CN205870561U - Robotic arm and robotic device - Google Patents

Abstract

The utility model provides a robotic arm and robotic device for the conveying base plate, including base and arm body, the base have first side and with the relative second side that sets up in first side, being close to of arm body the end fixing of base place side in on the base, arm body distance the height -adjustable festival between the first side of base, the both ends of arm body are provided with scalable scale, the problem that the levelness is unusual that produces after robotic arm that this embodiment provided can solve that current robotic arm is long -time and uses, to the robotic arm levelness can be accurate, quick the adjustment.

Description

A kind of mechanical arm and robotic device

Technical field

This utility model relates to the preparation field of display device, particularly relate to a kind of mechanical arm for transmitting substrate and Robotic device.

Background technology

At present, in links prepared by display device, all can relate to the transmission of substrate, different so that substrate is delivered to Equipment carries out corresponding processing step.At present, robotic device (robot) is one of the more commonly used substrate load mode, example As, when substrate being coated technique or substrate being put in cassette, generally require and transmit with robotic device.

Fig. 1 is the floor map of existing mechanical arm, and Fig. 2 is the generalized section of existing mechanical arm, such as Fig. 1 Shown in Fig. 2, mechanical arm 10 generally comprise base 11 and by fixed screw 13 fixedly mount two on the pedestal 11 put down The arm body (fork) 15 of row arrangement, arm body 15 is for holding up substrate, thus realizes the transmission of substrate.So And, owing to the size of display device is being continuously increased, the area of substrate also increases corresponding, in order to more firmly realize machinery The arm picking-up to substrate, the brachium of arm body 15 is also correspondingly increasing, so since, due to deadweight and the machine of substrate The deadweight of tool arm increases, and arm body 15 is susceptible to the difference of arm body own level degree after the use of long period Different, namely distance h1, h2, h3, the h4 between arm body diverse location distance same level is unequal so that substrate is passing Be susceptible to during sending to slide, broken and mechanical arm easily and the problem such as other mechanism's collisions of board, increase substrate Breakage rate.

The method that the problem of the existing difference in order to solve arm body own level degree is used is at arm body Adding pad with base junction, but this kind of method also exists pad point of addition and be difficult to adjust, inefficiency, error is bigger Problem.

Utility model content

In view of the above problems, this utility model provides a kind of mechanical arm and robotic device, it is possible to solve existing Mechanical arm uses the problem that the levelness that produces afterwards is abnormal for a long time, it is possible to achieve to mechanical arm levelness accurate, Quickly adjust.

A kind of mechanical arm that this utility model provides, is used for transmitting substrate, including base and arm body, described base There is the first side and the second side being oppositely arranged with described first side, the close described base place of described arm body The end of side is fixed on described base, Height Adjustable between described base the first side of described arm body, institute The both ends stating arm body are provided with scalable scale.

Further, described arm body includes the upper bottom surface carrying substrate to be transmitted, and is oppositely arranged with described upper bottom surface Bottom surface, described scalable scale is arranged on the bottom surface of described arm body.

Further, the end being fixed on described base of described arm body is fixed on institute by multiple adjustable screw State on base.

Preferably, the number of described adjustable screw is 8.

Further, each described adjustable screw includes screw mandrel and four nuts, and described screw mandrel is fixed on described base On, wherein two in described four nuts are positioned at side, described arm body upper bottom surface place, in described four nuts wherein Another two sides, bottom surface place being positioned at described arm body.

Further, described scalable scale includes main scale portion, the first pars contractilis and the second pars contractilis, and described second stretches Contracting portion can be threaded in or out described first pars contractilis, and described first pars contractilis can be threaded in or out main scale portion.

Preferably, it is 0.1mm that described second pars contractilis is threaded in or out the minimum scale of described first pars contractilis, described It is 0.1mm that one pars contractilis is threaded in or out the minimum scale in main scale portion.

Further, described mechanical arm includes two described arm bodies, and these two arm bodies are certain interval Arranged in parallel.

Further, this utility model provides a kind of robotic device, is connected including joint portion and with described joint portion At least one mechanical arm, described mechanical arm is as the aforementioned any one mechanical arm.

By arranging scalable scale at the both ends of arm body in the present embodiment, this scalable scale is due to tool Have scale can judge accurately arm body two ends whether in same level, when according to the quarter on this scalable scale When degree adjustment arm body is in same level, utilize the supporting role of this scalable scale, it is ensured that this arm body Levelness is constant, screws the nut of this adjustable screw the most again, is fixed on base by this arm body, has the most completed hands The regulation of arm body levelness.After the mechanical arm that the present embodiment provides can solve the problem that existing mechanical arm uses for a long time The problem that the levelness that produces is abnormal, can adjustment accurately and fast to the levelness of mechanical arm.

Accompanying drawing explanation

Fig. 1 is the floor map of existing mechanical arm；

Fig. 2 is the generalized section of existing mechanical arm；

The sectional view of the mechanical arm that Fig. 3 provides for this utility model embodiment；

Fig. 4 is the planar structure schematic diagram of the mechanical arm in this utility model embodiment；

Detailed description of the invention

By further illustrating the technological means and effect that this utility model taked by reaching predetermined utility model purpose, Below in conjunction with accompanying drawing and preferred embodiment, to detailed description of the invention of the present utility model, structure, feature and effect thereof, specifically Bright as after.

The sectional view of the mechanical arm that Fig. 3 provides for this utility model embodiment, refer to shown in Fig. 3, this utility model Mechanical arm 20 in embodiment is used for transmitting substrate, and including base 21 and arm body 23, base 21 has the first side 211 And the second side 213 being oppositely arranged with the first side 211, arm body 23 is the cuboid plate with pre-set thickness and width Shape structure, this arm body 23 has the end 231 near this side, base 21 place and the end away from this side, base 21 place 232, the end 231 of the side, close base 21 place of arm body 23 is fixed on base 21, and arm body 23 is apart from base 21 The first side 211 between height h5 scalable, arm body 23 be provided with the near the end 231 of this side, base 21 place One scalable scale 251, the end 232 away from this side, base 21 place of arm body 23 is provided with the second scalable scale 252, namely the both ends of arm body 23 have scalable scale.

Specifically, arm body 23 includes the upper bottom surface 233 carrying substrate to be transmitted, and is oppositely arranged with described upper bottom surface Bottom surface 235, the first scalable scale 251 and the second scalable scale 252 are arranged on the bottom surface 235 of arm body 23 On.

Specifically, the end 231 of the side, close base 21 place of arm body 23 is solid by multiple adjustable screw 27 It is scheduled on described base 21,

Preferably, in the present embodiment, the number of this adjustable screw is 8, and in two separate ranks, string four is symmetrical arranged (figure Do not show).

Holding above-mentioned, the plurality of adjustable screw 27 can be by the end 231 of the side, close base 21 place of arm body 23 It is fixed on base 21, also can regulate arm body 23 according to actual needs between the first side 211 of base 21 simultaneously Height h5, that is, the height h5 that this arm body 23 is between the first side 211 of base 21 is adjustable.

Specifically, referring again to Fig. 3, in the present embodiment, this adjustable screw 27 includes screw mandrel 271 and four nuts 272, screw mandrel 271 is fixed on base 21, and wherein two in four nuts 272 are positioned at arm body 23 upper bottom surface 233 place Side, the most another two in four nuts 272 are positioned at the side, bottom surface 235 place of arm body 23, when arm body 23 is the end of apart from Seat 21 the first side 211 between height h5 suitable time, utilize double nuts structure to be fixed the position of arm body 23, utilize Double nuts structure is effectively ensured arm body position and will not slide.

First scalable scale 251 and the second scalable scale 252 include main scale portion the 257, first pars contractilis respectively 258 and second pars contractilis 259, the second pars contractilis 259 can be threaded in or out the first pars contractilis 258, and the first pars contractilis 258 can revolve embedding Enter or screw out main scale portion 257.When using the scale of the first pars contractilis 259, can be by this first pars contractilis 258 from main scale portion 257 internal back-outs, specifically, this first pars contractilis 258 can partly screw out, and the scale rotated a circle can be carried out according to actual needs Arranging, such as, rotate a circle, this first pars contractilis 258 can be 0.1mm from the internal scale screwed out of main scale 257, that is, this One pars contractilis 258 is 0.1mm from the internal minimum scale being threaded in or out of main scale 257.Similarly, when using the second pars contractilis 259 scale time, the second pars contractilis 259 can be screwed out from the first pars contractilis 258.Specifically, this second pars contractilis 259 can part Screwing out, the scale rotated a circle is configured also dependent on being actually needed, such as, rotates a circle, and this second pars contractilis 259 is from the The internal scale screwed out of one pars contractilis 258 can be 0.1mm, that is, this second pars contractilis 259 is internal from the first pars contractilis 258 The minimum scale being threaded in or out is 0.1mm.

Specifically, the mechanical arm 20 in this utility model includes two arm bodies, and Fig. 4 is that this utility model is implemented The planar structure schematic diagram of the mechanical arm in example, as shown in Figure 4, the interval that these two arm bodies are certain is parallel to each other row Row, and be fixed on base 21.

