CN105881527A - Full-automatic vertical manipulator - Google Patents
Full-automatic vertical manipulator Download PDFInfo
- Publication number
- CN105881527A CN105881527A CN201610321931.0A CN201610321931A CN105881527A CN 105881527 A CN105881527 A CN 105881527A CN 201610321931 A CN201610321931 A CN 201610321931A CN 105881527 A CN105881527 A CN 105881527A
- Authority
- CN
- China
- Prior art keywords
- full
- air bag
- fixed
- fixed panel
- drop front
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Abstract
The invention discloses a full-automatic vertical manipulator. The full-automatic vertical manipulator comprises a fixed panel, a servo motor which is fixed on one side of the bottom of the fixed panel, a movable panel which is connected with a movable end of the servo motor, a gasbag pressurization module which is installed on the movable panel and a cylinder which drives the gasbag pressurization module to rise and fall, wherein the movable panel is connected with the fixed panel by a guiding module and a strip-shaped hole is formed in the fixed panel for the cylinder to move along. According to the full-automatic vertical manipulator, the gasbag pressurization module used for stitching a waxed sapphire substrate is arranged, so that a wax layer of the surface of the sapphire substrate can be uniformly distributed and the follow-up machining technology of the sapphire substrate can be guaranteed. By means of being driven by the servo motor and the cylinder, the full-automatic vertical manipulator is capable of moving horizontally and vertically automatically without manual work, and convenient and easy to operate.
Description
Technical field
The present invention relates to sapphire manufacture field, particularly to the full-automatic perpendicular robotic of one.
Background technology
Sapphire optical penetration is the widest, all has good light transmission from black light to mid-infrared light,
Therefore, by as graph substrate, optical element, infrared facility, the radium-shine lens materials of high intensity it are used in a large number
And on photomask materials.
Graph substrate be one based on light extraction principle and technology newly developed, by grow up or the moment in the way of,
Sapphire substrate designs and produces out the specific expensive micro structured pattern of nanoscale, uses control LED to the most defeated
Go out light form, and the dislocation defects grown between GaN on sapphire can be reduced simultaneously, improve epitaxy quality,
And with scapegoat's LED internal quantum, increase light extraction efficiency.The most a lot of epitaxy factories have used this
Item technology is produced in the high-end LED product such as white light LEDs, BLU indigo plant white light LEDs.This technology needs more
High precision and higher-quality Sapphire Substrate.
Therefore, the processing of Sapphire Substrate is stricter, particularly patch wax operation, and the thickness of wax layer is straight
Connect the subsequent quality affecting Sapphire Substrate, therefore, after liquid wax drips in Sapphire Substrate, how to guarantee
The uniformity of wax layer is the problem that those skilled in the art are studying always.
Summary of the invention
The present invention provides a kind of full-automatic perpendicular robotic, asks solving above-mentioned technology present in prior art
Topic.
For solving above-mentioned technical problem, the present invention provides a kind of full-automatic perpendicular robotic, including: stationary plane
Plate, it is fixed on the servomotor of described fixed panel bottom side, is connected with the movable end of described servomotor
Drop front, the air bag pressure-applying unit being arranged on described drop front and drive described air bag pressurization group
The cylinder of part lifting, wherein, described drop front is connected with fixed panel by guidance set, described fixing
Panel offers the bar hole moved for cylinder.
As preferably, described air bag pressure-applying unit includes: live the affixed connector of bar, the company of being fixed on cylinder
Air bag bottom fitting fixes seat and air bag, and wherein, described air bag and air bag are fixed in the cavity that seat is formed
Being full of air, the bottom of described air bag is convex spherical.
As preferably, described air bag uses silica gel material to make.
As preferably, described servomotor is fixed on described solid by electric machine support and electric machine support connecting plate
Determine on panel.
As preferably, described guidance set includes: the screw component that is connected with servomotor and be arranged on institute
State the axis of guide of screw component both sides and be positioned on the axis of guide and the linear bearing affixed with drop front,
The described axis of guide is fixed seat by the axis of guide and is arranged on the bottom of described fixed panel.
As preferably, described screw component includes: the screw mandrel that is connected with servomotor, the spiral shell being positioned on screw mandrel
Female and the nut affixed with drop front fixes seat.
As preferably, also include sensor.
