CN110450133A - A kind of single armed autonomous transfer robot - Google Patents
A kind of single armed autonomous transfer robot Download PDFInfo
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- CN110450133A CN110450133A CN201910726559.5A CN201910726559A CN110450133A CN 110450133 A CN110450133 A CN 110450133A CN 201910726559 A CN201910726559 A CN 201910726559A CN 110450133 A CN110450133 A CN 110450133A
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- mechanical arm
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- longitudinal
- transfer robot
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- 238000012546 transfer Methods 0.000 title claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 97
- 239000000463 material Substances 0.000 claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 230000001681 protective effect Effects 0.000 claims description 15
- 230000007306 turnover Effects 0.000 claims description 10
- 239000000203 mixture Substances 0.000 claims description 6
- 238000007599 discharging Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 229910052782 aluminium Inorganic materials 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000013011 mating Effects 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000013475 authorization Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 235000012431 wafers Nutrition 0.000 description 3
- 241000237858 Gastropoda Species 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000037147 athletic performance Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of single armed autonomous transfer robots, it is related to automating mobile transfer robot technical field, it include main structure, the load carrier for carrying material is provided in main structure, for realizing material crawl/release movement executing agency and the walking mechanism mobile for realizing main structure, executing agency includes the driving device of the mechanical arm and driving manipulator motion for grabbing/discharging material, driving device includes lateral dynamics component and Longitudinal component, and lateral dynamics component is laterally driven is connected with rotary power component, mechanical arm is connect with rotary power Component driver.The mechanical arm of single armed autonomous transfer robot increases longitudinal movement, then three kinds of transverse movement, longitudinal movement and rotary motion motion states match the motion range for expanding mechanical arm, to achieve the purpose that improve FOUP box automatic transporting operating flexibility and efficiency.
Description
Technical field
The present invention relates to mobile transfer robot technical field is automated, a kind of single armed autonomous carrying is especially designed
Robot.
Background technique
Front open type wafer feeder, (FrontOpeningUnifiedPod, English abbreviation FOUP) are manufacture of semiconductor
In for protecting, transporting and storing the posting container of wafer, be generally used for accommodating 25 300nm wafers.
Existing Authorization Notice No. is the Chinese patent of CN208629426U, and it discloses a kind of autonomous conveying robots
People includes pedestal, prolong on pedestal its vertical direction be extended have riser.Walking mechanism, walking mechanism are provided on pedestal
It include the driving wheel and driven wheel being mounted on the base, to realize the autonomous of robot；And operation is provided on riser
Mechanism and load carrier, Working mechanism include manipulator, and manipulator includes the mechanical arm that proximal end is connected with riser, and machine
The distal end of tool arm has been pivotally connected handgrip, to realize the crawl or release operation of target object (i.e. FOUP box), load carrier
Include multiple vertically-spaced settings and be fixed on the load-bearing part on riser, to achieve the purpose that carry target object.
The main body being made of pedestal and riser realizes FOUP box under walking mechanism, Working mechanism and load carrier mating reaction
Automated handling operation, improve production operation efficiency.
In the above prior art, the manipulator of Working mechanism can run action include handgrip spinning movement, each arm joint
Spinning movement and mechanical arm crosswise movement, so that manipulator send target object to required position.But in reality
In use process, the factors such as manufacturing cost and space occupancy rate are limited to, arm joint quantity workable for mechanical arm reality
It is limited, cause motion range of the mechanical arm in the plane of vertical transverse direction relatively narrow, influences FOUP box automatic transporting operation
Flexibility and handling efficiency, the prior art exists can improvements.
Summary of the invention
In view of the above technical problems, the purpose of the present invention is to provide a kind of single armed autonomous transfer robot, pass through
Realize the stereo-motion movement that three kinds of mechanical arm transverse movement, longitudinal movement and rotary motion motion states combine, thus
Achieve the purpose that improve FOUP box automatic transporting operating flexibility and handling efficiency.
To achieve the above object, the present invention provides the following technical scheme that a kind of single armed autonomous transfer robot, packet
Main structure has been included, load carrier for carrying material has been provided in the main structure, for realizing material crawl/release
The executing agency of movement and the walking mechanism mobile for realizing main structure, the executing agency include for grab/
It discharges the mechanical arm of material and drives the driving device of manipulator motion, the driving device includes that driving mechanical arm is lateral
The lateral dynamics component of movement and the Longitudinal component of driving lateral dynamics component, mechanical arm longitudinal movement, and the cross
It is connected with rotary power component to Power Component is laterally driven, the mechanical arm is connect with rotary power Component driver, the rotation
Rotatory force component drives the mechanical arm in the plane internal rotation perpendicular to transverse movement direction.
By using above-mentioned technical proposal, load carrier is for carrying support material, and walking mechanism is for moving main body knot
Structure, to realize the autonomous transport operation of material, and executing agency is for realizing the crawl or release movement of material.In crawl object
During the material expected and be moved on load carrier or crawl load carrier is discharged to designated position, mechanical arm is in transverse direction
Carrying movement is completed under Power Component, Longitudinal component and rotary power component three's mating reaction, and mechanical arm is being transported
It during dynamic, while needing to be laterally moved, longitudinal movement and rotary motion, does transverse movement and rotation merely with mechanical arm
Transhipment is dynamic in comparison, and mechanical arm has bigger movement radiation scope, while not needing the arm joint for additionally increasing mechanical arm.
