TWI790477B - Anti-drop mechanism for transporting object container - Google Patents

Abstract

An anti-drop mechanism for transporting an object container is disposed on one operating end of a robot arm. The operating end can carry an object container, such as a mask box, to a predetermined position. The anti-drop mechanism includes a driving device and an anti-drop member. The driving device, such as an electric cylinder, or a pneumatic cylinder, is disposed on the operating end of the robot arm. The anti-drop member is connected to the driving device, and the driving device can drive the anti-drop member, so as to move the anti-drop member over the object container and block the object container. Therefore, it can prevent the object container from jumping off and falling, when the robot arm is transporting the object container.

Description

Object container transport anti-drop device

The invention relates to an anti-falling device for transporting object containers, in particular to an anti-falling device for transporting object containers such as photomask boxes.

The photomask box is used to store the photomask, mainly to prevent the photomask from being exposed to external dust particles and chemical pollution. During the transportation process of the photomask box, a robotic arm is usually used to carry the photomask box. One end of the robotic arm It has an operating end, and the operating end of the mechanical arm can be supported on the bottom of the mask box or clamped on both sides of the mask box, so that the mask box can be transported to a proper position by the mechanical arm. However, during the process of moving the photomask by the mechanical arm, the photomask box may jump off and fall, which will cause inconvenience to the manufacturer or cause defects in the product. In addition, other object containers such as wafer boxes may also jump and fall during the process of being transported by the robot arm.

The technical problem to be solved by the present invention is to provide an anti-falling device for object container handling in view of the deficiencies in the prior art. The mechanical arm can effectively prevent the object container from jumping and falling during the process of carrying the object container.

In order to solve the above-mentioned technical problems, the present invention provides an object container transport anti-falling device, which is arranged on a mechanical arm. The mechanical arm has an operating end, which can be used to carry an object container. It includes: a driving device, the driving device is arranged on the operating end of the mechanical arm, the driving device has a driving part; To drive the anti-falling part, so that the anti-falling part moves between a first position and a second position, and the side of the anti-falling part close to the object container forms a storage space; wherein when the anti-falling part is in the In the first position, at least a part of the anti-falling member is located above the object container, and the accommodating space accommodates a part of the object container, which can be used to block the object container; when the anti-falling member is in the second position, The fall arrester exits the object container.

The beneficial effect of the present invention is that the object container transport anti-falling device provided by the present invention includes a driving device and an anti-falling piece, the anti-falling piece is connected to the driving part of the driving device, and the driving device can be used to drive the anti-falling piece, so that the anti-falling piece The pendant moves between a first position and a second position. When the anti-falling device is in the first position, at least a part of the anti-falling device is located above the object container, and the storage space of the anti-falling device accommodates a part of the object container, which can be used to stop the object container, so that the mechanical arm is in the process of carrying the object container Among them, it can effectively prevent the object container from jumping off and falling.

Furthermore, the accommodating space of the present invention accommodates a part of the object container, which can effectively stop the object container, and the movement stroke of the anti-falling element is relatively short, and can effectively reduce the contact between the anti-falling element and the object container, so as to avoid the object container scratched.

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

The following are specific examples to illustrate the implementation methods disclosed in the present invention. 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 modifications and changes can be made to the details in this specification based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only for simple illustration, and are not drawn according to the actual size, which is stated in advance. The following embodiments will further describe the relevant 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 herein may include any one or a combination of more of the associated listed items depending on the actual situation.

[first embodiment]

Please refer to Fig. 1 and Fig. 2, the present invention provides a kind of object container handling fall prevention device, and it is arranged on the mechanical arm 100, and this mechanical arm 100 can be the mechanism of multi-axis drive, but the structure of this mechanical arm 100 is not limited . The robot arm 100 has an operating end 101, which can be used to carry an object container 200 to move the object container 200 to a predetermined position. The object container 200 can be a container such as a photomask pod or a wafer pod. The operating end 101 of the mechanical arm 100 can be changed according to the type of the object container 200 being carried. In this embodiment, the operating end 101 of the mechanical arm 100 has a carrying plate 102, which can be used for The object container 200 is carried, and the edge of the carrying plate 102 is provided with a plurality of flanges 103 , which can be used to position the object container 200 so that the object container 200 will not move horizontally on the carrying plate 102 . Since the robotic arm 100 is a prior art, and the present invention does not limit the structure of the robotic arm 100 , it will not be repeated here.

The anti-falling device for transporting the object container includes a driving device 1 and an anti-falling part 2. The driving device 1 can be an electric cylinder or a pneumatic cylinder. The driving device 1 can be fixed on the operating end 101 of the robot arm 100 , and the driving device 1 has a driving part 11 .