As preferably, described sensor includes being arranged on described fixed panel the sensing chip arranged in bar shaped,
Be arranged on the stator that on described drop front, position is corresponding with described sensing chip.
Compared with prior art, the invention have the advantages that employing air bag pressure-applying unit has wax to drip to dripping
Sapphire Substrate is pressurizeed, and owing to the flexibility of air bag is good, has good degree of deformation, thus without going out
There is the situation of unbalance stress in existing sapphire substrate surface, and then may insure that the uniformity of wax layer, Jin Erbao
Demonstrate,prove the processing technique in the later stage of Sapphire Substrate.And the full-automatic perpendicular robotic of the present invention, by servo electricity
Machine and air cylinder driven, carried out laterally and vertical motion automatically, it is not necessary to artificial, easy to operate saves trouble.
Accompanying drawing explanation
Fig. 1 is the front view of the full-automatic perpendicular robotic of the present invention；
Fig. 2 is the F-F face sectional view of Fig. 1；
Fig. 3 is the perspective view (looking up angle) of the full-automatic perpendicular robotic of the present invention；
Fig. 4 is the perspective view (depression angle) of the full-automatic perpendicular robotic of the present invention.
Shown in figure:
100-fixed panel, 110-bar hole, 200-drop front；
300-servomotor, 310-electric machine support, 320-electric machine support connecting plate；
400-cylinder；
500-air bag pressure-applying unit, 510-connector, 520-air bag fix seat, 530-air bag；
610-screw component, 611-screw mandrel, 612-nut, 613-nut fix seat；
The 621-axis of guide, 622-linear bearing, the 623-axis of guide fix seat；
700-sensor, 710-sensing chip, 720-stator.
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, the most right
The detailed description of the invention of the present invention is described in detail.It should be noted that, accompanying drawing of the present invention all uses simplification
Form and all use non-ratio accurately, only in order to convenient, aid in illustrating the mesh of the embodiment of the present invention lucidly
's.
As shown in Figures 1 to 4, the full-automatic perpendicular robotic of the present invention, including: fixed panel 100, solid
It is scheduled on the servomotor 300 of described fixed panel 100 bottom side, with the movable end of described servomotor 300
The drop front 200 connected, is arranged on the air bag pressure-applying unit 500 on described drop front 200 and drives
The cylinder 400 of described air bag pressure-applying unit 500 lifting, wherein, described drop front 200 passes through guidance set
It is connected with fixed panel 100, described fixed panel 100 offers the bar hole 110 moved for cylinder 400.
Specifically, described fixed panel 100 is used for being fixed in a wax machine, and described drop front 200 is by servo electricity
Machine 300 drives, band dynamic air cylinder 400 and air bag pressure-applying unit 500 transverse shifting, so that air bag pressurization
Assembly 500 moves to the surface of Sapphire Substrate or makes air bag pressure-applying unit 500 leave, described bar shaped
The length in hole 110 matches with the stroke of drop front 200；Described cylinder 400 is used for driving described air bag
Pressure-applying unit 500 lifts, and then makes described air bag pressure-applying unit 500 to dripping the Sapphire Substrate having wax to drip
Pressurize, owing to the flexibility of air bag 530 is good, there is good degree of deformation, blue precious thus without occurring
There is the situation of unbalance stress in stone lining basal surface, and then may insure that the uniformity of wax layer, and then ensure that indigo plant
The processing technique in the later stage of gem substrate.
Please emphasis with reference to Fig. 2, described air bag pressure-applying unit 500 includes: live the affixed connection of bar with cylinder 400
Part 510, being fixed on the air bag bottom connector 510 and fix seat 520 and air bag 530, wherein, air bag is solid
Reservation 520 is connected by bolt assembly with connector 510, and described air bag 530 fixes seat 520 shape with air bag
Being full of air in the cavity become, the bottom of described air bag 530 is convex spherical.In other words, add when air bag
Pressure assembly 500 is driven down by cylinder 400 when pressing, and air bag 530 contacts the center of Sapphire Substrate at first,
During pressure down, air bag 530 deforms, and comes into contact with the surrounding of Sapphire Substrate, so, when
When dripping wax excess, it is unnecessary that air bag pressure-applying unit 500 gradually can be discharged to surrounding from the center of Sapphire Substrate
Wax, it is to avoid occur that wax layer is blocked up, or situation in uneven thickness.
