CN205380074U - Sorter's mechanical arm structure - Google Patents
Sorter's mechanical arm structure Download PDFInfo
- Publication number
- CN205380074U CN205380074U CN201620082597.3U CN201620082597U CN205380074U CN 205380074 U CN205380074 U CN 205380074U CN 201620082597 U CN201620082597 U CN 201620082597U CN 205380074 U CN205380074 U CN 205380074U
- Authority
- CN
- China
- Prior art keywords
- angle motor
- vacuum cup
- blade
- determinand
- mechanical arm
- 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.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims description 7
- 229910010293 ceramic material Inorganic materials 0.000 claims description 7
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 239000000956 alloy Substances 0.000 claims description 5
- 239000000428 dust Substances 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 6
- 230000007547 defect Effects 0.000 abstract description 4
- 239000008187 granular material Substances 0.000 abstract 1
- 239000010419 fine particle Substances 0.000 description 7
- 238000000151 deposition Methods 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 239000013078 crystal Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
Landscapes
- Sorting Of Articles (AREA)
Abstract
The utility model relates to a sorter's mechanical arm structure, including control module assembly and angle motor assembly, one side of control module assembly is passed through on the fixed externally base of fixing bolt, the adjacent setting of angle motor assembly is in outside base one side is kept away from to the control module assembly. The utility model discloses a sorter's mechanical arm structure holds the determinand through the vacuum to rotate by angle motor drive vacuum chuck, aim at notch that the sensor can accurate discernment determinand edge and through reading the other inboard identification code of notch of yard capability and judgement to realize the letter sorting of determinand, the defect of having avoided in traditional letter sorting mode tiny granule and dust to drop on the determinand surface easily prevents that the product is contaminated in sorting processes, has improved letter sorting efficiency, has improved the yield of product simultaneously, and the cost is reduced reduced when between machine -hour.
Description
Technical field
This utility model relates to automatic control technology field, particularly relates to the mechanical arm structure of a kind of sorter.
Background technology
In the structure of sorter; owing to mechanical arm ceaselessly moves; the ball of roller owing to producing abrasion and producing fine particle or dust in the process rotated; these fine particles or dust can fall determinand surface, the performance of determinand can be caused to change, after such as fine particle or dust drop on semiconductor wafer surface; the electric conductivity of semiconductor crystal wafer can be affected; particularly in, in large batch of machining process, causing that defect rate is higher, have a strong impact on the quality of product.It addition, the positioning pins of determinand can be influenced by abrasion in long friction process, cause that sucker generation when adsorbing determinand cannot be adsorbed or absorption position is abnormal, simultaneously as, absorption position is abnormal causes that code reader cannot complete the reading of identification code.For this reason, it may be necessary to develop the mechanical arm structure of a kind of novel sorter, overcome drawbacks described above.
Summary of the invention
Technical problem to be solved in the utility model is for above-mentioned the deficiencies in the prior art, it is provided that the mechanical arm structure of a kind of sorter.
The technical scheme that this utility model solves above-mentioned technical problem is as follows: the mechanical arm structure of a kind of sorter, including controlling module assembly and angle motor assembly, the side of described control module assembly is bolted on outer base by fixing, and described angle motor assembly is disposed adjacent at described control module assembly away from outer base side.
Described angle motor assembly includes drive cavity and angle motor, it is provided with electromagnetic valve in described drive cavity, described angle motor is arranged on the top of described drive cavity, and the rotor of described angle motor stretches in described drive cavity by rotating shaft, described electromagnetic valve and described angle motor all electrically connect with described control module assembly.
Described drive cavity stretches out away from described control module assembly side and is provided with hollow form blade, described blade is upwards provided with vacuum cup away from described drive cavity one end, and described vacuum cup lower surface is provided with hollow bearing, and described hollow bearing stretches in described blade and is in transmission connection with the rotor of described angle motor, described vacuum cup connects with described electromagnetic valve, described blade is provided with near described drive cavity one end the code reader reading determinand lower surface identification code, and described code reader electrically connects with described control module assembly.
Described angle motor assembly also includes being arranged on the intersection of described drive cavity and described blade and detecting the alignment sensor of determinand edge notch, and described alignment sensor electrically connects with described control module assembly.
The beneficial effects of the utility model are: the mechanical arm structure of a kind of sorter of the present utility model, determinand is held by vacuum, and driven vacuum cup to rotate by angle motor, described alignment sensor can accurately identify the notch at determinand edge and by the identification code inside code reader identification notch, thus realizing the sorting of determinand, avoid fine particle and dust in tradition sorting mode and easily drop on the defect on determinand surface, prevent product contaminated in sort process, improve sorting efficiency, improve the yield of product simultaneously, reduce cost, decrease when the machine time.
On the basis of technique scheme, this utility model can also do following improvement:
Further: described alignment sensor includes transmitting terminal and receiving terminal, described transmitting terminal passes through pole to extended away from described control module assembly side at described drive cavity upper surface, described receiving terminal is arranged on described blade near described angle motor assembly one end upper surface, described transmitting terminal and receiving terminal consistency from top to bottom, and described transmitting terminal launches signal to receiving terminal located directly below, described code reader is arranged on described blade upper surface described alignment sensor receiving terminal away from described drive cavity side.
Above-mentioned further scheme provides the benefit that: can accurately identify the notch at determinand edge by the way, and facilitate described control module assembly to control the identification code of described code reader reading determinand lower surface, automatically control, very convenient, and recognition efficiency is higher.
Further: described vacuum cup is connected by the vacuum tube being arranged in described blade with described electromagnetic valve, and one end of described vacuum tube through described hollow bearing and connects with described vacuum cup, the other end stretches in described drive cavity and connects with described electromagnetic valve, and described electromagnetic valve is stretched out outside described drive cavity by pipeline.
Above-mentioned further scheme provides the benefit that: can be closed by described vacuum tube by the way and be arranged in described blade, the pipeline making whole device is compacter, outward appearance is beautiful, and can directly described vacuum cup be bled by controlling the module assembly described electromagnetic valve of control, Automated condtrol.
Further: the rotor of described angle motor is connected by the gear belt transmission being arranged in described blade with the hollow bearing on described vacuum cup.
Above-mentioned further scheme provides the benefit that: described tooth belt can be arranged on described blade by the way; prevent described tooth belt from producing fine particle or dust when motion; surrounding air flowing can also be reduced, reduce the dust in air and fall the probability on determinand surface.
Further: the adjustable length of described blade.
Above-mentioned further scheme provides the benefit that: can meet the sorting of different size determinand by adjusting the length of described blade, and the position without changing described alignment sensor can realize, and strengthens the versatility of whole device.
Further: the thickness sum of described blade and described vacuum cup is less than 5mm.
Above-mentioned further scheme provides the benefit that: can under ensureing the premise that described vacuum cup has stronger suction by controlling the thickness of described blade and described vacuum cup, reduce its volume, mechanical arm can be facilitated to stretch in the casing depositing determinand by described blade and the vacuum cup that is arranged on blade, easy to operate, pick and place efficiency higher.
Further: the diameter range of described vacuum cup is 25-35mm.
Further: described blade is aluminum alloy material.
Above-mentioned further scheme provides the benefit that: the blade of aluminum alloy material not only light weight, and also has good intensity, it is possible to complete picking and placeing of determinand more easily, improves operating efficiency, low energy.
Further: described vacuum cup is ceramic material.
Above-mentioned further scheme provides the benefit that: the vacuum cup of ceramic material is not easy to wear, and does not have light, heat, and electromagnetism etc. produces, and environmental protection is pollution-free, it is even more important that any damage will not be caused in determinand surface by the vacuum cup of ceramic material.
Further: described blade is connected with described vacuum cup by being arranged on the hollow bearing at described vacuum cup lower surface center away from described angle motor assembly one end, and when drawing determinand, the center consistency from top to bottom of the center of described vacuum cup and determinand.
Above-mentioned further scheme provides the benefit that: in this way can so that convenient when taking and putting measured thing, and during taking and putting measured thing, center of gravity is more steady, improves operating efficiency, can guarantee that product quality simultaneously.
Accompanying drawing explanation
Fig. 1 is the mechanical arm structural representation of a kind of sorter of the present utility model；
Fig. 2 is the mechanical arm structure top view of a kind of sorter of the present utility model.
In accompanying drawing, the list of parts representated by each label is as follows:
1, module assembly is controlled, 2, angle motor assembly, 3, drive cavity, 4, angle motor, 5, electromagnetic valve, 6, blade, 7, vacuum cup, 8, code reader, 9, determinand, 10, alignment sensor, 11, vacuum tube, 12, tooth belt.
Detailed description of the invention
Below in conjunction with accompanying drawing, principle of the present utility model and feature being described, example is served only for explaining this utility model, is not intended to limit scope of the present utility model.
As shown in Figure 1, 2, a kind of mechanical arm structural representation of sorter, including controlling module assembly 1 and angle motor assembly 2, the side of described control module assembly 1 is bolted on outer base by fixing, and described angle motor assembly 2 is disposed adjacent at described control module assembly 1 away from outer base side.
Described angle motor assembly 2 includes drive cavity 3 and angle motor 4, it is provided with electromagnetic valve 5 in described drive cavity 3, described angle motor 4 is arranged on the top of described drive cavity 3, and the rotor of described angle motor 4 stretches in described drive cavity 3 by rotating shaft, described electromagnetic valve 5 and described angle motor 4 all electrically connect with described control module assembly 1.
Described drive cavity 3 stretches out away from described control module assembly 1 side and is provided with hollow form blade 6, described blade 6 is upwards provided with vacuum cup 7 away from described drive cavity 3 one end, and described vacuum cup 7 lower surface is provided with hollow bearing, and described hollow bearing stretches in described blade 6 and is in transmission connection with the rotor of described angle motor 4, described vacuum cup 7 connects with described electromagnetic valve 5, described blade 6 is provided with near described drive cavity 3 one end the code reader 8 reading determinand 9 lower surface identification code, and described code reader 8 electrically connects with described control module assembly 1.
Described angle motor assembly 2 also includes being arranged on the intersection of described drive cavity 3 and described blade 6 and detecting the alignment sensor 10 of determinand 9 edge notch, and described alignment sensor 10 electrically connects with described control module assembly 1.
In the present embodiment, described alignment sensor 10 includes transmitting terminal and receiving terminal, described transmitting terminal passes through pole to extended away from described control module assembly 1 side at described drive cavity 3 upper surface, described receiving terminal is arranged on described blade 6 near described angle motor assembly 2 one end upper surface, described transmitting terminal and receiving terminal consistency from top to bottom, and described transmitting terminal launches signal to receiving terminal located directly below, described code reader 8 is arranged on described blade 6 upper surface described alignment sensor 10 receiving terminal away from described drive cavity 3 side.Can accurately identify the notch at determinand edge by the way, and facilitate described control module assembly 1 to control described code reader 8 to read the identification code of determinand lower surface, automatically control, very convenient, and recognition efficiency is higher.
In the present embodiment, described vacuum cup 7 is connected by the vacuum tube 11 being arranged in described blade 6 with described electromagnetic valve 5, and one end of described vacuum tube 11 through described hollow bearing and connects with described vacuum cup 7, the other end stretches in described drive cavity 3 and connects with described electromagnetic valve 5, described electromagnetic valve 5 is stretched out outside described drive cavity 3 by pipeline, and externally discharges gas.Can be closed by described vacuum tube 11 by the way is arranged in described blade 6, the pipeline making whole device is compacter, outward appearance is beautiful, and controls described electromagnetic valve 5 can directly described vacuum cup 7 be bled by controlling module assembly 1, Automated condtrol.
