CN214336693U

CN214336693U - Mechanical arm for controlling spacing of bearing parts

Info

Publication number: CN214336693U
Application number: CN202022555757.0U
Authority: CN
Inventors: 张立平; 萧擎宇
Original assignee: SAMWHA ENGINEERING CO LTD
Current assignee: SAMWHA ENGINEERING CO LTD
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2021-10-01
Anticipated expiration: 2030-11-06

Abstract

The utility model relates to a robotic arm of control receiving piece interval mainly through set up two ditches in a robotic arm body side, two are accepted in the group body of accepting of group locates each ditch strip respectively, and respectively accept the side that the group body supports in a connecting rod, consequently, drive as a servo motor when the one end of connecting rod is rotated, can drive simultaneously and respectively accept the group body and up remove, the in-process of removal, the interval between the receiving piece of respectively accepting group body front side can pull open gradually, through respectively accepting the ascending degree of group body, makes the interval can be controlled, and is difficult for influencing along with the live time and cause the interval to produce the error.

Description

Mechanical arm for controlling spacing of bearing parts

The technical field is as follows: the creation of the utility model relates to a robotic arm especially indicates a robotic arm of control receiving piece interval.

Background art:

please refer to taiwan patent document No. M447821, "vibration detecting apparatus", which discloses: a vibration detection device is used for detecting vibration information generated in the operation process of taking and placing a wafer component, and comprises a mechanical arm, a detection mechanism and an information collection device, wherein the mechanical arm comprises a taking and placing mechanism for taking and placing the wafer component, the wafer component is provided with a wafer vibration position when a wafer is tested, the detection mechanism comprises a detection component capable of detecting vibration, the detection component is arranged at a vibration sampling position or a wafer vibration position of the mechanical arm to detect and sample vibration sampling information corresponding to the vibration sampling position or the wafer vibration position, and the information collection device is connected to the detection mechanism and receives the vibration sampling information detected by the detection component to collect the vibration information generated in the operation process of the mechanical arm.

Although the above-mentioned advantages are provided, when two wafers are to be received by the above-mentioned patent, two sets of robot arms must be provided at the same time, and the horizontal height of the clamping member of each robot arm needs to have a certain distance, which results in: 1. the overall manufacturing cost is increased, and two power mechanisms are required to control the operation of each mechanical arm. 2. The spacing cannot be adjusted as desired, or the spacing is subject to errors due to use. Accordingly, the present inventors considered that such a problem is actually necessary to be improved

The utility model has the following contents:

in view of the problems described in the background, the inventor of the present invention proposes an improved means relating to a robot arm for controlling the distance between receiving members, wherein the means comprises:

a robotic arm unit comprising: a manipulator body: one side of the mechanical arm body facing to the object to be received is defined as a front side, one of the left side and the right side of the mechanical arm body is defined as a first side, the other sides are defined as second sides, and a first groove and a second groove are arranged at intervals along the vertical direction of the first side of the mechanical arm body.

A first link:

the mechanical arm for controlling the distance between the bearing pieces is characterized in that a first connecting rod is arranged on the first side, and one end, adjacent to the front side, of the first connecting rod is pivoted with the first side.

A first receiving group:

control mechanical arm who accepts a spacing, wherein, first group of accepting has a first group body of accepting and a first accepting, first group body of accepting is received and is located first ditch is for following first ditch reciprocates, just first group body of accepting the bottom with first connecting rod forms the pin joint, and first accepting is located the first front side of accepting the group body.

A second receiving group:

the mechanical arm is used for controlling the distance between the bearing parts, wherein the second bearing group is provided with a second bearing group body and a second bearing part, the second bearing group body is accommodated in the second groove and moves up and down along the second groove, the bottom of the second bearing group body is pivoted with the first connecting rod, and the second bearing part is arranged on the front side of the second bearing group body;

a servo motor:

the mechanical arm for controlling the distance between the bearing pieces is characterized in that the output end of the servo motor is directly or indirectly connected with the other end of the first connecting rod so as to drive the other end of the first connecting rod to rotate upwards.

A mobile unit:

the mechanical arm for controlling the distance between the bearing pieces is characterized in that the moving unit is connected with the mechanical arm unit so as to drive the mechanical arm unit to move in a three-dimensional rectangular coordinate system.

The utility model is mainly characterized in that the first bearing group body and the second bearing group body are arranged in the first ditch and the second ditch, therefore, when the servo motor drives the other end of the first connecting rod to rotate upwards, the first connecting rod can drive the first bearing group body and the second bearing group body to move upwards along the first ditch and the second ditch respectively, the distance between the first bearing piece and the second bearing piece is increased continuously during the moving process, so the size of the distance can be determined by the upward moving degree of each bearing group body, because the size of the distance is determined by the distance between the ditches and the upward moving degree of each bearing group body, the distance between the ditches is fixed, and the upward moving degree of each bearing group body is the same, and therefore the spacing is not prone to errors over time. Especially when the quantity of accepting the group is more than three, through the utility model discloses create more steerable interval between each accepting the piece.

Description of the drawings:

FIG. 1 is an external view of the present invention

FIG. 2 is an external view of the robot body of the present invention

FIG. 3 is a side view of the robot body of the present invention

FIG. 4 is a schematic view of the linkage of the components of the present invention

FIG. 5 is a schematic diagram of the servo motor, the first link, and the wheels according to the present invention

Reference numerals:

a telecommunication service provider

1 robot arm Unit

11 mechanical arm body

111 first groove

112 second groove

12 first link

13 first receiving group

131 first receiving group body

132 first receiving member

133 first wheel body

14 second receiving group

141 second receiving group body

142 second receiving member

143 first wheel body

16 servo motor

161 second wheel body

2 moving unit

3 steering unit

4 control unit

5 position detector

6 level detector

7 alarm

The specific implementation mode is as follows:

the structure, features and embodiments of the present invention will be described below with the aid of the drawings, so that the present invention can be further understood by the present invention.

Referring to fig. 1, the present invention relates to a robot arm for controlling the distance between receiving members, comprising:

a robot cell 1, said robot cell 1 comprising:

a robot arm body 11:

referring to fig. 1 and fig. 2, a side of the robot body 11 facing the object to be received is defined as a front side, one of the left and right sides of the robot body 11 is defined as a first side, the other sides are defined as second sides, and a first groove 111 and a second groove 112 are formed along the first side of the robot body 11 at intervals in a vertical direction. The utility model discloses can be according to the quantity control number of the article of wanting to accept simultaneously strip ditch 111, in addition, also can be according to the required interval when article are accepted, control the interval between each

ditch

111, 112, and figure 2, 3 of this specification are five strips as the example.

A first link 12:

referring to fig. 2, the first link 12 is disposed on the first side, and one end of the first link 12 adjacent to the front side is pivotally connected to the first side.

A first receiving group 13:

referring to fig. 2, 3 and 5, the first receiving set 13 has a first receiving set body 131 and a first receiving member 132, the first receiving set body 131 is received in the first groove 111 to move up and down along the first groove 111, the bottom of the first receiving set body 131 is pivotally connected to the first connecting rod 12, and the first receiving member 132 is disposed at the front side of the first receiving set body 131. In this way, when the other end of the first connecting rod 12 rotates upwards, the first receiving set body 131 is driven to move upwards along the first groove 111, and when the other end rotates downwards, the first receiving set body 131 moves downwards. It should be noted that, the drawings are not limited to the angle relationship, and the first grooves 111 are blocked by the first receiving group body 131, so the first grooves 111 shown in the drawings of the present specification are shown in a dotted line manner.

A second receiving group 14:

referring to fig. 2, 3 and 5, the second receiving set 14 includes a second receiving set body 141 and a second receiving member 142, the second receiving set body 141 is received in the second groove 112 to move up and down along the second groove 112, a bottom of the second receiving set body 141 is pivotally connected to the first connecting rod 12, and the second receiving member 142 is disposed at a front side of the second receiving set body 141. The operation principle of the second receiving set 14 is the same as that of the first receiving set 13, and therefore, the description thereof is omitted. In addition, in order to match different objects to be received, the first and second receiving

members

132 and 142 may be a plurality of forks, plates or forks, and in order to prevent the objects to be received from sliding off during the receiving process, a slip-preventing unit may be laid on the top surfaces of the first and second receiving

members

132 and 142, respectively, and the slip-preventing unit may be a pad with a higher friction coefficient or a surface with a plurality of particles. In order to facilitate the explanation of the advantages, features and operation of the present invention, the present specification only uses two receiving groups as an example for explanation, the present invention still uses individual requirements to set different receiving groups in different quantities during the actual implementation, and in addition, as shown in the figure, the preferred quantity of the receiving groups is 5. It should be noted that the drawings are not limited to the angular relationship, and the second grooves 112 are blocked by the second receiving group body 141, so that the second grooves 112 shown in the drawings of the present specification are shown in a dotted line manner.

A servo motor 16:

referring to fig. 3, an output end of the servo motor 16 is directly or indirectly connected to the other end of the first link 12, so as to drive the other end of the first link 12 to rotate upward.

A mobile unit 2:

referring to fig. 1, the moving unit 2 is connected to the robot unit 1 for driving the robot unit 1 to move in a three-dimensional rectangular coordinate system. And, a turning unit 3 is further provided, and the turning unit 3 is connected to the moving unit 2 for driving the moving unit 2 to turn. Therefore, the utility model can have multi-axial bearing directions, so as to be convenient for bearing the object to be borne in various conditions.

A control unit 4:

referring to fig. 4, the control unit 4 is respectively in information connection with the servo motor 16, the moving unit 2, and the steering unit 3, and is used for controlling the movement of the moving unit 2 and the steering unit 3, so as to complete the working processes of receiving and placing the object to be received.

Referring to fig. 3, 4 and 5, the operation process of the present invention will be described, first, the control unit 4 will control the moving unit 2 and the steering unit 3 to operate according to the position of the object to be received, so as to drive the robot arm unit 1 to move to the default position, then control the servo motor 16 to start operating, the servo motor 16 will drive the other end of the first link 12 to rotate upward, and during the rotation process, since the bottoms of the first and second

receiving group bodies

131 and 141 are pivoted with the link 12, the first and second

receiving group bodies

131 and 141 will move upward along the

respective grooves

111 and 112, as shown in fig. 2 and 3, the distance between the receiving

members

132 and 142 will gradually move until the distance is enough to receive the object to be received, then, the moving unit 2 is actuated to make the first and third receiving sets 13, 14 complete receiving the object to be received. Then, the control unit 4 controls the turning unit 3 and the moving unit 2 to operate according to the place to be placed, so as to place the object to be received on the place to be placed, and thus, the whole receiving process is completed.

The utility model discloses the advantage of creation lies in:

1. by fixing the positions of the

grooves

111, 112, the receiving

unit bodies

131, 141 are moved upward, and thus the distance between the receiving

members

132, 142 is not likely to be varied with the use time.

2. The purpose of controlling the distance between the receiving

members

132 and 142 can be achieved by only one servo motor 16, so that the manufacturing cost of the whole machine can be reduced.

Introduce the utility model discloses create other embodiments below:

a,

Referring to fig. 4, a position detector 5 is further provided, and the position detector 5 is configured to detect a vertical height of the bottom of the first receiving set body 131 in the first groove 111 to obtain a height detection value; the moving unit 2 determines whether the servo motor 16 is stopped or not according to the height detection value.

Therefore, when the first receiving group body 131 moves to a predetermined height, the control unit 4 controls the servo motor 16 to stop operating, so as to control the pitch width between the receiving

members

132 and 142. Because the width of each space is affected by the installation position of each

groove

111, 112, the purpose of controlling each space can be achieved by only monitoring the position of the first receiving group body 131 in the first groove 111, besides, the position of the second receiving group body 141 in the second groove 112 can be selected to be monitored to achieve the above purpose in real implementation, and not only this, the present invention can also monitor each receiving

group body

131, 141 to achieve the purpose of monitoring the width of each space in real implementation.

In addition, the embodiment can be further implemented as follows: when the control unit 4 controls the servo motor 16 to operate, and the height detection value cannot meet a height default value after a preset time, the control unit 4 controls an alarm 7 to operate. In this way, when the height detection value fails to satisfy a height default value after a period of time, it means that the receiving set

bodies

131 and 141 may be jammed in the

grooves

111 and 112, and thus the alarm 7 is required to warn the relevant staff for processing.

When the utility model discloses when the creation is used for accepting the wafer, because the wafer cost is expensive and fairly fragile, consequently accept the in-process and do not allow any accident, for the probability that reduces the wafer landing, the utility model discloses the creation further can also be implemented and is:

II,

Referring to fig. 4, a level detector 6 is set in communication with the control unit 4, the level detector 6 is configured to detect the inclination of each receiving

member

132, 142 to obtain a level detection result, and when the level detection result exceeds a level default, the control unit 4 controls the servo motor 16, the moving unit 2, and the steering unit 3 to stop operating and starts the alarm 7 to operate.

In this way, when the inclination angle of one of the receiving members is too large, in order to prevent the wafer from slipping off, the servo motor 16, the moving unit 2, and the steering unit 3 are stopped and the alarm 7 is activated at the same time, so as to warn the related working personnel.

Bearing the above purpose, the utility model discloses the creation can also be implemented and is:

III,

Referring to fig. 4, the control unit 4 can be used for information connection with a telecommunication service provider a for receiving earthquake short messages, when the control unit 4 receives the earthquake short messages, if each receiving

member

132, 142 is in a state of receiving the object to be received, the servo motor 16, the moving unit 2 and the steering unit 3 are controlled to operate, so as to place the object to be received at an original position, and then the servo motor 16, the moving unit 2 and the steering unit 3 are controlled to stop operating; if the receiving

members

132 and 142 are not in the state of receiving the object to be received, the servo motor 16, the moving unit 2 and the steering unit 3 are controlled to stop operating.

Before the earthquake came, the utility model discloses the creation can be immediately in advance with treat that the thing is placed and is accomplished, then control servo motor 16 the mobile unit 2 reaches turn to unit 3 and stop actuating, even if the earthquake comes temporarily, also is difficult for taking place treat that the thing drops the problem of damage, thereby promotes the utility model discloses the holistic security of accepting of creation lets the harm that the earthquake caused fall to minimumly.

Three embodiments of the servo motor 16 and how the first connecting rod 12 drives each of the receiving sets 13 and 14 are described below:

a,

Referring to fig. 2, the outer sides of the bottoms of the first receiving set body 131 and the second receiving set body 141 are respectively pivoted to the first link 12. In this way, when the servo motor 16 drives one end of the first link 12 to rotate upward or downward, the outside of the bottom of the first receiving set body 131 and the second receiving set body 141 are respectively pivoted with the first link 12, so that the receiving set

bodies

131 and 141 move upward or downward along the

grooves

111 and 112. The driving manner is that the first connecting rod 12 pulls each receiving set

body

131, 141 to move downwards or pushes each receiving set

body

131, 141 to move upwards.

II,

Referring to fig. 5, the outer sides of the bottoms of the first receiving set body 131 and the second receiving set body 141 are respectively provided with a

first wheel

133, 143, and each of the

first wheel

133, 143 is pressed against the ring side of the first link 12. In this embodiment, the principle of the method for driving each receiving

group body

131, 141 by the first connecting rod 12 is similar, except that: in this embodiment, mainly by the gravity of each receiving set

body

131, 141, when the servo motor 16 drives one end of the first link 12 to rotate downward, each receiving set

body

131, 141 will move downward naturally, so as to prolong the service life between the first link 12 and each receiving set

body

131, 141 compared to the previous embodiment.

III,

Referring to fig. 5, the servo motor 16 and the first link 12 are preferably realized by a wheel body, which is implemented by: the servo motor 16 is supported against the bottom of the other end of the first link 12 by a second wheel 161, and the servo motor 16 can drive the second wheel 161 to move upward and drive the first link 12 to rotate. The principle of the servo motor 16 driving the first link 12 is similar to that of the second embodiment, and therefore, the description thereof is omitted.

In summary, the present application is consistent with the essential elements of the patent law, and the following claims are only included in the present application for describing the preferred embodiments of the present invention.

Claims

1. A robotic arm for controlling the pitch of a susceptor, comprising:

a robotic arm unit comprising:

a manipulator body: one side of the mechanical arm body facing to the object to be received is defined as a front side, one of the left side and the right side of the mechanical arm body is defined as a first side, the other sides are defined as second sides, and a first groove and a second groove are arranged at intervals along the vertical direction of the first side of the mechanical arm body;

a first link: the first connecting rod is arranged on the first side, and one end, adjacent to the front side, of the first connecting rod is pivoted with the first side;

a first receiving group: the first bearing group body is arranged in the first groove and can move up and down along the first groove, the bottom of the first bearing group body is pivoted with the first connecting rod, and the first bearing piece is arranged on the front side of the first bearing group body;

a second receiving group: the first bearing group body is arranged in the first groove and can move up and down along the first groove, the bottom of the first bearing group body is pivoted with the first connecting rod, and the first bearing piece is arranged on the front side of the first bearing group body;

a servo motor: the output end of the servo motor is directly or indirectly connected with the other end of the first connecting rod so as to drive the other end of the first connecting rod to rotate upwards;

a mobile unit: and the mechanical arm unit is connected so as to drive the mechanical arm unit to move in a three-dimensional rectangular coordinate system.

2. A robot arm for controlling the pitch of receiving members as claimed in claim 1, comprising a position detector for detecting the vertical height of the bottom of the first receiving group body in the first groove to obtain a height detection value.

3. A robot arm for controlling the pitch of the receiving members as claimed in claim 2, comprising a control unit for controlling the operation of the servo motor and the moving unit respectively, wherein the control unit is in communication with the servo motor and the moving unit respectively; and a level detector connected with the control unit and used for detecting the inclination condition of each bearing piece to obtain a level detection result.

4. A robot arm as claimed in claim 3, wherein said control unit is configured to communicate with a telecommunications service provider for receiving seismic messages.

5. A robot arm for controlling the pitch of sockets according to claim 4, comprising a steering unit in signal communication with said control unit, and said steering unit is connected to said moving unit for driving said moving unit to steer.

6. A robot arm for controlling the pitch of the bearers, according to claim 5, wherein the top surfaces of the first and second bearers are laid with a non-slip unit, and the first and second bearers are selected from one of the following groups: a plurality of tooth forks and a plate body.

7. A robot arm as claimed in claim 6, wherein a first wheel is disposed at the outer side of the bottom of each of the first and second receiving units, and each of the first wheels presses against the ring side of the first link.

8. A robot arm as claimed in claim 6, wherein the servo motor drives the first link to rotate by a second wheel abutting against the bottom of the other end of the first link.

9. A robot arm for controlling the pitch of receiving members, as claimed in claim 6, wherein the outer sides of the bottom of said first receiving group body and said second receiving group body are pivotally connected to said first connecting rod, respectively.