CN215825306U

CN215825306U - Turnover manipulator

Info

Publication number: CN215825306U
Application number: CN202121489733.8U
Authority: CN
Inventors: 续振林; 李山水; 李毅峰; 朱石宝; 陈妙芳
Original assignee: Xiamen Jude Electronic Technology Co ltd; Xiamen Flexible Electronics Research Institute Co ltd
Current assignee: Xiamen Jude Electronic Technology Co ltd; Xiamen Flexible Electronics Research Institute Co ltd
Priority date: 2021-07-01
Filing date: 2021-07-01
Publication date: 2022-02-15
Anticipated expiration: 2031-07-01

Abstract

The utility model discloses a turnover manipulator which comprises a mounting seat, a Z-axis linear module, a lifting fixing frame, a U-axis rotating module, a rotating frame, a V-axis rotating module, a rotating arm and a sucker, wherein the Z-axis linear module is arranged on the mounting seat; the Z-axis linear module is arranged on the mounting seat; the lifting fixing frame is connected with the Z-axis linear module and can be driven by the Z-axis linear module to lift along the Z axis; the U-axis rotating module is arranged on the lifting fixing frame; the rotating frame is connected with the U-shaft rotating module and can rotate around the U shaft by at least 90 degrees under the driving of the U-shaft rotating module; the V-axis rotating die set is arranged on the rotating frame; the rotating arm is connected to the V-axis rotating module and can be driven by the V-axis rotating module to periodically turn over for 180 degrees around the V axis; the sucking disc is connected with the rotating arm and used for adsorbing products. The automatic feeding and discharging device can realize the turnover and the transportation of products, complete the automatic feeding and discharging operation in a matching way, save the material changing time and improve the production efficiency.

Description

Turnover manipulator

Technical Field

The utility model relates to the technical field of automation equipment, in particular to a turnover manipulator.

Background

In automated product manufacturing processes, it is often necessary to flip the product up and down about its center. In the overturning process, the requirement of high concentricity between the center of the product and the center of the rotating shaft is required, the accuracy of the overturning in-place angle is also high, the product is required to be accurately moved in the conveying process, and the automatic feeding and discharging operation is required to be completed by adopting the cooperation of a mechanical mechanism.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provides a turnover manipulator which is used for turning over and carrying products, completing automatic feeding and discharging operation in a matched mode, saving material changing time and improving production efficiency.

In order to achieve the above purpose, the solution of the utility model is:

the utility model provides a upset manipulator which characterized in that: the device comprises a mounting seat, a Z-axis linear module, a lifting fixing frame, a U-axis rotating module, a rotating frame, a V-axis rotating module, a rotating arm and a sucker; the Z-axis linear module is arranged on the mounting seat; the lifting fixing frame is connected with the Z-axis linear module and can be driven by the Z-axis linear module to lift along the Z axis; the U-axis rotating module is arranged on the lifting fixing frame; the rotating frame is connected with the U-axis rotating module and can rotate around the U axis by at least 90 degrees under the driving of the U-axis rotating module; the V-axis rotating module is arranged on the rotating frame; the rotating arm is connected to the V-axis rotating module and can be driven by the V-axis rotating module to periodically turn 180 degrees around the V axis; the sucking disc is connected with the rotating arm and used for adsorbing products.

Further, the sucking disc includes first sucking disc and second sucking disc, first sucking disc with the second sucking disc is connected respectively the front and the reverse side of swinging boom.

Further, the Z axis and the U axis are parallel, and the V axis is perpendicular to the Z axis and the U axis.

Further, the Z-axis linear module further comprises a linear motor, a sliding block and a Z-direction sliding rail, wherein an output shaft of the linear motor is connected with the sliding block and drives the sliding block to lift on the Z-direction sliding rail along the Z axis.

Further, the lift mount includes a vertical board and a horizontal plate, vertical board fixed connection in Z axle straight line module, the horizontal plate sets up perpendicularly on the vertical board, be equipped with the U shaft hole on the horizontal plate, the driving motor fixed connection of the rotatory module of U axle in the below of horizontal plate, the output shaft then passes connect behind the U shaft hole the swivel mount.