In the present embodiment, the rotor of described angle motor 4 is in transmission connection by the tooth belt 12 being arranged in described blade 6 with the hollow bearing on described vacuum cup 7.Described tooth belt 12 can be arranged on described blade 6 by the way, it is prevented that described tooth belt 12 produces fine particle or dust when motion, it is also possible to reduce surrounding air flowing, reduce the dust in air and fall the probability on determinand surface.
Preferably, the adjustable length of described blade 6.The sorting of different size determinand can be met by adjusting the length of described blade 6, and the position without changing described alignment sensor 10 can realize, and strengthens the versatility of whole device.
Preferably, described blade 6 and the thickness sum of described vacuum cup 7 are less than 5mm.Can under ensureing the premise that described vacuum cup 7 has stronger suction by controlling the thickness of described blade 6 and described vacuum cup 7, reduce its volume, mechanical arm can be facilitated to stretch in the casing depositing determinand by described blade 6 and the vacuum cup 7 that is arranged on blade 6, easy to operate, pick and place efficiency higher.
Preferably, the diameter range of described vacuum cup 7 is 25-35mm.
Preferably, described blade 6 is aluminum alloy material.The blade 6 not only light weight of aluminum alloy material, and also there is good intensity, it is possible to complete picking and placeing of determinand more easily, improve operating efficiency, low energy.
Preferably, described vacuum cup 7 is ceramic material.The vacuum cup 7 of ceramic material is not easy to wear, and does not have light, heat, and electromagnetism etc. produces, and environmental protection is pollution-free, it is even more important that any damage will not be caused in determinand surface by the vacuum cup of ceramic material.
Preferably, described blade 6 is connected with described vacuum cup 7 by being arranged on the hollow bearing at described vacuum cup 7 lower surface center away from described angle motor assembly 2 one end, and when drawing determinand 9, the center of described vacuum cup 7 and the center consistency from top to bottom of determinand.In this way can so that convenient when taking and putting measured thing, and during taking and putting measured thing, center of gravity is more steady, improves operating efficiency, can guarantee that product quality simultaneously.
nullSpecifically，Sorter controls described blade 6 and extend in the casing depositing determinand，And described blade 6 is moved the lower section treating determinand 9，Lift then up，Determinand 9 is made to drop on described vacuum cup 7，And described vacuum cup 7 is positioned at determinand 9 lower surface center，Then pass through described control module assembly 1 to control described electromagnetic valve 5 and open and extract air，Determinand 9 steadily is held by described vacuum cup 7，Then pass through the described blade 6 of control and move and take out determinand 9，And return to the initial position of described blade 6，Now，Described control module assembly 1 controls described angle motor 4 and rotates，And drive described vacuum cup 7 to rotate by described tooth belt 12，Thus driving determinand 9 together to rotate，Described alignment sensor 10 detects described determinand 9 edge，When alignment sensor 10 identifies the notch of described determinand 9 edge，The receiving terminal of described alignment sensor can receive signal the transmission extremely described control module assembly 1 that transmitting terminal is launched,，Described control module assembly 1 controls described angle motor 4 and stops operating，Described control module assembly 1 controls described code reader 8 simultaneously and reads the identification code on described determinand 9 surface，Described determinand 9 is sorted by described control module assembly 1 according to the identification code stating determinand 9 surface，Complete whole sorting work.
The mechanical arm structure of a kind of sorter of the present utility model may be used for the sorting of semiconductor crystal wafer; other determinand can also be sorted; in suitable scope; according to the feature of determinand, the mechanical arm structure of described sorter can being deformed, these are all within protection domain of the present utility model.
The mechanical arm structure of a kind of sorter of the present utility model, determinand is held by vacuum, and driven vacuum cup to rotate by angle motor, described alignment sensor can accurately identify the notch at determinand edge and by the identification code inside code reader identification notch, thus realizing the sorting of determinand, avoid fine particle and dust in tradition sorting mode and easily drop on the defect on determinand surface, prevent product contaminated in sort process, improve sorting efficiency, improve the yield of product simultaneously, reduce cost, decrease when the machine time.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all within spirit of the present utility model and principle, any amendment of making, equivalent replacement, improvement etc., should be included within protection domain of the present utility model.
Claims (10)
1. the mechanical arm structure of a sorter, it is characterized in that: include controlling module assembly (1) and angle motor assembly (2), the side of described control module assembly (1) is bolted on outer base by fixing, and described angle motor assembly (2) is disposed adjacent described control module assembly (1) away from outer base side；
Described angle motor assembly (2) includes drive cavity (3) and angle motor (4), electromagnetic valve (5) it is provided with in described drive cavity (3), described angle motor (4) is arranged on the top of described drive cavity (3), and the rotor of described angle motor (4) stretches in described drive cavity (3) by rotating shaft, described electromagnetic valve (5) and described angle motor (4) all electrically connect with described control module assembly (1)；
Described drive cavity (3) stretches out away from described control module assembly (1) side and is provided with hollow form blade (6), described blade (6) is upwards provided with vacuum cup (7) away from described drive cavity (3) one end, and described vacuum cup (7) lower surface is provided with hollow bearing, and described hollow bearing stretches in described blade (6) and is in transmission connection with the rotor of described angle motor (4), described vacuum cup (7) connects with described electromagnetic valve (5), described blade (6) is upper is provided with the code reader (8) reading determinand (9) lower surface identification code near described drive cavity (3) one end, and described code reader (8) electrically connects with described control module assembly (1)；
Described angle motor assembly (2) also includes being arranged on the intersection of described drive cavity (3) and described blade (6) and detecting the alignment sensor (10) of determinand (9) edge notch, and described alignment sensor (10) electrically connects with described control module assembly (1).
2. the mechanical arm structure of a kind of sorter according to claim 1, it is characterized in that: described alignment sensor (10) includes transmitting terminal and receiving terminal, described transmitting terminal passes through pole to extended away from described control module assembly (1) side at described drive cavity (3) upper surface, it is upper near described angle motor assembly (2) one end upper surface that described receiving terminal is arranged on described blade (6), described transmitting terminal and receiving terminal consistency from top to bottom, and described transmitting terminal launches signal to receiving terminal located directly below, described code reader (8) is arranged on described blade (6) upper surface described alignment sensor (10) receiving terminal away from described drive cavity (3) side.
3. the mechanical arm structure of a kind of sorter according to claim 1, it is characterized in that: described vacuum cup (7) is connected by the vacuum tube (11) being arranged in described blade (6) with described electromagnetic valve (5), and one end of described vacuum tube (11) through described hollow bearing and connects with described vacuum cup (7), the other end stretches in described drive cavity (3) and connects with described electromagnetic valve (5), and described electromagnetic valve (5) stretches out described drive cavity (3) outward by pipeline.
4. the mechanical arm structure of a kind of sorter according to claim 1, it is characterised in that: the rotor of described angle motor (4) is in transmission connection by the tooth belt (12) being arranged in described blade (6) with the hollow bearing on described vacuum cup (7).
5. the mechanical arm structure of a kind of sorter according to claim 1, it is characterised in that: the adjustable length of described blade (6).
6. the mechanical arm structure of a kind of sorter according to claim 1, it is characterised in that: the thickness sum of described blade (6) and described vacuum cup (7) is less than 5mm.
7. the mechanical arm structure of a kind of sorter according to claim 6, it is characterised in that: the diameter range of described vacuum cup (7) is 25-35mm.
8. the mechanical arm structure of a kind of sorter according to claim 1, it is characterised in that: described blade (6) is aluminum alloy material.