The mechanical arm of single armed autonomous transfer robot increases longitudinal movement, then transverse movement, longitudinal movement and rotary motion three
Kind motion state matches the motion range for expanding mechanical arm, improves material (FOUP box) automatic transporting operating flexibility to reach
The purpose of property and efficiency.
The present invention is further arranged to: one end of the mechanical arm and rotary power component are pivotally connected, the mechanical arm it is another
One end is connected with the handgrip for grabbing/discharging material, and the locating convex block being used cooperatively with the handgrip is provided on material；
One end that the mechanical arm is connected with handgrip is provided with turnover device, the turnover device driving handgrip rotation, and described grabs
Plane of rotation of the rotation axis of hand perpendicular to mechanical arm.
By using above-mentioned technical proposal, in the process of movement, turnover device can drive handgrip to rotate to mechanical arm, that is, adjust
Crawl/release conditions of turn over hand, in order to match clamping crawl material with locating convex block or mutually separated with locating convex block
Unclamp release material.Locating convex block is used in combination with handgrip, is conducive to the accuracy and crawl/release that improve material crawl
The stability of movement；And transverse movement, longitudinal movement and the rotary motion of mechanical arm are matched with the rotary motion of handgrip, machine
The movement of tool arm primarily serves the location status adjustment in a wide range of, and the movement of handgrip primarily serves the position shape of a small range
State adjustment, multi-stag material crawl/release movement further increase smoothness, the accuracy of material crawl or release movement
And stability.
The present invention is further arranged to: the handgrip include power device and by power device drive it is close to each other/
Separate clamping jaw, and the clamping jaw matches clamping crawl locating convex block；The power device includes force piece, the power
Part and clamping jaw are connected with linkage unit, and the linkage unit includes by the driving link of force piece driving rotation, the active
Be hinged with driven member on part at symmetrical position, and end of the driven member far from driving link respectively with corresponding clamping jaw
Hingedly.
By using above-mentioned technical proposal, power device drives clamping jaw close to each other or separate, clamps positioning to realize
Convex block or the movement for unclamping locating convex block, and then realize that handgrip grabs/discharge the purpose of material.Force piece drives driving link to turn
Dynamic, driving link drives driven member to move in the course of rotation, and driven member, which is moved and synchronized, drives clamping jaw close to each other or remote
From.Realized by the way of Mechanical Driven clamping jaw close to or far from movement, do not need to add multiple force pieces and respectively drive
Each jaw action, keep clamping jaw is steady, move synchronously on the basis of, reduce design, the manufacturing cost of handgrip.
The present invention is further arranged to: the force piece and driving link drive connection have transmission component, the transmission component
It include worm gear and the worm screw of engaged transmission, and the worm gear and the coaxially connected fixation of driving link, the worm screw laterally crouch and set simultaneously
It is connect with force piece Driven by Coaxial.
By using above-mentioned technical proposal, force piece drives worm screw rotation, the rotation of driving worm gear, snail while worm screw rotates
Wheel rotation synchronous drive driving link rotation, to realize the close of clamping jaw or far from movement.Worm gear matches realization with worm screw
Two shaft staggered, large transmission ratio actuations, and worm gear matches transmission with worm screw with latching characteristics, is conducive to improve clamping jaw
Grab the stability and safety of material；Meanwhile worm screw laterally crouches and sets and be drivingly connected with force piece, is driven and drives realizing
The occupancy to handgrip inner space is reduced while jaw action.
The present invention is further arranged to: being covered with protective cover outside the force piece and transmission component, and in the protective cover
It is provided with the photomoduel for being linked and using with handgrip.
By using above-mentioned technical proposal, photomoduel, which is taken pictures, identifies material position, and the accurate crawl to realize handgrip is dynamic
Work and release movement, and photomoduel, force piece and transmission component are respectively mounted and are fixed in protective cover, protective cover plays protection
The effect of photomoduel, force piece and transmission component, while photomoduel being avoided to occupy exceptional space.
The present invention is further arranged to: the mechanical arm includes sequentially connected arm joint, and be made of the arm joint
Mechanical arm is set as axial expansion type structure or folding telescopic structure.
By using above-mentioned technical proposal, mechanical arm may be selected to be set as axial expansion type structure or folding telescopic knot
Structure, axial expansion type structure is simply easy to implement, and foldable telescopic structure has bigger telescopic adjustment range, and user can
It selects suitable arm joint to be drivingly connected structure according to the actual situation, there is preferable practicability and using flexible.
The present invention is further arranged to: the lateral dynamics Component driver is connected with laterally driven mounting plate, the rotation
Power Component is installed on laterally driven mounting plate, and the mechanical arm is rotatably dispose in lateral drive close to one end of main structure
On dynamic mounting plate；The rotary power component include rotary drive and transmission connection in rotary drive and mechanical arm it
Between rotation synchronization belt wheel group, and the rotation synchronization belt wheel group along mechanical arm longitudinal movement direction be arranged；The rotation driving
Part is mounted on the outside of laterally driven mounting plate, and the synchronous belt of the rotation synchronization belt wheel group wears laterally driven installation
Plate.
By using above-mentioned technical proposal, the rotary drive of rotary power component passes through rotation synchronization belt wheel group driving machine
The rotation of tool arm；And lateral dynamics Component driver is transversely mounted plate transverse movement, to reach driving rotary power component and mechanical arm
The purpose of synchronous horizontal movement.The installation site of rotary drive and rotation synchronization belt wheel wear mode, drive realizing
Mechanical arm reduces the volume size of laterally driven mounting plate under the premise of rotating, further increase in main structure to reach
The purpose of portion's space utilization rate and installation personnel assembling convenience.
The present invention is further arranged to: in the main structure along mechanical arm longitudinal movement direction be provided with longitudinal rail and
Longitudinal screw mandrel, the longitudinal rail match the symmetrical track structure of composition, the longitudinal screw mandrel and Longitudinal Component driver
Connection, and sliding is provided with zigzag tread patterns mounting plate on the longitudinal rail, the zigzag tread patterns mounting plate and longitudinal screw mandrel are driven
Dynamic connection.
By using above-mentioned technical proposal, the rotation of Longitudinal Component driver longitudinal screw mandrel, longitudinal screw mandrel rotation drives vertical
To drive installation plate guide rail sliding motion along longitudinal direction, to reach driving lateral dynamics component, rotary power component and machinery
The purpose of the common longitudinal movement of arm；And multiple longitudinal rails match the symmetrical track structure of composition, in zigzag tread patterns mounting plate
Carry it is biggish under the premise of, it is longitudinal to improve zigzag tread patterns mounting plate, lateral dynamics component, rotary power component and mechanical arm
The stationarity of movement.
The present invention is further arranged to: the main structure is set as frame structure, is arranged on the frame structure useful
Installed in front plate in installation load carrier and rear side mounting plate for installing driving device, and the installed in front plate with
Clearance space is formed between rear side mounting plate；Company for opening wide clearance space is detachably installed on the installed in front plate
Fishplate bar.
By using above-mentioned technical proposal, frame structure is set by main structure, utmostly guarantees autonomous carrying implement
The structural strength and operation stability of device people；And walking mechanism and all types of connecting lines of executing agency etc. can be hidden before being set to
In clearance space between side mounting plate and rear side mounting plate, while maintenance personnel is detachably connected plate, to open wide clearance space
Safeguard internal component.
The present invention is further arranged to: the load carrier includes longitudinally to be set to front side peace at equal intervals along main structure
Load-bearing part in loading board, material grafting are positioned and fixed on the load-bearing part.
By using above-mentioned technical proposal, load-bearing part spaced set sets the run action of manipulator convenient for user；
Material and load-bearing part grafting positioning are fixed simultaneously, are conducive to the stability for improving single armed autonomous transfer robot mobile material
And safety.
In conclusion the invention has the following advantages:
First, being moved to load carrier in single armed autonomous transfer robot crawl material or grabbing the object on load carrier
During material release to designated position, mechanical arm is in lateral dynamics component, Longitudinal component and rotary power component three
Carrying movement is completed under person's mating reaction, and mechanical arm is during the motion, need to complete by transverse movement, longitudinal movement and
The carrying of three kinds of compound compositions of motion state of rotary motion acts, and does merely compared with transverse movement and rotary motion with mechanical arm
For, do not need the arm joint for additionally increasing mechanical arm, it will be able to obtain biggish manipulator motion range, improve FOUP box certainly
The flexibility of dynamic transport operation and handling efficiency；
Second, the handgrip being made of clamping jaw and power device in the action process for grabbing or discharging material, has well
Kinetic stability and safety, and the mechanical arm front-end architecture being made of handgrip and turnover device provides for manipulator motion
4th kind of motion state not only grabbed within the scope of small space convenient for the handgrip of mechanical arm or discharged material, but be conducive into
One step improves the motion range of mechanical arm, improves the flexibility and efficiency of FOUP box transport operation；
Third, the executing agency part in main structure has preferable space layout design, the i.e. lateral dynamics of executing agency
Component, Longitudinal component and rotary power component three parts concrete structure design and position design, are meeting function
The space utilization rate inside main structure is utmostly improved under the premise of energy demand；
Fourth, the bottom of material (FOUP box) and the load-bearing part of load carrier realize grafting location fit, and material (FOUP box)
Top realization crawl or release movement, material (FOUP box) and single armed autonomous carrying implement are matched with the clamping jaw of handgrip
Device people, which matches, completes transport operation, has and preferably carries stability.
Detailed description of the invention
Fig. 1 is a kind of general structure schematic diagram of single armed autonomous transfer robot；
Fig. 2 is primarily used for showing the driving device structure schematic diagram being located inside main structure；
Fig. 3 is primarily used for showing the part driving device structure schematic diagram of driving mechanical arm longitudinal movement and transverse movement；
Fig. 4 is the structural schematic diagram of laterally driven mounting plate；
Fig. 5 is primarily used for showing the schematic diagram of mechanical arm internal structure；
Fig. 6 is the general structure schematic diagram of handgrip；
Fig. 7 is the driving structure schematic diagram inside handgrip；
Fig. 8 is primarily used for showing the driving structure schematic diagram of transmission component and driving link.