Further, the swivel mount includes a diaphragm, a riser and a bearing box, the diaphragm connect in the output shaft of the rotatory module of U axle, the riser is connected the bearing box, be equipped with the cantilever hole on the bearing box, the driving motor fixed connection of the rotatory module of V axle on the bearing box, the swinging boom then wears to establish in the cantilever hole, one end is connected the output shaft of the rotatory module of V axle, the other end is connected the sucking disc.

Further, the mounting seat comprises a bottom plate, a back plate and two side plates, the back plate and the two side plates are vertically arranged on the bottom plate in a surrounding mode, and the Z-axis linear module is arranged on the back plate. Thereby facilitating the installation of the whole turnover manipulator.

After the scheme is adopted, the automatic loading and unloading equipment has the following beneficial effects:

according to the turnover manipulator disclosed by the utility model, through the cooperation of three groups of mechanisms, namely the Z-axis linear module, the U-axis rotating module and the V-axis rotating module, the lifting, rotating and turnover functions are realized, so that turnover and transportation of products on two suckers on the rotating arm are realized, the product change can be finished, the material change time is saved, and the production efficiency is improved.

Drawings

Fig. 1 is a perspective view of the flipping robot of the present invention.

Fig. 2 is a front side view of the invert robot of the present invention.

Fig. 3 is a top view of the invert robot of the present invention.

Fig. 4 is a right side view of the flipping robot of the present invention.

Detailed Description

In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "X", "Y", "Z", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

As shown in fig. 1 to 4, the present invention is a flipping robot 100, which includes a mounting base 1, a Z-axis linear module 2, a lifting fixing frame 3, a U-axis rotation module 4, a rotation frame 5, a V-axis rotation module 6, a rotation arm 7, and a suction cup 8; the Z-axis linear module 2 is arranged on the mounting seat 1; the lifting fixing frame 3 is connected with the Z-axis linear module 2 and can be driven by the Z-axis linear module 2 to lift along the Z axis; the U-axis rotating module 4 is arranged on the lifting fixing frame 3; the rotating frame 5 is connected with the U-axis rotating module 4 and can rotate around the U axis by at least 90 degrees under the driving of the U-axis rotating module 4; the V-axis rotating module 6 is arranged on the rotating frame 5; the rotating arm 7 is connected to the V-axis rotating module 6 and can be driven by the V-axis rotating module 6 to periodically turn 180 degrees around the V axis; the sucking disc 8 is connected with the rotating arm 7 and used for adsorbing products. Thereby enabling the product to be lifted, displaced and turned over in the manufacturing process.

Among them, as a more preferable or more specific implementation manner of the present invention:

in order to improve the working efficiency, the suction cup 8 comprises a first suction cup 81 and a second suction cup 82, and the first suction cup 81 and the second suction cup 82 are respectively connected with the front surface and the back surface of the rotating arm 7.

The Z axis is parallel to the U axis, the V axis is perpendicular to the Z axis and the U axis, and when the overturning mechanical arm is matched with the wafer electroplating loading and unloading equipment for use, the Z axis and the U axis are both in the vertical direction.

Z axle linear module 2 further includes linear electric motor 21, slider 22 and Z to slide rail 23, linear electric motor 21's output shaft slider 22 to drive slider 22 and go up and down along the Z axle on Z to slide rail 23:

the lifting fixing frame 3 comprises a vertical plate 31 and a horizontal plate 32, the vertical plate 31 is fixedly connected with the Z-axis linear module 2, the horizontal plate 32 is vertically arranged on the vertical plate 31, a U-axis hole is formed in the horizontal plate 32, a driving motor 42 of the U-axis rotating module 4 is fixedly connected with the lower portion of the horizontal plate 32, and an output shaft penetrates through the U-axis hole 322 and then is connected with the rotating frame 5.

The swivel mount 5 includes a diaphragm 51, a riser 52 and a bearing box 53, diaphragm 51 connect in the output shaft of the rotatory module 4 of U axle, the riser 52 is connected the bearing box 53, be equipped with cantilever hole 532 on the bearing box 53, the driving motor 61 fixed connection of the rotatory module 6 of V axle on the bearing box 53, the swinging boom 7 then wears to establish in the cantilever hole 532, one end is connected the output shaft of the rotatory module 6 of V axle, the other end is connected first sucking disc 81 and second sucking disc 82.

The mounting seat 1 comprises a bottom plate 11, a back plate 12 and two side plates 13, wherein the back plate 12 and the two side plates 13 are vertically arranged on the bottom plate 11 in a surrounding mode, and the Z-axis linear module 2 is arranged on the back plate 12. Thereby facilitating the installation of the entire flipping robot 100.

The following description will be made of the operation process and working principle of the automatic loading and unloading of the flipping robot of the present invention, taking the wafer electroplating process as an example:

1. the feeding process comprises the following steps:

step 11, firstly, the lifting fixing frame 3 is adjusted to the height of a starting point by the Z-axis linear module 2, meanwhile, the rotating frame 5 is adjusted to the angle of the starting point by the U-axis rotating module 4, and at a first station, the front side of the sucking disc 8 faces upwards to receive a wafer to be electroplated, which is transferred by the wafer robot, and negative pressure adsorption is generated to finish material taking;

step 12, driving the lifting fixing frame 3 to rise to a certain height through the Z-axis linear module 2, so that the wafer to be electroplated on the sucking disc rises;

step 13, the V-axis rotation module 6 drives the rotating arm 7 to rotate 180 degrees, so that the front side of the sucker faces downwards;

step 14, the U-axis rotation module 4 drives the rotation frame 3 to rotate, so that the rotation arm 7 swings to a target angle, and the wafer to be electroplated is taken to be above the second station by the suction cup 8;

step 15, the Z-axis linear module 2 drives the lifting fixing frame 3 to descend to a target height, then the sucker 8 drives the wafer to be electroplated to descend to the height of the second station, and the air pressure is released to lose adsorption, so that the wafer to be electroplated is transferred to a front trough of the electroplating hanger by the mounting and dismounting mechanism of the next process;

and step 16, the Z-axis linear module 2 and the U-axis rotary module 4 are enabled to reversely execute the processes, and the rotary arm 7 is reset to the first station.

Step 17, repeating the steps 11 to 16, so that the next wafer to be electroplated is transferred to the reverse side of the electroplating hanger by the mounting and dismounting mechanism; meanwhile, when the front and back troughs of the electroplating hanger are hung with the wafers to be electroplated, the wafers are taken away for electroplating operation.

2. The blanking process is as follows:

step 21, when the electroplating hanger hanging the electroplated wafer returns and is transferred to a second station by the mounting and dismounting mechanism, the sucker 8 on the rotating arm 7 is positioned above the second station;

step 22, the Z-axis linear module 2 drives the rotating arm 7 to descend, and the electroplated wafer is taken away through the adsorption effect of the sucker 8 with the front face facing downwards;

step 23, the U-axis rotation module 4 drives the rotating arm 7 to rotate to the position above the first station, and the V-axis rotation module 6 drives the rotating arm 7 to rotate 180 degrees, so that the front side of the sucking disc faces upwards;

and step 24, releasing the air pressure by the sucking disc to lose the adsorption, and taking away the electroplated wafer by the wafer robot.