9. the mechanical arm structure of a kind of sorter according to claim 1, it is characterised in that: described vacuum cup (7) is ceramic material.
10. the mechanical arm structure of a kind of sorter according to any one of claim 1 to 9, it is characterized in that: described blade (6) is connected with described vacuum cup (7) by being arranged on the hollow bearing at described vacuum cup (7) lower surface center away from described angle motor assembly (2) one end, and when drawing determinand (9), the center of described vacuum cup (7) and the center consistency from top to bottom of determinand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620082597.3U CN205380074U (en) | 2016-01-27 | 2016-01-27 | Sorter's mechanical arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620082597.3U CN205380074U (en) | 2016-01-27 | 2016-01-27 | Sorter's mechanical arm structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205380074U true CN205380074U (en) | 2016-07-13 |
Family
ID=56349013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620082597.3U Active CN205380074U (en) | 2016-01-27 | 2016-01-27 | Sorter's mechanical arm structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205380074U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106044211A (en) * | 2016-07-21 | 2016-10-26 | 湖南三兴精密工业股份有限公司 | Automatic feeding-discharging equipment for cover plate material |
-
2016
- 2016-01-27 CN CN201620082597.3U patent/CN205380074U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106044211A (en) * | 2016-07-21 | 2016-10-26 | 湖南三兴精密工业股份有限公司 | Automatic feeding-discharging equipment for cover plate material |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105600415B (en) | A kind of silicon steel sheet stack sheet devices | |
| CN201653918U (en) | Chip appearance detection device | |
| CN204842256U (en) | Glass encapsulation diode material loading detection device | |
| CN112622119B (en) | Processing mechanism of LED lamp | |
| CN205380074U (en) | Sorter's mechanical arm structure | |
| CN110434086A (en) | A kind of solar battery sheet detection screening line | |
| CN107175218A (en) | A kind of solar cell list conveyer belt sorting equipment based on machine vision | |
| CN108709859A (en) | Universal clamp and detection method for bend glass vision-based detection | |
| CN106181642B (en) | A kind of hardware making cement nail high-volume sanding apparatus | |
| CN201435404Y (en) | Automatic solar silicon wafer sorting device | |
| CN206798618U (en) | A kind of guide plate shifts truss robot | |
| CN115922488B (en) | Grinding equipment for processing special-shaped glass bottle mouth | |
| CN201227765Y (en) | Air gap grinding attachment | |
| CN209440721U (en) | A kind of inlet is cooling, is punched, the automation equipment of detection and sorting | |
| CN207240273U (en) | A kind of lip processing unit (plant) for dewatering drum of washing machine water seal | |
| CN207138312U (en) | One kind reason base, bottle base mouth photograph detection integral mechanism | |
| CN208224108U (en) | A kind of marine product species Rapid identification device | |
| CN112808394A (en) | Device for regulating and controlling seed ball milling time of amaranthus hypochondriacus by high-energy nano impact mill | |
| CN113340971A (en) | High-precision negative ion measuring equipment used outdoors | |
| CN205888820U (en) | A automatic wire drawing machine for lamp base | |
| CN111921884A (en) | Chip sorting machine | |
| CN220636657U (en) | Feeding device of silicon wafer laser marking machine | |
| CN107377419A (en) | A kind of lamp inspection device for alcoholic workshop | |
| CN221231098U (en) | Monocrystalline silicon piece selects separately detection workstation | |
| CN205363900U (en) | Categorised mechanical hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 430205 No.18, Gaoxin 4th Road, Donghu Development Zone, Wuhan City, Hubei Province Patentee after: Wuhan Xinxin Integrated Circuit Co.,Ltd. Country or region after: China Address before: 430205 No.18, Gaoxin 4th Road, Donghu Development Zone, Wuhan City, Hubei Province Patentee before: Wuhan Xinxin Semiconductor Manufacturing Co.,Ltd. Country or region before: China |