Appended drawing reference: 1, main structure；11, Aluminum cover；12, rear side mounting plate；13, installed in front plate；14, interval is empty
Between；15, connecting plate；2, executing agency；3, mechanical arm；31, arm joint；311, the first arm joint；312, the second arm joint；32, arm joint is led
Rail；33, arm joint screw rod；34, arm joint actuator；35, turnover device；351, actuator is overturn；352, reinforce connector；4, it drives
Device；4-A, lateral dynamics component；4-A-1, laterally driven part；4-A-2, synchronous cross wheel group；4-B, Longitudinal component；4-
B-1, zigzag tread patterns part；4-B-2, longitudinal synchronizing wheel group；4-C, rotary power component；4-C-1, rotary drive；4-C-2, rotation
Turn synchronizing wheel group；41, longitudinal rail；42, zigzag tread patterns mounting plate；43, longitudinal screw mandrel；44, cross slide way；45, cross lead screw；
46, laterally driven mounting plate；46-A, L-type right angle plate group structure；46-B, perforating；461, bottom plate；462, side plate；463, rib
Plate；47, rotation axis；48, it is rotatablely installed cylinder；49, fixed plate；5, FOUP box；51, locating convex block；6, load carrier；61, it carries
Part；7, walking mechanism；8, handgrip；81, handgrip ontology；811, loading plate；812, protective cover；82, clamping jaw；83, guiding rail；
831, slipping block；84, force piece；85, linkage unit；851, driving link；852, driven member；86, transmission component；861, worm gear；
862, worm screw；87, fixing seat；88, connecting shaft；9, photomoduel.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
As shown in Figure 1, a kind of single armed autonomous transfer robot, includes main structure 1 and be installed on main body knot
Executing agency 2 on structure 1, executing agency 2 include that the mechanical arm 3 and driving mechanical arm 3 positioned at 1 side of main structure grab
Or the driving device 4 of release FOUP box 5.The front side of main structure 1 is provided with load carrier 6, and load carrier 6 includes multiple
Spaced load-bearing part 61 along the vertical direction, and 61 plate knots being fixed on as level on front side of main structure 1 of load-bearing part
Structure；Then mechanical arm 3 can grab FOUP box 5 under the effect of driving device 4 and be released on load-bearing part 61.The bottom of main structure 1
Walking mechanism 7 is installed, then main structure 1 can transport FOUP box 5 to specified location, with reality under the action of walking mechanism 7
Automatic machinery people's transport operation of existing FOUP box 5.
Main structure 1 is to build the square frame structure constituted by aluminum profile splicing, is fixed in walking mechanism 7 vertically,
And the side of main structure 1 can cover fixed Aluminum cover 11, to cover the main body for the driving device 4 being located inside main structure 1
Part.Walking mechanism 7 can be used AGV trolley or as disclosed in the Chinese patent that Authorization Notice No. is CN208629426U
Mechanism, to realize the mobile purpose of autonomous driving main structure 1.
In conjunction with shown in Fig. 2 and Fig. 3, driving device 4 includes the lateral dynamics component for driving 3 traverse motion of mechanical arm
The 4-A and Longitudinal component 4-B for driving 3 longitudinally reciprocating motion of mechanical arm, i.e. mechanical arm 3 can be in lateral dynamics component 4-A
It is transversely and horizontally moved and longitudinal vertical motion with being realized under Longitudinal component 4-B mating reaction.In main structure 1 before it
It is vertically-mounted at the position of side to be fixed with rear side mounting plate 12, three longitudinal directions are installed along its vertical direction on rear side mounting plate 12
Symmetrical track structure is installed and constituted to guide rail 41, the horizontal spaces such as three longitudinal rails 41, and leads on three longitudinal rails 41
It crosses sliding block sliding and zigzag tread patterns mounting plate 42 is installed；Above-mentioned Longitudinal component 4-B is drivingly connected zigzag tread patterns mounting plate 42
And its vertical sliding motion of guide rail 41 along longitudinal direction is driven, and lateral dynamics component 4-A is mounted on zigzag tread patterns mounting plate 42
On, while mechanical arm 3 is connected with lateral dynamics component 4-A, i.e. Longitudinal component 4-B can drive lateral dynamics component simultaneously
4-A and the longitudinal vertical motion of mechanical arm 3.
As shown in figure 3, be equipped with longitudinal screw mandrel 43 along its vertical direction on rear side mounting plate 12, longitudinal screw mandrel 43 up and down
Both ends are realized by bearing block and are rotatably assorted with rear side mounting plate 12, and the installation site of longitudinal screw mandrel 43 is close to centre
Longitudinal rail 41 at position, and realized and be drivingly connected by feed screw nut and zigzag tread patterns mounting plate 42.Longitudinal screw mandrel 43
Lower end and Longitudinal component 4-B are drivingly connected, and Longitudinal component 4-B includes to be mounted on rear side mounting plate 12
Zigzag tread patterns part 4-B-1 can be used motor and use as zigzag tread patterns part 4-B-1, and the output shaft of zigzag tread patterns part 4-B-1 with
The lower end of longitudinal screw mandrel 43 is connected with longitudinal synchronizing wheel group 4-B-2, i.e., the driving wheel of longitudinal synchronizing wheel group 4-B-2 is coaxially installed on
On the output shaft of zigzag tread patterns part 4-B-1, and the driven wheel of longitudinal synchronizing wheel group 4-B-2 is coaxially installed under longitudinal screw mandrel 43
End, and synchronous belt is set around between driving wheel and driven wheel, is moved back and forth vertically with to reach driving zigzag tread patterns mounting plate 42
Purpose.
Two cross slide ways 44, and two cross slide ways are mounted with along its horizontal direction on zigzag tread patterns mounting plate 42
Laterally driven mounting plate 46 is connected with by sliding block horizontal sliding on 44, mechanical arm 3 is connected with laterally driven mounting plate 46, then
The transversely reciprocal sliding motion of guide rail 44 under the action of lateral dynamics component 4-A of mechanical arm 3 and laterally driven mounting plate 46.It is vertical
Middle position in drive installation plate 42 positioned at two cross slide ways 44 is equipped with cross lead screw 45, a left side for cross lead screw 45
Right both ends pass through bearing block and are rotatably assorted with the realization of zigzag tread patterns mounting plate 42, and pass through feed screw nut and laterally driven installation
Plate 46, which is realized, to be drivingly connected.The one end of cross lead screw 45 far from mechanical arm 3 and lateral dynamics component 4-A are drivingly connected, laterally dynamic
Power component 4-A includes the laterally driven part 4-A-1 being mounted on zigzag tread patterns mounting plate 42, and motor can be used as horizontal
It is used to actuator 4-A-1, and the output shaft of laterally driven part 4-A-1 is connect with cross lead screw 45 far from the end of mechanical arm 3
There is synchronous cross wheel group 4-A-2, i.e. the driving wheel of synchronous cross wheel group 4-A-2 is coaxially installed on the defeated of laterally driven part 4-A-1
On shaft, and the driven wheel of synchronous cross wheel group 4-A-2 is coaxially installed on the end of cross lead screw 45, and synchronous belt is set around master
Between driving wheel and driven wheel, to achieve the purpose that laterally driven 46 traverse motion of mounting plate of driving.
As shown in figure 4, laterally driven mounting plate 46 includes the bottom plate 461 with the sliding cooperation of cross slide way 44, bottom plate 461
It is upper close to mechanical arm 3(referring to Fig. 2 shown in) side be vertically installed with side plate 462, i.e. bottom plate 461 and the sealed composition L of side plate 462
Type right angle plate group structure 46-A, and the two sides up and down of L-type right angle plate group structure 46-A are sealed respectively is equipped with floor 463.In conjunction with
Shown in Fig. 3 and Fig. 4, rotary power component 4-C is installed, rotary power component 4-C is for rotating on laterally driven mounting plate 46
Mechanical arm 3 is driven, the end rotational installation of mechanical arm 3 is vertically rotatably equipped with rotation axis on side plate 462 on side plate 462
47(rotation axis 47 can be realized by bearing and is rotatably assorted with side plate 462), rotation axis 47 is connected with the end of mechanical arm 3,
Then rotary power component 4-C can drive mechanical arm 3 to make rotating motion in fore-and-aft plane by rotation axis 47.Rotary power component
4-C includes the rotary drive 4-C-1 being mounted on floor 463, and motor can be used to be made as rotary drive 4-C-1
With the output shaft and rotation axis 47 of rotary drive 4-C-1 is connected with rotation synchronizing wheel group 4-C-2, i.e. rotation synchronizing wheel group 4-
The driving wheel of C-2 is coaxially installed on the output shaft of rotary power part 84, and the driven wheel for rotating synchronizing wheel group 4-C-2 is coaxially pacified
Loaded in rotation axis 47, and synchronous belt is set around between driving wheel and driven wheel, is revolved with reaching driving rotation axis 47 and mechanical arm 3
The purpose turned.
In conjunction with shown in Fig. 3 and Fig. 4, rotary drive 4-C-1 is connected with fixed plate 49 with corresponding floor 463, fixed
At the sealed lateral surface for being installed on floor 463 of plate 49, i.e. rotary drive 4-C-1 is located at the outside of laterally driven mounting plate 46,
And perforating 46-B is offered on floor 463, the synchronous belt of rotation synchronizing wheel group 4-C-2 wears out perforating 46-B along longitudinal direction
(state that rotary drive 4-C-1 is located at 463 lower section of floor is shown only in diagram, and rotary drive 4-C-1 is located at floor
The state of 463 tops is not shown).The floor 463 of laterally driven mounting plate 46 plays the role of improving whole board group structural strength,
And on this basis, rotary drive 4-C-1 is installed on to the outside of laterally driven mounting plate 46, is advantageously reduced laterally driven
Mounting plate 46 is assembled to the occupancy of 1 inner space of main structure, while convenient for operating personnel, has preferable assembling convenience
Property.