Preferably, since the suction cups 8, i.e. the first suction cup 81 and the second suction cup 82, can be arranged on both the front and the back of the rotating arm 7, the feeding and the discharging can be performed together in the same rhythm, for example:

when the electroplating hanger hung with the electroplated wafer returns and is taken down to the second station by the mounting and dismounting mechanism, the first sucking disc 81 on the rotating arm 7 brings the wafer to be electroplated to the upper part of the second station, and the front surface of the first sucking disc 81 faces upwards; at the moment, the rotating arm 7 is descended, after the electroplated wafer at the second station is taken away by the second sucker 82, the rotating arm 7 can be rotated by 180 degrees, the front surface of the first sucker 81 faces downwards, so that the wafer to be electroplated can be placed at the second station, the exchange action of the electroplated wafer and the wafer to be electroplated is completed, the wafer is brought back to the position above the first station by the U-axis rotating module 4, then the rotating arm rotates by 180 degrees, the front surface of the first sucker 81 faces upwards, and the front surface of the second sucker 82 faces downwards; then the rotating arm is lowered to the height of the first station, the first suction cup 81 is empty and the front side is upward, so that the wafer to be electroplated transferred by the wafer robot can be received, and the wafer to be electroplated on the second suction cup 82 can be taken away by the wafer robot. Thereby the feeding and the discharging can be finished on the same station in sequence, and the operation efficiency is greatly improved.

After the scheme is adopted, the automatic loading and unloading equipment has the following beneficial effects: according to the turnover manipulator disclosed by the utility model, through the cooperation of three groups of mechanisms, namely the Z-axis linear module, the U-axis rotating module and the V-axis rotating module, the lifting, rotating and turnover functions are realized, so that turnover and transportation of products on two suckers on the rotating arm are realized, the product change can be finished, the material change time is saved, and the production efficiency is improved.

The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.

Claims

1. The utility model provides a upset manipulator which characterized in that: the device comprises a mounting seat, a Z-axis linear module, a lifting fixing frame, a U-axis rotating module, a rotating frame, a V-axis rotating module, a rotating arm and a sucker;

the Z-axis linear module is arranged on the mounting seat; the lifting fixing frame is connected with the Z-axis linear module and can be driven by the Z-axis linear module to lift along the Z axis; the U-axis rotating module is arranged on the lifting fixing frame; the rotating frame is connected with the U-axis rotating module and can rotate around the U axis by at least 90 degrees under the driving of the U-axis rotating module; the V-axis rotating module is arranged on the rotating frame; the rotating arm is connected to the V-axis rotating module and can be driven by the V-axis rotating module to periodically turn 180 degrees around the V axis; the sucking disc is connected with the rotating arm and used for adsorbing products.

2. A flipping robot as claimed in claim 1, wherein: the sucking disc includes first sucking disc and second sucking disc, first sucking disc with the second sucking disc is connected respectively the front and the reverse side of swinging boom.

3. A flipping robot according to claim 1 or 2, wherein: the Z axis and the U axis are parallel, and the V axis is perpendicular to the Z axis and the U axis.

4. A flipping robot according to claim 1 or 2, wherein: the Z-axis linear module further comprises a linear motor, a sliding block and a Z-direction sliding rail, wherein an output shaft of the linear motor is connected with the sliding block and drives the sliding block to lift on the Z-direction sliding rail along the Z axis.

5. A flipping robot according to claim 1 or 2, wherein: the lifting fixing frame comprises a vertical plate and a horizontal plate, the vertical plate is fixedly connected with the Z-axis linear module, the horizontal plate is perpendicularly arranged on the vertical plate, a U-axis hole is formed in the horizontal plate, a driving motor of the U-axis rotating module is fixedly connected below the horizontal plate, and an output shaft penetrates through the U-axis hole and then is connected with the rotating frame.

6. A flipping robot according to claim 1 or 2, wherein: the swivel mount includes a diaphragm, a riser and a bearing box, the diaphragm connect in the output shaft of the rotatory module of U axle, the riser is connected the bearing box, be equipped with the cantilever hole on the bearing box, the driving motor fixed connection of the rotatory module of V axle on the bearing box, the swinging boom then wears to establish in the cantilever hole, one end is connected the output shaft of the rotatory module of V axle, the other end is connected the sucking disc.

7. A flipping robot according to claim 1 or 2, wherein: the mounting seat comprises a bottom plate, a back plate and two side plates, the back plate and the two side plates are vertically arranged on the bottom plate in a surrounding mode, and the Z-axis linear module is arranged on the back plate.