CN215848303U - Traction driving device of manipulator - Google Patents
Traction driving device of manipulator Download PDFInfo
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- CN215848303U CN215848303U CN202122046502.6U CN202122046502U CN215848303U CN 215848303 U CN215848303 U CN 215848303U CN 202122046502 U CN202122046502 U CN 202122046502U CN 215848303 U CN215848303 U CN 215848303U
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- manipulator
- robotic arm
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Abstract
The utility model discloses a traction driving device of a manipulator, comprising: the traction mechanism is arranged in the middle of the stand and comprises a traction machine, a traction fixing frame, a synchronous belt and a synchronous wheel. The traction machine replaces the original weight box, the weight box is not arranged, the overall weight is reduced by about 1/4, the economic investment of mounting surface structural materials is reduced, the gravity center unbalance caused by the shaking of the weight box in the inner cavity of the upright post can be avoided, and the use stability and safety are improved; the continuous variable of the bearing load is realized, the load capacity is improved, and the time waste caused by switching the test machine to adjust the balance weight is reduced; the linear displacement sensor and the load deviation sensor are adopted to monitor the manipulator in real time, and the safety of the manipulator in use is improved.
Description
Technical Field
The utility model relates to the technical field of semiconductor encapsulation and measurement, in particular to a traction driving device of a manipulator.
Background
The tester is an important product in a semiconductor sealing and testing link, and needs to be held at a stable position in normal testing work; when the testing machines of different brands and types are matched with the probe machines and the sorting machines of different brands and types, parameters such as the height, the angle and the like of the testing machines need to be adjusted; the spatial position of the tester needs to be controlled by an industry-specific manipulator. A special manipulator for semiconductor sealing and testing needs to adapt to testing machines with different weights, and the balance principle is generally adopted in the industry for design and manufacture. The upper limit of the load of the manipulator manufactured by the industry balance principle is 400 Kg.
For the adjustment of load, the prior art implementation scheme in the industry is balance type, including common balance type and electric balance type, and in the same way, the fixed pulley, i.e. two sides of the synchronous wheel, one side is a load (testing machine) and the other side is a balance weight (weight box), and the mass and gravity of the two sides are equal in theory.
At present, the existing driving device of the manipulator has the following problems:
(1) when the ground on which the manipulator is placed is inclined or the manipulator is carried, the weight box is free of restraint, the weight box is prone to continuously shaking in a conical space and colliding with an inner cavity of an upright post of the manipulator, and gravity center unbalance is prone to being caused in serious cases, so that safety accidents are caused;
(2) for different testing machines, the number of the counterweight plates needs to be continuously adjusted by the counterweight edge to achieve balance. When an unconventional weight tester is encountered, because the weight plate is a regular weight, such as 6.5 Kg/block, the weight enough to balance is a multiple of 6.5, which is a discrete value, and this causes the maximum weight difference between the two sides to be about 6, and the resultant force between the arm and the guide rail is difficult to operate manually. When the weight of the tester is 400Kg, the number of the weight plates is 60, and when the tester needs to be switched to a 200Kg tester, the equivalent weight plates of 200Kg, namely 30 weight plates, need to be taken out from the weight box, and the time for dismounting is calculated, so that the time waste is brought to the tester switching, and if the tester is frequently switched, the time waste is more;
(3) because the capacity of the weight box and the thickness of the weight plate are constant, the maximum load is limited. Because both sides need the same weight, the weight of whole manipulator is body + load + weight box, and this value when the load is 400Kg, the weight of manipulator to ground or installation face will reach about 1.8 tons, and the pressure that the unit area bore will grow, just puts forward higher requirement to the structural material of installation face to cause the influence in the aspect of user's economy. For this reason, a new scheme needs to be designed to give improvements.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a traction driving device of a manipulator, which solves the problems of improving the capacity of the manipulator for bearing the upper limit of load, improving the safety performance of the special manipulator in the field of semiconductor encapsulation and measurement and monitoring in real time, and meets the actual use requirement.
In order to achieve the purpose, the utility model provides the following technical scheme: a traction drive device for a manipulator, comprising: robotic arm, stand and traction mechanism, longitudinal fixation has linear guide on the lateral wall of stand, linear guide is connected with robotic arm's lateral wall and robotic arm does vertical migration through linear guide, traction mechanism installs at its tractor, tows mount, hold-in range and synchronizing wheel of including at the middle part of stand, tow the mount and pass through the hold-in range and connect robotic arm, the hold-in range is the U-shaped structure of invering, and the one end of hold-in range twines with the traction wheel of tractor to be connected, the other end to being connected with robotic arm, the synchronizing wheel sets up and supports the hold-in range in the corner of hold-in range.
As a preferred embodiment of the present invention, a bottom plate, four guide pillars and a fixing plate are disposed inside the vertical pillar, the four guide pillars are vertically mounted on the top surface of the bottom plate near the corners, and the fixing plate is mounted on the upper ends of the guide pillars.
As a preferred embodiment of the present invention, the traction fixing frame includes two guide plates symmetrically disposed, through holes are formed on the surfaces of the two guide plates and movably connected with the guide posts through the through holes, an installation groove is left between the two guide plates, and the traction machine is disposed in the installation groove, and two ends of the traction machine respectively extend to the outer sides of the guide plates and are connected with the traction sheave.
As a preferred embodiment of the present invention, high strength springs are vertically installed at two ends of the top of the guide plate, respectively, the high strength springs are sleeved on the guide posts, and two ends of the high strength springs are connected with the top surface of the guide plate and the bottom surface of the fixing plate, respectively.
In a preferred embodiment of the present invention, the guide post penetrates through the guide plate, the high-strength spring and the fixing plate and is fastened by a bolt.
In a preferred embodiment of the present invention, a linear displacement sensor is vertically installed at the bottom of the fixing plate, and a detection end of the linear displacement sensor is connected to the traction fixing frame.
In a preferred embodiment of the present invention, a safety switch is further attached to the hoisting and fixing frame, and a load deviation sensor is connected to the safety switch.
Compared with the prior art, the utility model has the following beneficial effects:
according to the utility model, the traction machine is used for replacing the original weight box, the weight box is not arranged, the overall weight is reduced by about 1/4, the economic investment of mounting surface structure materials is reduced, the gravity center unbalance caused by the shaking of the weight box in the inner cavity of the upright column can be avoided, and the use stability and safety are improved; the traction machine is driven by a motor, so that the continuous variable of bearing load is realized, the load capacity is improved, and the time waste caused by switching a testing machine to adjust a balance weight is reduced; the linear displacement sensor and the load deviation sensor are adopted to monitor the manipulator in real time, and the safety of the manipulator in use is improved.
Drawings
Fig. 1 is a front view of a traction drive apparatus of a robot arm according to the present invention;
fig. 2 is a side view of a traction driving apparatus of a manipulator according to the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
fig. 4 is a schematic diagram of the robot driving apparatus according to the present invention.
In the figure, 1, a synchronous belt; 2. a high-strength spring; 3. dragging the fixed mount; 4. a guide post; 5. a synchronizing wheel; 6. a linear guide rail; 7. a robot arm; 8. a traction machine; 9. a linear displacement sensor; 10. a safety switch; 11. a fixing plate; 12. a guide plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a traction drive device for a manipulator, comprising: the mechanical arm 7, the upright post and the traction mechanism, the upright post is of a shell structure, a linear guide rail 6 is longitudinally fixed on the side wall of the upright post, the linear guide rail 6 is connected with the side wall of the mechanical arm 7, the mechanical arm 7 vertically moves through the linear guide rail 6, the traction mechanism is installed in the middle of the upright post and comprises a traction machine 8, a traction fixing frame 3, a synchronous belt 1 and a synchronous wheel 5, the traction fixing frame 3 is connected with the mechanical arm 7 through the synchronous belt, the synchronous belt 1 is of an inverted U-shaped structure, one end of the synchronous belt 1 is connected with the traction wheel of the traction machine 8 in a winding manner, the other end of the synchronous belt is connected with the mechanical arm 7, the synchronous wheel 5 is arranged at the corner of the synchronous belt 1 to support the synchronous belt 1, the traction machine 8 winds/releases the synchronous belt 1, so as to adjust the height of the mechanical arm, and the mechanical arm can play a role of buffering through a high-strength spring 2 when grabbing, the grabbing stability is improved. The traction machine 8 replaces the original weight box, so that the overall weight is reduced by about 1/4, the gravity center unbalance caused by the shaking of the weight box in the inner cavity of the upright post can be avoided, and the use stability and safety are improved; the traction machine 8 is driven by a motor, so that the continuous variable of bearing load is realized, the load capacity is improved, and the time waste caused by switching a testing machine to adjust a balance weight is reduced; the linear displacement sensor 9 and the load deviation sensor are adopted to monitor the manipulator in real time, so that the safety of the manipulator in use is improved.
Further improve ground, stand inside is provided with bottom plate, guide pillar 4 and fixed plate 11, and guide pillar 4 is provided with four altogether and vertically installs respectively and be close to the corner at the top surface of bottom plate, and fixed plate 11 installs in the upper end of stand, the basic component of stand, and the bottom plate is fixed with ground through the pre-buried bolt of high strength.
Further improved, the traction fixing frame 3 comprises two guide plates 12 which are symmetrically arranged, through holes are formed in the surfaces of the two guide plates 12 and are movably connected with the guide columns 4 through the through holes, a mounting groove is reserved between the two guide plates 12, the traction machine 8 is arranged in the mounting groove, two ends of the traction machine respectively extend to the outer sides of the guide plates 12 and are connected with a traction wheel, and the traction wheel is connected with the synchronous belt.
Further improved, the two ends of the top of the guide plate 12 are respectively vertically provided with a high-strength spring 2, the high-strength spring 2 is sleeved on the guide post 4, and the two ends of the high-strength spring are respectively connected with the top surface of the guide plate 12 and the bottom surface of the fixed plate 11. The guide post 4 penetrates through the guide plate 12, the high-strength spring 2 and the fixing plate 11 and then is fastened by bolts, the high-strength spring 2 is limited by the guide plate 12, the guide post 4 and the fixing plate 11, and the high-strength spring 2 plays a role in buffering the guide plate 12 in the using process.
In a further improved mode, the bottom of the fixing plate 11 is vertically provided with a linear displacement sensor 9, the detection end of the linear displacement sensor 9 is connected with the traction fixing frame 3, and the linear displacement sensor 9 monitors the displacement distance of the traction fixing frame 3 in real time. The traction fixing frame 3 is also provided with a safety switch 10, and the safety switch 10 is connected with a load deviation sensor, so that the use safety is improved.
The technical effects of the manipulator related to the utility model and the conventional balanced manipulator are compared and shown in the following table:
| manipulator parameter comparison | Ordinary balance type mechanical arm | The utility model relates to a manipulator | Capacity boost ratio |
| Load capacity Kg | 400 | 750 | 87.50％ |
| Total weight Kg of manipulator | 1380 | 980 | 29％ |
| Safety monitoring | Is free of | Linear displacement sensor + PLC | |
| Safety control deviation Kg | Is free of | Adjustable in +/-10 |
Compared with the common balanced manipulator, the manipulator provided by the utility model has the advantage of strong load capacity, the weight box is removed, the whole weight is smaller, the manipulator is safely monitored by adopting a linear displacement sensor and PLC (programmable logic controller) mode, the use safety is improved, and the safety control deviation is adjustable.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the utility model. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A traction drive device for a manipulator, comprising: robotic arm (7), stand and traction mechanism, its characterized in that: the utility model discloses a vertical traction mechanism for the elevator, including stand, linear guide (6), robotic arm (7), traction mechanism, traction mount (3), hold-in range (1) and synchronizing wheel (5), linear guide (6) are vertically fixed with on the lateral wall of stand, and robotic arm (7) are connected and robotic arm (7) are the vertical migration through linear guide (6) with the lateral wall of robotic arm (7), traction mechanism installs at the middle part of stand and it includes hauler (8), tows mount (3), tows robotic arm (7) through the hold-in range, hold-in range (1) is the U-shaped structure of invering, and the one end of hold-in range (1) is connected with the traction wheel winding of hauler (8), the other end is connected with robotic arm (7), synchronizing wheel (5) set up and support hold-in range (1) in the corner of hold-in range (1).
2. The traction drive device for a manipulator according to claim 1, wherein: the novel vertical column is characterized in that a base plate, guide pillars (4) and a fixing plate (11) are arranged inside the vertical column, the guide pillars (4) are provided with four parts and are vertically arranged on the top surface of the base plate close to corners respectively, and the fixing plate (11) is arranged at the upper end of the guide pillars (4).
3. The traction drive device for a manipulator according to claim 1, wherein: the traction fixing frame (3) comprises two guide plates (12) which are symmetrically arranged, through holes are formed in the surfaces of the two guide plates (12) and movably connected with the guide columns (4) through the through holes, a mounting groove is reserved between the two guide plates (12), and the traction machine (8) is arranged in the mounting groove, extends to the outer sides of the guide plates (12) at two ends and is connected with a traction wheel.
4. The traction drive device for a manipulator according to claim 3, wherein: the high-strength spring (2) is vertically installed at each of two ends of the top of the guide plate (12), the high-strength springs (2) are sleeved on the guide pillars (4), and two ends of each high-strength spring are connected with the top surface of the guide plate (12) and the bottom surface of the fixing plate (11) respectively.
5. The traction drive device for a manipulator according to claim 2, wherein: the guide post (4) penetrates through the guide plate (12), the high-strength spring (2) and the fixing plate (11) and then is fastened by bolts.
6. The traction drive device for a manipulator according to claim 2, wherein: the bottom of the fixing plate (11) is vertically provided with a linear displacement sensor (9), and the detection end of the linear displacement sensor (9) is connected with the traction fixing frame (3).
7. The traction drive device for a manipulator according to claim 1, wherein: the traction fixing frame (3) is further provided with a safety switch (10), and the safety switch (10) is connected with a load deviation sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122046502.6U CN215848303U (en) | 2021-08-27 | 2021-08-27 | Traction driving device of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122046502.6U CN215848303U (en) | 2021-08-27 | 2021-08-27 | Traction driving device of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215848303U true CN215848303U (en) | 2022-02-18 |
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ID=80243385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122046502.6U Active CN215848303U (en) | 2021-08-27 | 2021-08-27 | Traction driving device of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215848303U (en) |
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2021
- 2021-08-27 CN CN202122046502.6U patent/CN215848303U/en active Active
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