As shown in figure 5, mechanical arm 3 includes multiple arm joints 31, and the composition axial expansion type structure of multiple arm joints 31 (can also
Folding telescopic structure is constituted, and the mechanical arm as disclosed in the patent document that Authorization Notice No. is CN208629426U can be used
3), i.e., multiple arm joints 31 are arranged connection along axial direction and realize stretching motion.In the mechanical arm 3 that this attached drawing is shown, mechanical arm 3
It include two joint arm sections 31, the end of the first arm joint 311 and rotation axis 47 are connected with rotational installation cylinder 48, rotational installation cylinder 48
One end is coaxially connected with rotation axis 47 by ring flange etc., and is rotatablely installed the other end of cylinder 48 and the tail end of the first arm joint 311
It is sealed to be connected and fixed；Then rotary power component 4-C drives rotation axis 47 to rotate, and rotation axis 47 rotates and then mechanical arm 3 is driven to exist
Rotation in perpendicular, and be rotatablely installed cylinder 48 and play raising 47 transmission stability of rotation axis and the rotation of mechanical arm 3 in the process
Turn the effect of stability.
As shown in figure 5, the first arm joint 311 and the second arm joint 312 are disposed as hollow structure, the first arm joint 311 it is opposite
Extend along its length on two inner sidewalls and arm joint guide rail 32 is installed, and 312 part of the second arm joint is arranged in the first arm joint 311
Sliding cooperation interior and by sliding block realization and arm joint guide rail 32.It is located in two sides arm joint guide rail 32 in the first arm joint 311
Between arm joint screw rod 33 is installed at position, arm joint screw rod 33 is extended along the length direction of the first arm joint 311, and arm joint screw rod
33 both ends pass through bearing block respectively to be fixed in the first arm joint 311 and realizes and be rotatably assorted；Arm joint screw rod 33 is far from the second arm
One end of section 312, which is drivingly connected, arm joint actuator 34, and motor can be used and use as arm joint actuator 34, arm joint actuator 34
At the outer end of the first arm joint 311, and the output shaft of arm joint actuator 34 extends in the first arm joint 311 and passes through shaft coupling
Device is connected with arm joint screw rod 33, to drive arm joint screw rod 33 to rotate.Arm joint screw rod 33 passes through feed screw nut and the second arm joint 312
It is drivingly connected, then during rotation, feed screw nut's the second arm joint 312 of synchronous driving stretches out the first arm joint 311 to arm joint screw rod 33
Perhaps it is retracted in the first arm joint 311 and then realizes 31 stretching motion of arm joint of the crawl of mechanical arm 3 or release FOUP box 5.
In conjunction with shown in Fig. 5 and Fig. 6, the second arm joint 312 is drivingly connected far from the end rotation of the first arm joint 311 handgrip 8,
The rotation axis of handgrip 8 is perpendicular to the Plane of rotation where mechanical arm 3, and the top of FOUP box 5 is equipped with locating convex block in advance
51, then handgrip 8 can match the movement for realizing crawl or release FOUP box 5 with locating convex block 51.Second arm joint 312 is far from
The end of one arm joint 311 is equipped with the turnover device 35 for driving handgrip 8 to rotate, and turnover device 35 includes to be mounted on
Overturning actuator 351 in second arm joint, 312 end can be used motor and use as overturning actuator 351, and overturns actuator
351 output shaft extends the second arm joint 312 and is drivingly connected with handgrip 8.Handgrip 8 includes handgrip ontology 81, and handgrip sheet
The output shaft of body 81 and overturning actuator 351, which is connected with, reinforces connector 352；Reinforce connector 352 and is set as cylinder bulk knot
Structure reinforces connector 352 and coaxially wears with the output shaft for overturning actuator 351 to fix with merging pin joint, and reinforcement connector 352
Reinforce connection that is, during overturning the driving rotation of handgrip ontology 81 of actuator 351 with the sealed fixation of handgrip ontology 81 simultaneously
Part 352 rotates synchronously and plays the role of improving transmission stability and be drivingly connected structural strength.
As shown in fig. 6, handgrip ontology 81 includes loading plate 811, protective cover 812 is covered on loading plate 811, and carry
The output shaft of plate 811 and overturning actuator 351 is drivingly connected.As shown in fig. 7, be equipped in handgrip ontology 81 power device and
Two clamping jaws 82 close to each other or separate are driven by power device, then two clamping jaws 82 can be realized under the driving of power device and be grabbed
The movement of FOUP box 5 is taken or discharges, i.e. two clamping jaws 82 match realization grasping movement with the locating convex block 51 at 5 top of FOUP box
Or release movement.Two clamping jaws 82 symmetrically slide the two sides being set in protective cover 812, and edge on the inner sidewall of protective cover 812
The direction of motion extension of clamping jaw 82 is mounted with guiding rail 83, and sliding is equipped with slipping block 831, clamping jaw on guiding rail 83
82 are connected and fixed with corresponding slipping block 831, to realize that power device drives two clamping jaws 82 close to each other or separate
Athletic performance.Power device includes the force piece 84 being mounted in protective cover 812, and motor can be used as force piece 84
It uses, and force piece 84 and two clamping jaws 82 are sequentially connected with the linkage unit 85 moved synchronously for realizing two clamping jaws 82.Linkage
Component 85 includes the driving link 851 for being driven by force piece 84 and being rotated vertically, and driving link 851 is set as disc-shaped structure, and main
Two driven members 852 are hinged at the symmetrical positions on both sides of bottom of moving part 851, driven member 852 is set as link mechanism, driven member
852 ends far from driving link 851 are articulated on corresponding slipping block 831, and hinge joint is located at the medial axis of slipping block 831
At position；Then force piece 84 drives driving link 851 to rotate, 851 rotate driving of driving link, two driven member, 852 synchronous drive slipping block
831 along 83 sliding motion of guiding rail, and then that realizes two clamping jaws 82 moves synchronously movement.
Referring to figs. 7 and 8, force piece 84 and the drive connection of driving link 851 have transmission component 86, and transmission component 86 wraps
Worm gear 861 and the worm screw 862 of engaged transmission cooperation are included, the bottom of worm gear 861 is coaxially connected with connecting shaft 88, and connecting shaft 88 is perpendicular
Straight setting, and the bottom end of connecting shaft 88 and the top coaxial threaded of driving link 851 are connected and fixed；Then 862 rotate driving snail of worm screw
861 rotation of wheel, drives driving link 851 to rotate while worm gear 861 rotates by connecting shaft 88.On the inner sidewall of protective cover 812
Fixing seat 87 is installed, and the rotation of worm screw 862 is sleeping in fixing seat 87, and same by the output shaft of shaft coupling and force piece 84
Axis is drivingly connected, then motor is equally sleeping is set in protective cover 812, to reduce the occupancy to 812 inner space of protective cover, Jin Erda
To 8 volume of handgrip is reduced, the purpose of the crawl of handgrip 8 or release 5 flexibility of FOUP box is improved.
As shown in fig. 6, the purpose in order to realize autonomous crawl or release FOUP box 5, be also equipped in protective cover 812 with
Handgrip 8 is linked the photomoduel 9 used, and CCD camera can be used and controller collectively forms the photomoduel 9, pass through
Photomoduel 9 identifies 8 position of handgrip, and then achievees the purpose that improve the crawl of handgrip 8 or release 5 precision of FOUP box.
As shown in figure 3, the Aluminum cover 11 of 1 face FOUP box 5 of main structure is set as installed in front plate 13, installed in front plate
13 are fixed in main structure 1 vertically, and clearance space 14, main body are formed between installed in front plate 13 and rear side mounting plate 12
The wire bodies such as the connecting line of each electrical component in structure 1 can be hidden in clearance space 14.It is perpendicular along it on installed in front plate 13
Histogram to being equipped with connecting plate 15 at equal intervals, and connecting plate 15 and installed in front plate 13 are detachably connected fixation, maintenance personnel or
Person's assembler is detachably connected plate 15 to open wide clearance space 14, is convenient for upkeep operation or assembling cabling operation.
As shown in Figure 1, the vertical direction on installed in front plate 13 along main structure 1 is equipped with load-bearing part 61 at equal intervals, hold
Holder 61 is plate structure, and FOUP box 5 can be placed on load-bearing part 61 by positioning connected structure stabilization, be removed with reaching stabilization
Transport the purpose of FOUP box 5.
Below with reference to specific motion flow and principle, the present invention is further elaborated:
When needing to grab or discharging FOUP box 5, Longitudinal component 4-B drives longitudinal height and position of adjusting mechanical arm 3,
Lateral dynamics component 4-A drives the lateral horizontal position of adjusting mechanical arm 3, and mechanical arm 3 completes telescopic adjustment, and rotates dynamic
Power component 4-C drives the rotation angle of adjusting mechanical arm 3, so that 8 preliminary motion of handgrip is to corresponding position, then passes through overturning
The driving of device 35 adjusts the rotation angle of handgrip 8, so that handgrip 8 precisely corresponds to the locating convex block 51 of FOUP box 5, finally by
Power device drives two clamping jaws 82 close to each other or separate, and match with locating convex block 51 crawl for completing FOUP box 5 or
Person's release movement.
Present embodiment is only explanation of the invention, is not limitation of the present invention, art technology
Personnel can according to need the modification that not creative contribution is made to the present invention after reading this specification, but as long as at this
All by the protection of Patent Law in the scope of the claims of invention.
Claims (10)
1. a kind of single armed autonomous transfer robot includes main structure (1), it is arranged on the main structure (1) useful
In the load carrier (6) of carrying material, for realizing material crawl/release movement executing agency (2) and for realizing master
The mobile walking mechanism (7) of body structure (1), it is characterised in that: the executing agency (2) include for grab/discharge material
Mechanical arm (3) and driving mechanical arm (3) movement driving device (4), the driving device (4) includes driving mechanical arm
(3) the lateral dynamics component (4-A) of transverse movement and driving lateral dynamics component (4-A), mechanical arm (3) longitudinal movement it is vertical
To Power Component (4-B), and the lateral dynamics component (4-A) is laterally driven is connected with rotary power component (4-C), the machine
Tool arm (3) and rotary power component (4-C) are drivingly connected, and the rotary power component (4-C) is perpendicular to transverse movement direction
Plane internal rotation drive the mechanical arm (3).
2. a kind of single armed autonomous transfer robot according to claim 1, it is characterised in that: the mechanical arm (3)
One end and rotary power component (4-C) be pivotally connected, the other end of the mechanical arm (3) be connected with for grab/discharge material
Handgrip (8), and the locating convex block (51) being used cooperatively with the handgrip (8) is provided on material；The mechanical arm (3) and handgrip
(8) one end being connected is provided with turnover device (35), turnover device (35) driving handgrip (8) rotation, and the handgrip
(8) Plane of rotation of the rotation axis perpendicular to mechanical arm (3).
3. a kind of single armed autonomous transfer robot according to claim 2, it is characterised in that: handgrip (8) packet
It includes dynamic device and is driven clamping jaw close to each other/separate (82) by power device, and the clamping jaw (82) matching co-clip
Hold crawl locating convex block (51)；The power device includes force piece (84), and the force piece (84) connect with clamping jaw (82)
Have linkage unit (85), and the linkage unit (85) includes the driving link (851) rotated by force piece (84) driving, it is described
Driven member (852) are hinged at symmetrical position on driving link (851), and the driven member (852) is far from driving link (851)
End it is hinged with corresponding clamping jaw (82) respectively.
4. a kind of single armed autonomous transfer robot according to claim 3, it is characterised in that: the force piece (84)
Being drivingly connected with driving link (851) has transmission component (86), and the transmission component (86) includes the worm gear (861) of engaged transmission
With worm screw (862), and the worm gear (861) and driving link (851) coaxially connected fixation, the worm screw (862) is laterally sleeping to be set simultaneously
It is connect with force piece (84) Driven by Coaxial.
5. a kind of single armed autonomous transfer robot according to claim 4, it is characterised in that: the force piece (84)
It is covered with protective cover (812) outside with transmission component (86), and is provided in the protective cover (812) and is linked with handgrip (8)
The photomoduel (9) used.
6. a kind of single armed autonomous transfer robot according to claim 1, it is characterised in that: the mechanical arm (3)
It include sequentially connected arm joint (31), and the mechanical arm (3) being made of the arm joint (31) is set as axial expansion type structure
Or folding telescopic structure.
7. a kind of single armed autonomous transfer robot according to claim 1, it is characterised in that: the lateral dynamics group
Part (4-A) drive connection has laterally driven mounting plate (46), and the rotary power component (4-C) is installed on laterally driven mounting plate
(46) on, and the mechanical arm (3) is rotatably dispose on laterally driven mounting plate (46) close to the one end of main structure (1)；Institute
Stating rotary power component (4-C) includes rotary drive (4-C-1) and transmission connection in rotary drive (4-C-1) and machine
Rotation synchronization belt wheel group (4-C-2) between tool arm (3), and the rotation synchronization belt wheel group (4-C-2) is longitudinal along mechanical arm (3)
Direction of motion setting；The rotary drive (4-C-1) is mounted on the outside of laterally driven mounting plate (46), and the rotation
The synchronous belt for turning synchronous pulley group (4-C-2) wears laterally driven mounting plate (46).
8. a kind of single armed autonomous transfer robot according to claim 7, it is characterised in that: the main structure
(1) mechanical arm (3) longitudinal movement direction is provided with longitudinal rail (41) and longitudinal screw mandrel (43), the longitudinal rail (41) on
The symmetrical track structure of composition is matched, the longitudinal screw mandrel (43) and Longitudinal component (4-B) are drivingly connected, and described vertical
Sliding is provided with zigzag tread patterns mounting plate (42) on direction guiding rail (41), the zigzag tread patterns mounting plate (42) and longitudinal screw mandrel (43)
It is drivingly connected.
9. a kind of single armed autonomous transfer robot according to claim 1, it is characterised in that: the main structure
(1) it is set as frame structure, the installed in front plate (13) for installing load carrier (6) is provided on the main structure (1)
And the rear side mounting plate (12) for installing driving device (4), and the installed in front plate (13) and rear side mounting plate (12)
Between be formed with clearance space (14)；It is detachably equipped on the installed in front plate (13) for opening wide clearance space (14)
Connecting plate (15).
10. a kind of single armed autonomous transfer robot according to claim 9, it is characterised in that: the load carrier
It (6) include the load-bearing part (61) being longitudinally set at equal intervals along main structure (1) on installed in front plate (13), material grafting is fixed
Position is fixed on the load-bearing part (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910726559.5A CN110450133A (en) | 2019-08-07 | 2019-08-07 | A kind of single armed autonomous transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910726559.5A CN110450133A (en) | 2019-08-07 | 2019-08-07 | A kind of single armed autonomous transfer robot |
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| CN110450133A true CN110450133A (en) | 2019-11-15 |
Family
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| CN201910726559.5A Pending CN110450133A (en) | 2019-08-07 | 2019-08-07 | A kind of single armed autonomous transfer robot |
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| CN (1) | CN110450133A (en) |
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Address after: 201100 Room 102, 1st floor, Room 202, 2nd floor, building 1, 555 Wanfang Road, Minhang District, Shanghai Applicant after: Shanghai Han's Fuchuang Technology Co.,Ltd. Address before: 201100 Room 102, 1st floor, Room 202, 2nd floor, building 1, 555 Wanfang Road, Minhang District, Shanghai Applicant before: SHANGHAI FORTREND TECHNOLOGY Co.,Ltd. |