Mechanical arm levelness regulating step in this example is as follows:

Step one: when finding that the levelness of two arm bodies of mechanical arm is variant, first by fixing arm originally The adjustable screw of body end unscrews to arm body and can move freely state, owing to arm body two ends are provided with scalable mark Chi, this Telescopic scale plays the effect of support, can support arm body.

Step 2: adjust arm body according to the upper scale of Telescopic scale and be positioned in same level, utilizes this can The supporting role of flexible scale, it is ensured that the levelness of this arm body is constant.

Step 3: when adjusting the levelness zero difference of these two arm bodies according to the scale of scalable scale, rotation The nut of this adjustable screw tight, is fixed on this arm body on base, utilizes double nuts structure that arm body is effectively ensured Will not slide in position, the most completed the regulation of arm body levelness.

To sum up, by arranging scalable scale at the both ends of arm body in the present embodiment, this scalable scale Due to have scale can judge accurately arm body two ends whether in same level, when according to this scalable scale On scale adjust arm body two ends in same level time, utilize the supporting role of this scalable scale, it is ensured that should The levelness of arm body is constant, screws the nut of adjustable screw the most again, is fixed on base, so far by this arm body Complete the regulation of arm body levelness.The mechanical arm that the present embodiment provides can solve the problem that existing mechanical arm is long-time The problem that the levelness that produces after use is abnormal, can adjustment accurately and fast to mechanical arm levelness.

It addition, this utility model also provides for a kind of robotic device, this robotic device includes joint portion and with described At least one mechanical arm that joint portion connects, described mechanical arm is any one mechanical arm as the aforementioned.Due to this machinery Hands equipment uses aforesaid mechanical arm, and this robotic device can solve the problem that existing mechanical arm uses for a long time and produces afterwards The abnormal problem of levelness, can adjustment accurately and fast to mechanical arm levelness.

Be above full content of the present utility model, in this manual, term " includes ", " comprising " or its any its His variant is intended to comprising of nonexcludability, except comprising those listed key elements, but also can comprise and be not expressly set out Other key elements.

In this manual, the involved noun of locality such as forward and backward, upper and lower be with during in accompanying drawing, parts are positioned at figure and Parts position each other defines, and is intended merely to the clear and convenient of expression technology scheme.Should be appreciated that described side The use of position word should not limit the scope that the application is claimed.

The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all in this practicality Within novel principle, any modification, equivalent substitution and improvement etc. made, should be included in protection domain of the present utility model Within.

Claims (9)

1. a mechanical arm, is used for transmitting substrate, including base and arm body, described base have the first side and with institute Stating the second side that the first side is oppositely arranged, the end of the side, close described base place of described arm body is fixed on described On base, it is characterised in that Height Adjustable between described base the first side of described arm body, described arm this The both ends of body are provided with scalable scale.

2. mechanical arm as claimed in claim 1, it is characterised in that described arm body includes carrying the upper of substrate to be transmitted Bottom surface, the bottom surface being oppositely arranged with described upper bottom surface, described scalable scale is arranged on the bottom surface of described arm body.

3. mechanical arm as claimed in claim 2, it is characterised in that the end being fixed on described base of described arm body It is fixed on described base by multiple adjustable screw.

4. mechanical arm as claimed in claim 3, it is characterised in that the number of described adjustable screw is 8.

5. mechanical arm as claimed in claim 3, it is characterised in that each described adjustable screw includes screw mandrel and four spiral shells Mother, described screw mandrel is fixed on described base, and wherein two in described four nuts are positioned at described arm body upper bottom surface institute In side, the most another two in described four nuts are positioned at the side, bottom surface place of described arm body.

6. mechanical arm as claimed in claim 1, it is characterised in that described scalable scale includes main scale portion, first stretches Contracting portion and the second pars contractilis, described second pars contractilis can be threaded in or out described first pars contractilis, and described first pars contractilis can revolve Enter or screw out main scale portion.

7. mechanical arm as claimed in claim 6, it is characterised in that described second pars contractilis is threaded in or out described first and stretches The minimum scale in contracting portion is 0.1mm, and it is 0.1mm that described first pars contractilis is threaded in or out the minimum scale in main scale portion.

8. the mechanical arm as described in any one of claim 1-7, it is characterised in that described mechanical arm includes two described handss Arm body, the interval that these two arm bodies are certain is arranged in parallel.

9. a robotic device, including joint portion and at least one mechanical arm of being connected with described joint portion, its feature Being, described mechanical arm is the mechanical arm described in claim 8.