CN208289887U - A kind of quick shifting mechanical arm - Google Patents
A kind of quick shifting mechanical arm Download PDFInfo
- Publication number
- CN208289887U CN208289887U CN201820059109.6U CN201820059109U CN208289887U CN 208289887 U CN208289887 U CN 208289887U CN 201820059109 U CN201820059109 U CN 201820059109U CN 208289887 U CN208289887 U CN 208289887U
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- CN
- China
- Prior art keywords
- boom
- sliding block
- linear guide
- mechanical arm
- shifting mechanical
- 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.)
- Expired - Fee Related
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Abstract
The utility model proposes a kind of quick shifting mechanical arms, including upper linear guide and lower linear guide, manipulator mounting is connected by the first sliding block between upper linear guide and lower linear guide, horizontal drive mechanism for controlling its sliding is set on manipulator mounting, manipulator mounting connects robot device by elevating drive mechanism, elevating drive mechanism includes ball-screw and riser guide, robot device includes the second sliding block, second sliding block is connect with boom, second sliding block connects riser guide, boom passes through ball-screw, setting is used for the grasping mechanism of grabbing workpiece on boom, robot device further includes the detection device against pressure for detecting boom traffic-operating period.Have following the utility model has the advantages that quickly shifting mechanical arm can therefrom free manpower according to the program of setting, efficient work, a people can guard Duo Tai machine, to both improve productivity, reduce cost of human resources.
Description
Technical field
The utility model belongs to solar silicon wafers and semicon industry cleaning machine technical field, and in particular to a kind of quickly to move
Carry manipulator.
Background technique
Silicon chip of solar cell has to pass through multistage cleaning after dicing, to remove the mortar for being attached to silicon chip surface,
During cleaning, it is related to the carrying to workpiece, current human cost is high, bothersome laborious by manual handling, it is therefore desirable to set
A kind of handling device of automation is counted, on the one hand which needs higher freedom degree, meet multiple works on assembly line
The demand of position, on the other hand needs high degree of automation, and crawl and release workpiece can react automatically.
Utility model content
In order to solve the above technical problems, the utility model proposes a kind of quick shifting mechanical arm, including upper linear guide
With lower linear guide, manipulator mounting is connected by the first sliding block between the upper linear guide and lower linear guide, it is described
Horizontal drive mechanism for controlling its sliding is set on manipulator mounting, and the manipulator mounting is connected by elevating drive mechanism
Welding manipulator device, the elevating drive mechanism include ball-screw and riser guide, and the robot device includes second sliding
Block, second sliding block are connect with boom, and second sliding block connects the riser guide, and the boom passes through the ball wire
Thick stick, setting is used for the grasping mechanism of grabbing workpiece on the boom, and the robot device further includes for detecting boom operation
The detection device against pressure of situation.
Preferably, the grasping mechanism includes two cylinders being arranged round about, and the output end of the cylinder passes through
Telescopic rod connection hook.
Preferably, the horizontal drive mechanism includes horizontal motor, the output end connection gear of the horizontal motor, described
The rack gear engaged with the gear is set in lower linear guide.
Preferably, the ball-screw upper end is equipped with synchronizing wheel, and the synchronizing wheel is connected by synchronous belt and lifting motor
It connects.
Preferably, shaft is arranged in the junction of the ball-screw and the boom, and the detection device against pressure includes setting
The pressure sensor on second sliding block is set, compression bar, the compression bar and the pressure sensor phase are set on the boom
It supports.
Preferably, bracket is set on the manipulator mounting, is arranged on the bracket for detecting the robot device
The photoelectric sensor of position.
The utility model has following the utility model has the advantages that quickly shifting mechanical arm can be according to the program of setting, efficient work
Make, manpower therefrom freed, a people can guard Duo Tai machine, to both improve productivity, reduce human resources at
This, in addition present apparatus high degree of automation, freedom degree height can be reacted for the workpiece of crawl, workpiece transfer arrived other
On the station in region.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described.