The structure of the anti-falling piece 2 is not limited. In this embodiment, the anti-falling piece 2 has a plate-shaped body 21, and the plate-shaped body 21 can be a long plate. Preferably, the plate-shaped body 21 It is a T-shaped plate body, and the shape and area of the anti-falling member 2 are not limited, and can be changed according to needs. The anti-dropping member 2 forms a storage space 22 on the side close to the object container 200. In this embodiment, the storage space 22 is located on the side of the plate-shaped body 21 close to the object container 200, that is, the storage space 22 is located in the plate-shaped The lower side of the main body 21, and the sides (front side, left side and right side, etc.) of the storage space 22 are open (open shape), specifically, the side of the storage space 22 away from the drive device 1, and the side with the side Both adjacent sides are open (open). The anti-falling part 2 is connected to the driving part 11 of the driving device 1, and the driving device 1 can be used to drive the anti-falling part 2, so that the anti-falling part 2 can move between a first position A and a second position B ( As shown in Figure 3 and Figure 4).

In this embodiment, the driving device 1 can drive the anti-fall component 2 to move horizontally, so that at least a part of the anti-fall component 2 can be located above the object container 200 , and the storage space 22 accommodates a part of the object container 200 . In this embodiment, the plate body 21 is a T-shaped plate body, the second half of the plate body 21 can be connected to the driving part 11 of the driving device 1, and the front half of the plate body 21 can be used to stop objects. Container 200.

When the anti-falling component 2 is in the first position A (as shown in FIG. 4 ), at least a part of the anti-falling component 2 is located above the object container 200, which can be used to stop the object container 200, so as to prevent the object container 200 from jumping Fall off. When the anti-fall component 2 is in the second position B (as shown in FIG. 3 ), the anti-fall component 2 leaves the object container 200 to facilitate the object container 200 to move out or into the loading plate 102 . In this embodiment, when the anti-falling component 2 is in the first position A (as shown in FIG. 4 ), the anti-falling component 2 is located on the top of the object container 200 near one side (rear side) edge, so that it can be used To stop the object container 200, so as to prevent the object container 200 from jumping off and falling.

In this embodiment, the plate-like body 21 of the anti-fall component 2 is a plate body. When the anti-fall component 2 is moving, it is difficult to collide with the object container 200, and when the anti-fall component 2 is in the first position A , the anti-falling piece 2 is only located above the object container 200, and the anti-falling piece 2 will not cover the sides of the object container 200, so that the anti-falling piece 2 will not come into contact with the object container 200 when moving, so as to Avoid scratches on the object container 200 .

Preferably, when the anti-fall component 2 is at the first position A, the anti-fall component 2 is located above the object container 200, and the anti-fall component 2 and the object container 200 form a spaced arrangement, for example, the anti-fall component 2 A distance P can be formed between the (bottom surface) and the object container 200 (top surface), and the distance P is preferably 1mm to 3mm, so that the anti-falling part 2 will not contact the object container 200, so as to avoid the object container 200 from being scratched .

[Second embodiment]

Referring to Fig. 5 and Fig. 6, in the present embodiment, object container 300 is another type, and the operating end 101 of this mechanical arm 100 is corresponding to the type of object container 300 carried and changes, and the operation of this mechanical arm 100 The end 101 has a clamping part 104 which can be clamped on both sides (left side, right side) of the object container 300 . In this embodiment, the device for transporting objects and containers includes a drive device 1 and a fall prevention device 2. The drive device 1 is arranged on the operating end 101 of the mechanical arm 100. There is a plate-shaped body 21, which can be a long plate body, and the end of the plate-shaped body 21 away from the driving device 1 can be provided with a gap 23, in order to avoid the handle of the fall arrester 2 and the object container 300 301 Interference occurs. The anti-falling member 2 forms a storage space 22 on the side close to the object container 300. In this embodiment, the storage space 22 is located on the side of the plate-shaped body 21 close to the object container 300, and the side of the storage space 22 ( Front side, left side and right side, etc.) are open (opened). The anti-falling part 2 is connected to the driving part 11 of the driving device 1, and the driving device 1 can be used to drive the anti-falling part 2, so that the anti-falling part 2 can move between the first position A and the second position B (as shown in the figure 7 and Figure 8).

In this embodiment, the driving device 1 can drive the anti-fall component 2 to move horizontally, so that at least a part of the anti-fall component 2 can be located above the object container 300 , and the storage space 22 accommodates a part of the object container 300 . When the anti-falling member 2 is in the first position A (as shown in FIG. 8 ), the anti-falling member 2 is located above the object container 300 and can be used to stop the object container 300 to prevent the object container 300 from jumping and falling . When the anti-fall component 2 is in the second position B (as shown in FIG. 7 ), the anti-fall component 2 leaves the object container 300 so that the object container 300 moves out of or into the holding member 104 .

[Third embodiment]

Referring to Fig. 9 and Fig. 10, in the present embodiment, object container 400 is another type, and the operating end 101 of this manipulator 100 is changed according to the type of the object container 400 that is carried, and the operation of this manipulator 100 End 101 has a carrying plate 105, and this carrying plate 105 can be used for carrying object container 400, and the edge of this carrying plate 105 is provided with a plurality of flanges 106, can be used for positioning object container 400, makes this object container 400 not Move horizontally on the carrier plate 105 . In this embodiment, the object container handling drop prevention device includes a driving device 1 and a drop prevention component 2 , and the driving device 1 is arranged at the operating end 101 of the mechanical arm 100 . In this embodiment, the anti-falling member 2 has an upper stop portion 24 and a lower stop portion 25, the lower stop portion 25 is arranged below the upper stop portion 24, and one end of the upper stop portion 24 is connected to one end of the lower stop portion 25. At a connecting portion 26, the anti-falling component 2 can form a U-shaped plate body. The anti-falling member 2 forms a storage space 22 on the side close to the object container 400. In this embodiment, the storage space 22 is located between the upper stop portion 24 and the lower stop portion 25, and the side of the storage space 22 ( Front, left and right sides, etc.) are open. Preferably, the upper stop portion 24 and the lower stop portion 25 are horizontal plate bodies, and the upper stop portion 24 and the lower stop portion 25 are parallel to each other, and the connecting portion 26 is perpendicular to the upper stop portion 24 and the lower stop portion 25 . The connecting part 26 of the anti-falling part 2 is connected to the driving part 11 of the driving device 1, and the driving device 1 can be used to drive the anti-falling part 2, so that the anti-falling part 2 can be between the first position A and the second position B. Move between (as shown in Figure 11 and Figure 12).

In this embodiment, the driving device 1 can drive the anti-fall component 2 to move horizontally, so that at least a part of the anti-fall component 2 can be located above the object container 400 , and the storage space 22 accommodates a part of the object container 400 . When the anti-falling component 2 is in the first position A (as shown in FIG. 12 ), at least a part of the anti-falling component 2 is above the object container 400, that is, the upper stop portion 24 of the anti-falling component 2 is located in the object container Above a top plate 401 of the object container 400, the lower stop portion 25 of the anti-falling part 2 is located below the top plate 401 of the object container 400, so that the anti-falling part 2 can contain the top plate 401 of the object container 400, that is, the accommodating space 22 A part (rear end) of the top plate 401 containing the object container 400 can be used to stop the object container 400 to prevent the object container 400 from jumping and falling. When the anti-fall component 2 is in the second position B (as shown in FIG. 11 ), the anti-fall component 2 leaves the object container 400 to facilitate the object container 400 to move out or into the loading plate 105 .

In this embodiment, the anti-fall component 2 forms a U-shaped plate body. When the anti-fall component 2 is moving, it is not easy to collide with the object container 400, and when the anti-fall component 2 is in the first position A, the anti-fall component 2 The falling part 2 is only located at the rear end of the top plate 401 of the object container 400, and the anti-falling part 2 will not block the sides of the object container 400, so that the anti-falling part 2 will not come into contact with the object container 400 when moving. In order to avoid scratches on the object container 400 .

[Advantageous Effects of Embodiment]

The beneficial effect of the present invention is that the object container transport anti-falling device provided by the present invention includes a driving device and an anti-falling piece, the anti-falling piece is connected to the driving part of the driving device, and the driving device can be used to drive the anti-falling piece, so that the anti-falling piece The pendant moves between a first position and a second position. When the anti-falling device is in the first position, at least a part of the anti-falling device is located above the object container, and the storage space of the anti-falling device accommodates a part of the object container, which can be used to stop the object container, so that the mechanical arm is in the process of carrying the object container Among them, it can effectively prevent the object container from jumping off and falling.

Furthermore, the accommodating space of the present invention accommodates a part of the object container, which can effectively stop the object container, and the movement stroke of the anti-falling element is relatively short, and can effectively reduce the contact between the anti-falling element and the object container, so as to avoid the object container scratched.

The content disclosed above is only a preferred feasible embodiment of the present invention, and does not therefore limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made by using the description and drawings of the present invention are included in the application of the present invention. within the scope of the patent.

