CN205343175U - Semiconductor manipulator elevating gear - Google Patents

Abstract

The utility model relates to a semiconductor manipulator lifting device and relates to a manipulator control device. The purpose is to provide a manipulator lifting device which can effectively reduce the vertical force of the motor and increase the transmission load of the manipulator in the vertical direction. The utility model comprises: a frame, a transmission box, a lead screw, a manipulator fixing part and a drive motor; the frame includes a base and a top plate; the base and the top plate are relatively fixed through vertical guide rails; the transmission box is arranged on the bottom plate; the output shaft of the drive motor It is connected with the input end of the transmission box; the bottom end of the screw is connected with the output end of the transmission box, and the top end is axially fixed on the top plate; the manipulator fixing part is provided with a vertical screw hole, and the manipulator The fixing part is assembled on the lead screw through the vertical screw hole, and forms a screw pair with the lead screw; the manipulator fixing part is also provided with a plurality of guide rail sliders; each of the guide rail sliders corresponds to a vertical guide rail respectively Cooperate with each other to form a guide rail pair.

Description

Semiconductor Manipulator Lifting Device

technical field

The utility model relates to a manipulator control device, in particular to a manipulator lifting control device.

Background technique

A manipulator refers to an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. The lifting device of the manipulator is mainly used to control the height of the manipulator. Most of the existing technologies in the same field adopt the direct connection form of the shaft coupling to carry out transmission to control the height of the manipulator (such as CN202124322U). The transmission load of the lifting device designed in this way on the vertical direction It is greatly restricted. Once the vertical load is too large, that is, the vertical force exerted by the device on the motor is too large, it is easy to cause the motor to stall.

Contents of the invention

The technical problem to be solved by the utility model is to provide a manipulator lifting device that can effectively reduce the force on the motor in the vertical direction and increase the transmission load of the manipulator in the vertical direction.

The utility model relates to a semiconductor manipulator lifting device, comprising: a frame, a transmission box, a lead screw, a manipulator fixing part and a driving motor;

The frame includes a base and a top plate; the base and the top plate are relatively fixed through vertical guide rails; the transmission box is arranged on the bottom plate; the output shaft of the driving motor is connected to the input end of the transmission box; The bottom end of the screw is connected to the output end of the transmission box, and the top end is axially fixed on the top plate; the manipulator fixing part is provided with a vertical screw hole, and the manipulator fixing part is assembled through the vertical screw hole On the lead screw, a lead screw pair is formed with the lead screw; a plurality of guide rail sliders are also arranged on the manipulator fixing part; each guide rail slider corresponds to cooperate with a vertical guide rail to form a guide rail pair.

The utility model relates to a semi-conductor manipulator lifting device, wherein limit blocks are respectively arranged at preset distances at both ends of the vertical guide rail.

The utility model is a semiconductor manipulator lifting device, wherein a position sensor is respectively arranged at a preset distance at both ends of the vertical guide rail; The signal output terminal of the controller is connected with the signal input terminal of the drive motor.

The utility model relates to a lifting device for a semiconductor manipulator, wherein the screw is a roller screw.

The utility model relates to a semiconductor manipulator lifting device, wherein the transmission box is a gear transmission box or a belt transmission box.

The lifting device of the semi-conductor manipulator of the utility model adopts the transmission box as the tool for driving the screw to rotate. Compared with the drive of the shaft coupling, it avoids the vertical force of the equipment on the driving motor, thereby increasing the vertical load of the equipment. , prolong the service life of the equipment.

A semiconductor manipulator lifting device of the present invention will be further described below in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a structural schematic diagram of a semiconductor manipulator lifting device of the present invention.

detailed description

As shown in Figure 1, a kind of semiconductor manipulator lifting device of the present utility model comprises: frame, transmission case 5 (gear transmission case or belt transmission case), lead screw 6 (preferably roller screw), manipulator fixture 7 and drive motor 4;

The frame includes a base 1 and a top plate 2; the base 1 and the top plate 2 are relatively fixed through a plurality of vertical guide rails 3; the transmission box 5 is arranged on the bottom plate 1; the output shaft of the driving motor 4 is connected with the input end of the transmission box 5; The bottom end of 6 is connected with the output end of transmission box 5, and the top end of lead screw 6 is axially fixed on top plate 2; On the bar 6, it forms a leading screw pair with the leading screw 6. A plurality of guide rail sliders 9 are arranged on the manipulator fixing part 7; each guide rail slider 9 is correspondingly matched with a vertical guide rail 3 to form a guide rail pair. The vertical guide rail 3 not only undertakes part of the vertical load generated by the manipulator fixing part 7, but also reduces the torque on the lead screw 6 to avoid accidental breakage of the lead screw 6.

Furthermore, in order to protect the safety of the equipment, it is necessary to limit the movement path of the manipulator fixing part 7; the utility model adopts a mechanical limit method and an electric signal limit method at the same time. Wherein the mechanical limit method is: set limit blocks 8 at the preset distances at both ends of the vertical guide rail 3; the electrical signal limit method is: set position sensors at the preset distances at both ends of the vertical guide rail 3 The use of the new model also includes a controller, the signal output end of the position sensor is connected to the signal input end of the controller; the signal output end of the controller is connected to the signal input end of the drive motor 4 .

The mechanical limit belongs to the hard limit, that is, when the manipulator fixing part 7 reaches the position of the limit block 8, no matter whether the driving motor is running, the manipulator fixing part 7 will not move any more. Due to the collision of parts in the mechanical limit, it is not convenient for long-term use.

The electrical signal limit belongs to the soft limit, that is, when the position sensor detects the manipulator fixture 7, the controller sends a stop signal to the drive motor. Under normal circumstances, the drive motor will stop running after receiving the signal; If the transmission failure causes the drive motor 4 not to stop working, the manipulator fixture 7 will continue to rise or fall beyond the position sensor. Since the electric signal limit may have the problem of signal transmission failure, it is best not to use it alone.

Based on the above reasons, the utility model uses the electric signal limit as the normal operation limit module, and uses the mechanical limit as the emergency limit module. The service life of the equipment is extended to the greatest extent, and the use safety is guaranteed.

Use the utility model to the process of manipulator lifting control as follows:

First, the manipulator is fixed on the manipulator fixture 7;

Then start the drive motor 4, drive the drive motor 4 to drive the transmission box 5, then drive the screw 6 to rotate, and then drive the manipulator fixture 7 to rise or fall, and then realize the control of the height of the manipulator.

The embodiments described above are only descriptions of preferred implementations of the present utility model, and are not intended to limit the scope of the present utility model. Various modifications and improvements made should fall within the scope of protection determined by the claims of the utility model.

Claims (5)

1. a semiconductor mechanical hands lowering or hoisting gear, including: frame, transmission case, leading screw, mechanical hand fixture and drive motor；

Described frame includes base and top board；Described base and top board are relatively fixed by multiple vertical guide；Described transmission case is arranged on described base plate；The output shaft of described drive motor is connected with the input of described transmission case；The bottom of described leading screw is connected with the outfan of described transmission case, and the top axial of described leading screw is fixed on described top board；Described mechanical hand fixture is provided with vertical wire master hole, and described mechanical hand fixture is assemblied on leading screw by vertical wire master hole, forms lead screw pair with leading screw；Described mechanical hand fixture is additionally provided with multiple guide rail slide block；Each described guide rail slide block is corresponding respectively to cooperate with a vertical guide, forms guideway.

2. a kind of semiconductor mechanical hands lowering or hoisting gear according to claim 1, it is characterised in that: it is respectively arranged with limited block in predeterminable range place, described vertical guide two ends.

3. a kind of semiconductor mechanical hands lowering or hoisting gear according to claim 1 and 2, it is characterised in that: it is respectively arranged with position sensor in predeterminable range place, described vertical guide two ends；Also including controller, the signal output part of described position sensor is connected with the signal input part of described controller；The signal output part of described controller is connected with the signal input part of described drive motor.

4. a kind of semiconductor mechanical hands lowering or hoisting gear according to claim 1, it is characterised in that: described leading screw is roller screw.

5. a kind of semiconductor mechanical hands lowering or hoisting gear according to claim 1, it is characterised in that: described transmission case is gear or belt driving-box.