Fig. 1 is a kind of structural schematic diagram of quick shifting mechanical arm of the utility model；
Fig. 2 is a kind of structural schematic diagram of quick shifting mechanical arm of the utility model；
Fig. 3 is a kind of structural schematic diagram of quick shifting mechanical arm of the utility model；
Fig. 4 is the partial enlarged view at a kind of A of quick shifting mechanical arm of the utility model；
Wherein, 1, upper linear guide；11, the first sliding block；2, lower linear guide；3, horizontal motor；4, bracket；4, photoelectric transfer
Sensor；5, lifting motor；51, synchronizing wheel；52, synchronous belt；6, ball-screw；61, riser guide；7, boom；8, cylinder；9, it stretches
Contracting bar；10, it links up with；12, the second sliding block；13, detection device against pressure；131, pressure sensor；132, compression bar.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe.
As Figure 1-Figure 4, the utility model proposes a kind of quick shifting mechanical arms, including upper linear guide 1 is under
Linear guide 2 connects manipulator mounting, manipulator seat by the first sliding block 11 between upper linear guide 1 and lower linear guide 2
Horizontal drive mechanism for controlling its sliding is set on frame, and manipulator mounting connects manipulator by elevating drive mechanism and fills
It sets, elevating drive mechanism includes ball-screw 6 and riser guide 61, and robot device includes the second sliding block 12, the second sliding block 12
It is connect with boom 7, the second sliding block 12 connects riser guide 61, and boom 7 passes through ball-screw 6, is arranged on boom 7 for grabbing work
The grasping mechanism of part, robot device further include the detection device against pressure 13 for detecting 7 traffic-operating period of boom.
Specifically, the movement in the horizontal direction of horizontal drive mechanism control device, elevating drive mechanism control device
Movement on vertical direction, grasping mechanism control crawl and release workpiece, detection device 13 against pressure is for detecting whether be mounted with
Workpiece, have workpiece or workpiece pressure be more than rated load in the case where robot device is operated.
Grasping mechanism includes two cylinders being arranged round about 8, and the output end of cylinder 8 is hung by the connection of telescopic rod 9
Hook 10；
Specifically, when two cylinders 8 shrink hook 10,10 pairs of workpiece is linked up with and are clamped, crawl is realized, when by work
When part is moved on to designated position, hook 10 is opened, discharges workpiece.
Horizontal drive mechanism includes horizontal motor 3, the output end connection gear of horizontal motor 3, is arranged in lower linear guide 2
The rack gear engaged with gear；
By the kind of drive of rack-and-pinion, linear motion is converted by the rotary motion of motor.
6 upper end of ball-screw is equipped with synchronizing wheel 51, and synchronizing wheel 51 is connect by synchronous belt 52 with lifting motor 5；
The up and down motion of robot device is controlled by lifting motor 5.
Shaft is arranged in the junction of ball-screw 6 and boom 7, and detection device 13 against pressure includes being arranged on the second sliding block 12
Pressure sensor 131, compression bar 132 is set on boom 7, and compression bar 132 offsets with pressure sensor 131；
When not having to load workpiece, pressure value is smaller, when loading workpiece, since boom 7 is pressed downward by gravity, and pressure
Sensor 131 detects the portion that workpiece is lifted up by gravity, ball-screw 6, is connect with boom 7 with the second sliding block 12 when lifting
Position is fulcrum, when the gravity of workpiece is too big, is more than rated load, when ball-screw 6 lifts boom 7, and 7 upperpush rod 132 of boom
Still compaction pressure sensor 131 will discharge workpiece at this time, no longer lift, to protect manipulator.
Bracket 4 is set on manipulator mounting, and setting is used for the photoelectric sensor 4 of inspecting manipuator setting position on bracket 4；
By the way that the different location of the 4 inspecting manipuator device of photoelectric sensor is arranged, the distance that workpiece is lifted is judged, from
And controllable cylinder 8 is flexible.