Further, described air bag 530 uses silica gel material to make, will not sticky wax, and can keep good
Flexibility.
As preferably, described servomotor 300 is by electric machine support 310 and electric machine support connecting plate 320
It is fixed on described fixed panel 100, easy for installation, good stability.
As preferably, emphasis is referring to figs. 1 through Fig. 3, and described guidance set includes: be connected with servomotor 300
Screw component 610 and be arranged on the axis of guide 621 of described screw component 610 both sides and be positioned at guiding
On axle 621 and the linear bearing 622 affixed with drop front 200, the described axis of guide 621 is solid by the axis of guide
Reservation 623 is arranged on the bottom of described fixed panel 100.Described servomotor 300 is by screw component 610
Driving drop front 200 transverse shifting, the described axis of guide 621 is symmetrically arranged two groups, for for movable
Panel 200 guides, it is to avoid drop front 200 offsets.
As preferably, emphasis is with reference to Fig. 1, and described screw component 610 includes: be connected with servomotor 300
Screw mandrel 611, the nut 612 being positioned on screw mandrel 611 and the nut affixed with drop front 200 fix seat
622, can accurately be controlled the displacement of air bag pressure-applying unit 500 by screw mandrel 611, it is ensured that air bag 530
Central protuberance part is the most corresponding with the center of Sapphire Substrate.
Refer to Fig. 4, the full-automatic perpendicular robotic of the present invention also includes sensor 700, described sensor 700
Including being arranged on described fixed panel 100 sensing chip 710 arranged in bar shaped, and it is arranged on described active face
The stator 720 that on plate 200, position is corresponding with described sensing chip 710.Described sensor 700 is for inspection in real time
Survey the position of drop front 200, it is to avoid air bag pressure-applying unit 500 operationally position offsets.
In sum, the open a kind of full-automatic perpendicular robotic of the present invention, including: fixed panel 100, fixing
At the servomotor 300 of described fixed panel 100 bottom side, connect with the movable end of described servomotor 300
The drop front 200 connect, is arranged on the air bag pressure-applying unit 500 on described drop front 200 and drives institute
State the cylinder 400 of air bag pressure-applying unit 500 lifting, wherein, described drop front 200 by guidance set with
Fixed panel 100 connects, and described fixed panel 100 offers the bar hole 110 moved for cylinder 400.
The present invention is by arranging air bag pressure-applying unit 500, for the Sapphire Substrate after dripping wax is carried out pressing so that
The wax layer of sapphire substrate surface is uniformly distributed, it is ensured that the subsequent machining technology of Sapphire Substrate, and this
Bright full-automatic perpendicular robotic, is driven by servomotor 300 and cylinder 400, carry out automatically laterally and
Vertical motion, it is not necessary to artificial, easy to operate saves trouble.
Obviously, those skilled in the art can carry out various change and modification without deviating from the present invention to invention
Spirit and scope.So, if the present invention these amendment and modification belong to the claims in the present invention and
Within the scope of equivalent technologies, then the present invention is also intended to change and including modification include these.
Claims (8)
1. a full-automatic perpendicular robotic, it is characterised in that including: fixed panel, be fixed on described solid
Determine the servomotor of panel bottom side, the drop front being connected with the movable end of described servomotor, install
Air bag pressure-applying unit on described drop front and drive the cylinder that described air bag pressure-applying unit lifts, its
In, described drop front is connected with fixed panel by guidance set, and described fixed panel offers for cylinder
The bar hole of movement.
2. full-automatic perpendicular robotic as claimed in claim 1, it is characterised in that described air bag pressurization group
Part includes: with cylinder live the affixed connector of bar, be fixed on the air bag bottom connector and fix seat and air bag,
Wherein, described air bag and air bag are fixed and are full of air in the cavity that seat is formed, and the bottom of described air bag is convex ball
Face shape.
3. full-automatic perpendicular robotic as claimed in claim 2, it is characterised in that described air bag uses silicon
Glue material is made.
4. full-automatic perpendicular robotic as claimed in claim 1, it is characterised in that described servomotor leads to
Cross electric machine support and electric machine support connecting plate is fixed on described fixed panel.
5. full-automatic perpendicular robotic as claimed in claim 1, it is characterised in that described guidance set bag
Include: the screw component being connected with servomotor and the axis of guide being arranged on described screw component both sides and
Being positioned on the axis of guide and the linear bearing affixed with drop front, the described axis of guide is fixed seat by the axis of guide and is pacified
It is contained in the bottom of described fixed panel.
6. full-automatic perpendicular robotic as claimed in claim 5, it is characterised in that described screw component bag
Include: the screw mandrel being connected with servomotor, the nut being positioned on screw mandrel and the nut affixed with drop front are solid
Reservation.
7. full-automatic perpendicular robotic as claimed in claim 1, it is characterised in that also include sensor.
8. full-automatic perpendicular robotic as claimed in claim 7, it is characterised in that described sensor includes
Be arranged on described fixed panel the sensing chip arranged in bar shaped, and be arranged on described drop front position with
The stator that described sensing chip is corresponding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610321931.0A CN105881527A (en) | 2016-05-16 | 2016-05-16 | Full-automatic vertical manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610321931.0A CN105881527A (en) | 2016-05-16 | 2016-05-16 | Full-automatic vertical manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105881527A true CN105881527A (en) | 2016-08-24 |
Family
ID=56716372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610321931.0A Pending CN105881527A (en) | 2016-05-16 | 2016-05-16 | Full-automatic vertical manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105881527A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907079A (en) * | 2017-11-16 | 2018-04-13 | 哈尔滨工程大学 | A kind of ultrasound thin oil film calibration testboard |
| CN108889566A (en) * | 2018-05-30 | 2018-11-27 | 苏州辰轩光电科技有限公司 | Solid-state pastes wax machine |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070238264A1 (en) * | 2006-04-11 | 2007-10-11 | Kazuma Sekiya | Method and apparatus for supporting wafer |
| CN202702003U (en) * | 2012-07-06 | 2013-01-30 | 浙江上城科技有限公司 | Sapphire wafer chip mounter |
| US20130288577A1 (en) * | 2012-04-27 | 2013-10-31 | Applied Materials, Inc. | Methods and apparatus for active substrate precession during chemical mechanical polishing |
| CN203343870U (en) * | 2013-05-20 | 2013-12-18 | 洛阳单晶硅有限责任公司 | Inflating type air bag pressure head |
| CN204118045U (en) * | 2014-10-15 | 2015-01-21 | 易德福 | A kind of novel subsides wax apparatus |
| CN204261888U (en) * | 2014-11-28 | 2015-04-15 | 易德福 | Solid wax automatic waxing appts |
| CN104759974A (en) * | 2015-04-16 | 2015-07-08 | 常州市科沛达超声工程设备有限公司 | Full-automatic sheet mounter |
-
2016
- 2016-05-16 CN CN201610321931.0A patent/CN105881527A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070238264A1 (en) * | 2006-04-11 | 2007-10-11 | Kazuma Sekiya | Method and apparatus for supporting wafer |
| US20130288577A1 (en) * | 2012-04-27 | 2013-10-31 | Applied Materials, Inc. | Methods and apparatus for active substrate precession during chemical mechanical polishing |
| CN202702003U (en) * | 2012-07-06 | 2013-01-30 | 浙江上城科技有限公司 | Sapphire wafer chip mounter |
| CN203343870U (en) * | 2013-05-20 | 2013-12-18 | 洛阳单晶硅有限责任公司 | Inflating type air bag pressure head |
| CN204118045U (en) * | 2014-10-15 | 2015-01-21 | 易德福 | A kind of novel subsides wax apparatus |
| CN204261888U (en) * | 2014-11-28 | 2015-04-15 | 易德福 | Solid wax automatic waxing appts |
| CN104759974A (en) * | 2015-04-16 | 2015-07-08 | 常州市科沛达超声工程设备有限公司 | Full-automatic sheet mounter |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907079A (en) * | 2017-11-16 | 2018-04-13 | 哈尔滨工程大学 | A kind of ultrasound thin oil film calibration testboard |
| CN108889566A (en) * | 2018-05-30 | 2018-11-27 | 苏州辰轩光电科技有限公司 | Solid-state pastes wax machine |
| CN108889566B (en) * | 2018-05-30 | 2023-08-25 | 苏州辰轩光电科技有限公司 | Solid wax sticking machine |
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160824 |
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| RJ01 | Rejection of invention patent application after publication |