1: Drive device 11: Drive Department 2: Anti-drop parts 21: plate body 22: Containment Space 23: Gap 24: Upper block 25: Lower stop 26: Connecting part A: the first position B: second position P: Pitch 100: Mechanical arm 101: Operation terminal 102: Loading board 103: Flange 104: clamping piece 105: Loading board 106: Flange 200: object container 300: object container 301: handle 400: object container 401: top plate

Fig. 1 is a perspective view of the first embodiment of the object container transport drop prevention device of the present invention.

Fig. 2 is a perspective view of a partial structure of the object container handling fall arresting device according to the first embodiment of the present invention.

Fig. 3 is an action diagram (1) of the fall prevention device for object container handling according to the first embodiment of the present invention.

Fig. 4 is an action diagram (2) of the anti-drop device for transporting object containers according to the first embodiment of the present invention.

Fig. 5 is a perspective view of a second embodiment of the device for transporting an object container and a drop prevention device according to the present invention.

Fig. 6 is a perspective view of a partial structure of an object container transporting fall arresting device according to a second embodiment of the present invention.

Fig. 7 is an action diagram (1) of the fall prevention device for transporting object containers according to the second embodiment of the present invention.

Fig. 8 is an action diagram (2) of the fall prevention device for transporting object containers according to the second embodiment of the present invention.

Fig. 9 is a perspective view of a third embodiment of the device for transporting an object container and preventing a fall of the present invention.

Fig. 10 is a perspective view of a partial structure of an object container transporting fall prevention device according to a third embodiment of the present invention.

Fig. 11 is an action diagram (1) of the fall prevention device for transporting object containers according to the third embodiment of the present invention.

Fig. 12 is an action diagram (2) of the fall prevention device for transporting object containers according to the third embodiment of the present invention.

1: Drive device

11: Drive Department

2: Anti-drop parts

21: plate body

A: the first position

B: second position

P: Pitch

100: Mechanical arm

101: Operation terminal

103: Flange

200: object container

Claims (9)

An object container transport anti-falling device, which is arranged on a mechanical arm, the mechanical arm has an operating end, the operating end can be used to carry an object container, the object container transporting anti-falling device includes: a driving device, the driving device is set At the operating end of the mechanical arm, the driving device has a driving part; The falling part moves between a first position and a second position. The anti-falling part forms a storage space on one side close to the object container. The anti-falling part has a plate-shaped body, and the plate-shaped body is a plate body. The receiving space is located on the lower side of the plate-shaped body, and the sides of the receiving space are open; wherein when the falling preventing member is in the first position, at least a part of the falling preventing member is located above the object container, and The accommodating space accommodates a part of the object container and can be used to block the object container; when the anti-falling component is at the second position, the anti-falling component leaves the object container. The anti-fall device for transporting the object container according to claim 1, wherein when the anti-fall device is at the first position, the anti-fall device and the object container form a spaced arrangement, and the space between the anti-fall device and the object container A distance is formed, and the distance is 1 mm to 3 mm. The anti-drop device for transporting the object container according to claim 1, wherein the driving device can drive the anti-fall component to move horizontally, and when the anti-fall component is in the first position, the anti-fall component is located above the object container and close to edge on one side. The anti-falling device for transporting object containers according to claim 1, wherein the anti-falling piece has an upper stopper and a lower stopper, the lower stopper is arranged below the upper stopper, one end of the upper stopper and the lower stopper One end of the lower blocking portion is connected to a connecting portion, and the accommodation space is located between the upper blocking portion and the lower blocking portion. The object container transport anti-dropping device as described in claim 4, wherein the upper stop and the lower stop are horizontal plates, the upper stop and the lower stop are parallel to each other, and the connecting part and the upper The stopper and the lower stopper are perpendicular to each other. The fall prevention device for object container transportation as claimed in claim 4, wherein when the fall prevention member is in the first position, the upper stop portion of the fall prevention member is located above a top plate of the object container, and the fall prevention member’s The lower stop part is located below the top plate of the object container, and the accommodating space accommodates a part of the top plate of the object container. The object container conveying fall prevention device according to claim 1, wherein the side of the storage space away from the driving device and the two sides adjacent to the side are open. The object container transporting anti-falling device as described in claim 1, wherein the operating end of the mechanical arm has a carrying plate, the carrying plate can be used to carry the object container, and the edge of the carrying plate is provided with a plurality of flanges, Can be used to position the object container. The fall prevention device for transporting an object container as claimed in claim 1, wherein the operating end of the mechanical arm has a gripper, and the gripper can grip both sides of the object container.

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