Motion mode:
It is driven by horizontal motor 3 and realizes the lower movement in the longitudinal direction of boom 7.The other end of boom 7 is equipped with 10 Hes of hook
Telescopic rod 9 and cylinder 8；Cylinder 8 drives telescopic rod 9 to drive 10 work of hook, and hook 10 can be accurately safe by workpiece handling
To each designated position, to substitute manual work.The middle part of boom 7 is equipped with detection device 13 against pressure, and the moment perceives boom 7
Operating condition.
Artificial by quick shifting mechanical arm substitution, simple flow improves effect, improves quality.
A variety of modifications of embodiment will be readily apparent to those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (6)
1. a kind of quick shifting mechanical arm, it is characterised in that: including upper linear guide and lower linear guide, led in the upper straight line
Manipulator mounting is connected by the first sliding block between rail and lower linear guide, is arranged on the manipulator mounting for controlling its cunning
Dynamic horizontal drive mechanism, the manipulator mounting connect robot device, the lifting and driving machine by elevating drive mechanism
Structure includes ball-screw and riser guide, and the robot device includes the second sliding block, and second sliding block is connect with boom, institute
It states the second sliding block and connects the riser guide, the boom passes through the ball-screw, is arranged on the boom for grabbing work
The grasping mechanism of part, the robot device further include the detection device against pressure for detecting boom traffic-operating period.
2. a kind of quick shifting mechanical arm according to claim 1, it is characterised in that: the grasping mechanism include two to
The cylinder of opposite direction setting, the output end of the cylinder is connected by telescopic rod to be linked up with.
3. a kind of quick shifting mechanical arm according to claim 1, it is characterised in that: the horizontal drive mechanism includes water
The rack gear engaged with the gear is arranged in the lower linear guide for flat telegram machine, the output end connection gear of the horizontal motor.
4. a kind of quick shifting mechanical arm according to claim 1, it is characterised in that: the ball-screw upper end is equipped with
Synchronizing wheel, the synchronizing wheel are connect by synchronous belt with lifting motor.
5. a kind of quick shifting mechanical arm according to claim 1, it is characterised in that: the ball-screw and the boom
Junction be arranged shaft, the detection device against pressure includes the pressure sensor being arranged on second sliding block, described to hang
Compression bar is set on arm, and the compression bar offsets with the pressure sensor.
6. a kind of quick shifting mechanical arm according to claim 1, it is characterised in that: branch is arranged on the manipulator mounting
The photoelectric sensor for detecting the robot device position is arranged on the bracket for frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820059109.6U CN208289887U (en) | 2018-01-15 | 2018-01-15 | A kind of quick shifting mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820059109.6U CN208289887U (en) | 2018-01-15 | 2018-01-15 | A kind of quick shifting mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208289887U true CN208289887U (en) | 2018-12-28 |
Family
ID=64697333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820059109.6U Expired - Fee Related CN208289887U (en) | 2018-01-15 | 2018-01-15 | A kind of quick shifting mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208289887U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077850A (en) * | 2019-04-24 | 2019-08-02 | 东旭科技集团有限公司 | Shifting apparatus and carrying system |
| CN111564744A (en) * | 2020-05-28 | 2020-08-21 | 常州鑫源盛德电子科技有限公司 | Communication connector assembling equipment for connector assembling tester |
-
2018
- 2018-01-15 CN CN201820059109.6U patent/CN208289887U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077850A (en) * | 2019-04-24 | 2019-08-02 | 东旭科技集团有限公司 | Shifting apparatus and carrying system |
| CN111564744A (en) * | 2020-05-28 | 2020-08-21 | 常州鑫源盛德电子科技有限公司 | Communication connector assembling equipment for connector assembling tester |
| CN111564744B (en) * | 2020-05-28 | 2021-06-08 | 常州鑫源盛德电子科技有限公司 | Communication connector assembling equipment for connector assembling tester |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181228 Termination date: 20220115 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |