down. The two-stage slide rail of the transverse mechanism of this invention is matched with the transverse belt assembly, which can perform a two-stage travel, and can increase the moving stroke of the transverse mechanism so as to move the vehicle laterally to a farther position.

以上所公開的內容僅為本創作的優選可行實施例,並非因此侷限本創作的申請專利範圍,所以凡是運用本創作說明書及圖式內容所做的等效技術變化,均包含於本創作的申請專利範圍內。The above disclosed contents are only the preferred feasible embodiments of this creation, and do not limit the scope of patent application of this creation. Therefore, all equivalent technical changes made by using the description and diagram contents of this creation are included in the scope of patent application of this creation.

1:基座 11:頂板 12:側壁 13:容納空間 2:橫移機構 21:橫移馬達 22:螺桿組 221:螺桿 222:螺帽 223:連動件 224:傳動組 23:兩段式滑軌 231:滑軌單元 232:上滑塊 233:下滑塊 24:橫移皮帶組 241:輪座 242:皮帶輪 243:傳動皮帶 244:第一連接件 245:第二連接件 25:上殼體 3:升降機構 31:升降馬達 32:減速機 33:升降皮帶組 331:升降皮帶輪 332:升降皮帶 34:中殼體 35:感測裝置 36:導引座 361:導引孔 4:夾爪機構 41:驅動馬達 42:傳動皮帶組 43:夾爪 44:下殼體 45:對照式感測器 46:煞車器具 47:導引柱 48:水平調整機構 481:皮帶連接件 482:第一座體 483:第一軸心 484:第二座體 485:第二軸心 486:水平感測器 487:調整螺絲 488:固定座 49:彈性下壓機構 491:壓制件 492:連動桿 493:升降固定座 494:彈性件 5:電器單元 A:橫移方向 100:載具1: Base 11: Top plate 12: Side wall 13: Accommodation space 2: Transverse mechanism 21: Transverse motor 22: Screw assembly 221: Screw 222: Nut 223: Linkage 224: Transmission assembly 23: Two-stage slideway 231: Slideway unit 232: Upper slide block 233: Lower slide block 24: Transverse belt assembly 241: Wheel seat 242: Pulley 243: Transmission belt 244: First connecting member 245: Second connecting member 25: Upper housing 3: Lifting mechanism 31: Lifting motor 32: Speed reducer 33: Lifting belt assembly 331: Lifting pulley 332: Lifting belt 34: Middle housing 35: Sensing device 36: Guide seat 361: Guide hole 4: Clamp mechanism 41: Drive motor 42: Drive belt assembly 43: Clamp 44: Lower housing 45: Contrast sensor 46: Brake device 47: Guide column 48: Horizontal adjustment mechanism 481: Belt connector 482: First seat 483: First axis 484: Second seat 485: Second axis 486: Horizontal sensor 487: Adjustment screw 488: Fixed seat 49: Elastic downward pressing mechanism 491: Pressed part 492: Linkage rod 493: Lifting and fixing seat 494: Elastic part 5: Electrical unit A: Lateral direction 100: Carrier

圖1為本創作實施例搬運裝置的立體圖。FIG. 1 is a three-dimensional diagram of the transport device of the present invention.

圖2為本創作實施例基座及橫移機構的立體圖。FIG. 2 is a three-dimensional diagram of the base and the transverse movement mechanism of the present invention.

圖3為圖1的Ⅲ-Ⅲ剖視圖。FIG3 is a cross-sectional view taken along line III-III of FIG1 .

圖4為圖1的Ⅳ-Ⅳ剖視圖。FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. 1 .

圖5為本創作實施例橫移機構的立體圖。FIG. 5 is a three-dimensional diagram of the transverse shifting mechanism of the present invention.

圖6為本創作實施例搬運裝置與載具的立體圖。FIG. 6 is a three-dimensional diagram of the transport device and the carrier according to the present invention.

圖7為本創作實施例升降機構的立體圖。FIG. 7 is a three-dimensional diagram of the lifting mechanism of the present invention.

圖8為本創作實施例夾爪機構的立體圖。FIG8 is a three-dimensional diagram of the clamping mechanism of the present invention.

圖9為本創作實施例夾爪機構另一角度的立體圖。FIG. 9 is a three-dimensional diagram of the clamping mechanism of the present invention from another angle.

圖10為本創作實施例夾爪機構的剖視圖。FIG10 is a cross-sectional view of the clamping mechanism of the present invention.

1:基座 1: Base

11:頂板 11: Top plate

12:側壁 12: Side wall

13:容納空間 13: Accommodation space

2:橫移機構 2: Transverse mechanism

21:橫移馬達 21: Transverse motor

22:螺桿組 22: Screw assembly

23:兩段式滑軌 23: Two-stage slide rail

24:橫移皮帶組 24: Transverse belt assembly

25:上殼體 25: Upper shell

5:電器單元 5:Electrical unit

Claims (10)

一種搬運裝置,用於傳送載具,該搬運裝置包括: 一基座,該基座具有一頂板; 一橫移機構,該橫移機構設置於該基座的頂板,該橫移機構包含一橫移動力組、至少一兩段式滑軌及至少一橫移皮帶組,該橫移皮帶組連接於該橫移動力組,該兩段式滑軌連接於該基座的頂板及該橫移皮帶組之間; 一升降機構,該升降機構設置於該橫移機構的下方,該兩段式滑軌連接於該升降機構;以及 一夾爪機構,該夾爪機構設置於該升降機構的下方,該升降機構連接於該橫移機構及該夾爪機構之間,該兩段式滑軌能導引該升降機構及該夾爪機構沿著一橫移方向移動,該夾爪機構能夾持該載具,並由該橫移機構驅動該載具沿著該橫移方向移動,且能由該升降機構驅動該載具升降移動。 A transport device for transporting a carrier, the transport device comprising: a base having a top plate; a transverse mechanism disposed on the top plate of the base, the transverse mechanism comprising a transverse power group, at least one two-stage slide rail and at least one transverse belt group, the transverse belt group being connected to the transverse power group, the two-stage slide rail being connected between the top plate of the base and the transverse belt group; a lifting mechanism disposed below the transverse mechanism, the two-stage slide rail being connected to the lifting mechanism; and A clamping mechanism, the clamping mechanism is arranged below the lifting mechanism, the lifting mechanism is connected between the transverse mechanism and the clamping mechanism, the two-stage slide rail can guide the lifting mechanism and the clamping mechanism to move along a transverse direction, the clamping mechanism can clamp the carrier, and the transverse mechanism drives the carrier to move along the transverse direction, and the lifting mechanism can drive the carrier to move up and down. 如請求項1所述的搬運裝置,其中該頂板的兩側或三側各連接一側壁,該些側壁垂設於該頂板,該橫移機構、該升降機構及該夾爪機構能容納於該些側壁之間,該些側壁呈中空狀,該些側壁內各形成一容納空間,能用以容納一電器單元。A transport device as described in claim 1, wherein two or three sides of the top plate are each connected to a side wall, and the side walls are vertically arranged on the top plate, and the transverse movement mechanism, the lifting mechanism and the clamping claw mechanism can be accommodated between the side walls. The side walls are hollow, and each of the side walls forms a accommodating space that can be used to accommodate an electrical unit. 如請求項1所述的搬運裝置,其中該橫移動力組包含一橫移馬達及一螺桿組,該螺桿組連接於該橫移馬達及該橫移皮帶組之間,該螺桿組包含一螺桿、一螺帽及一連動件,該螺帽螺設於該螺桿上,該連動件連接於該螺帽,該螺桿的一端通過一傳動組連接於該橫移馬達,該橫移馬達轉動時,能通過該傳動組驅動該螺桿轉動,以帶動該螺帽及該連動件沿著該橫移方向移動,該連動件連接於該橫移皮帶組,使該螺桿組連接於該橫移皮帶組。A transport device as described in claim 1, wherein the transverse power group includes a transverse motor and a screw group, the screw group is connected between the transverse motor and the transverse belt group, the screw group includes a screw, a nut and a connecting piece, the nut is screwed on the screw, the connecting piece is connected to the nut, one end of the screw is connected to the transverse motor through a transmission group, when the transverse motor rotates, the screw can be driven to rotate through the transmission group to drive the nut and the connecting piece to move along the transverse direction, the connecting piece is connected to the transverse belt group, so that the screw group is connected to the transverse belt group. 如請求項1所述的搬運裝置,其中該兩段式滑軌包含一滑軌單元、至少一上滑塊及至少一下滑塊,該上滑塊及該下滑塊分別滑動的設置於該滑軌單元的上端及下端,該上滑塊連接於該基座的頂板,該滑軌單元能相對於該上滑塊滑動,該下滑塊能相對於該滑軌單元移動,該下滑塊連接於該升降機構,使該兩段式滑軌連接於該升降機構。A transport device as described in claim 1, wherein the two-stage slide rail comprises a slide rail unit, at least one upper slide block and at least one lower slide block, the upper slide block and the lower slide block are respectively slidably arranged at the upper end and the lower end of the slide rail unit, the upper slide block is connected to the top plate of the base, the slide rail unit can slide relative to the upper slide block, the lower slide block can move relative to the slide rail unit, and the lower slide block is connected to the lifting mechanism, so that the two-stage slide rail is connected to the lifting mechanism. 如請求項4所述的搬運裝置,其中該橫移皮帶組設置於該兩段式滑軌一側,該橫移皮帶組包含兩輪座、兩皮帶輪及一傳動皮帶,該兩皮帶輪分別樞設於該兩輪座上,該傳動皮帶繞設於該兩皮帶輪上,該傳動皮帶分別通過一第一連接件及一第二連接件連接於該上滑塊及該下滑塊,使該橫移皮帶組連接於該兩段式滑軌。A transport device as described in claim 4, wherein the transverse belt assembly is arranged on one side of the two-stage slide rail, and the transverse belt assembly includes two wheel seats, two pulleys and a transmission belt. The two pulleys are respectively pivoted on the two wheel seats, and the transmission belt is wound around the two pulleys. The transmission belt is connected to the upper slide block and the lower slide block through a first connecting member and a second connecting member, respectively, so that the transverse belt assembly is connected to the two-stage slide rail. 如請求項1所述的搬運裝置,其中該升降機構包含一升降動力組及一升降皮帶組,該升降皮帶組連接於該升降動力組,該升降皮帶組包含多個升降皮帶輪及多個升降皮帶,該些升降皮帶分別繞設於該些升降皮帶輪上,該些升降皮帶的一端連接於該夾爪機構,該升降動力組能驅動該些升降皮帶輪轉動,用以連動該些升降皮帶同步升降,以驅動該夾爪機構及該載具升降移動。A transport device as described in claim 1, wherein the lifting mechanism includes a lifting power group and a lifting belt group, the lifting belt group is connected to the lifting power group, the lifting belt group includes multiple lifting pulleys and multiple lifting belts, the lifting belts are respectively wound around the lifting pulleys, one end of the lifting belts is connected to the clamping claw mechanism, the lifting power group can drive the lifting pulleys to rotate, so as to link the lifting belts to rise and fall synchronously, so as to drive the clamping claw mechanism and the carrier to rise and fall. 如請求項1所述的搬運裝置,其中該夾爪機構包括一夾爪動力組、兩夾爪及一煞車器具,該兩夾爪連接於該夾爪動力組,該夾爪動力組能驅動該兩夾爪,使該兩夾爪能夾持或放開該載具,該煞車器具連接於該夾爪動力組,用以提供煞車功能。A handling device as described in claim 1, wherein the clamp mechanism includes a clamp power group, two clamps and a brake device, the two clamps are connected to the clamp power group, the clamp power group can drive the two clamps so that the two clamps can clamp or release the carrier, and the brake device is connected to the clamp power group to provide a braking function. 如請求項1所述的搬運裝置,其中該夾爪機構及該升降機構之間設有一導引結構,該導引結構包含多個導引柱及多個導引座,該些導引座各設有一導引孔,該些導引柱及該些多個導引座能設置於該夾爪機構或該升降機構上,該夾爪機構上升時,該些導引柱能分別插置於該些導引孔。A handling device as described in claim 1, wherein a guide structure is provided between the clamping mechanism and the lifting mechanism, the guide structure comprising a plurality of guide posts and a plurality of guide seats, each of the guide seats being provided with a guide hole, the guide posts and the plurality of guide seats being able to be arranged on the clamping mechanism or the lifting mechanism, and when the clamping mechanism rises, the guide posts can be respectively inserted into the guide holes. 如請求項1所述的搬運裝置,其中該夾爪機構還包括多個水平調整機構,用以調整該夾爪機構的水平度。A handling device as described in claim 1, wherein the clamping claw mechanism further includes a plurality of horizontal adjustment mechanisms for adjusting the horizontality of the clamping claw mechanism. 如請求項1所述的搬運裝置,其中該夾爪機構還包括一彈性下壓機構,該彈性下壓機構包含一壓制件、一連動桿、一升降固定座及一彈性件,該壓制件連接於該連動桿的下端,該升降固定座固定於該夾爪機構的一下殼體,該連動桿可升降的設置於該升降固定座,該彈性件抵觸於該連動桿,該彈性件能推動該連動桿及該壓制件向下移動,使該壓制件彈性壓制該載具。A handling device as described in claim 1, wherein the clamping mechanism further includes an elastic downward pressing mechanism, which includes a pressing member, a connecting rod, a lifting and fixing seat, and an elastic member. The pressing member is connected to the lower end of the connecting rod, and the lifting and fixing seat is fixed to a lower shell of the clamping mechanism. The connecting rod is liftably arranged on the lifting and fixing seat, and the elastic member abuts against the connecting rod. The elastic member can push the connecting rod and the pressing member to move downward, so that the pressing member elastically presses the carrier.
TW113202594U 2024-03-15 Transport device TWM659545U (en)

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TWM659545U true TWM659545U (en) 2024-08-21

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