CN217072418U - Sucking disc and robotic arm - Google Patents
Sucking disc and robotic arm Download PDFInfo
- Publication number
- CN217072418U CN217072418U CN202123124594.1U CN202123124594U CN217072418U CN 217072418 U CN217072418 U CN 217072418U CN 202123124594 U CN202123124594 U CN 202123124594U CN 217072418 U CN217072418 U CN 217072418U
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- suction cup
- base
- sucking disc
- substrate
- prong
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- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
A sucking disc and robotic arm, wherein the sucking disc includes: a base for fixing the suction cup; the supporting column is positioned on the base and protrudes out of the surface of the base; adsorb the piece, adsorb the piece and include elasticity portion and absorption portion, the elasticity portion with absorption portion all overlaps and locates on the support column, just the elasticity portion surrounds absorption portion. According to the sucker and the mechanical arm, when the substrate is bent, the adsorption surface of the sucker can incline along with the bending of the substrate, the adsorption effect of the sucker and the substrate is improved, and the situation that the substrate drops in the moving process is reduced.
Description
Technical Field
The utility model relates to a base plate transport technical field especially relates to a sucking disc and robotic arm.
Background
With the continuous development and progress of Liquid Crystal Display (LCD) technology, the LCD is developing towards high chroma and large size from the small LCD applied to electronic products such as electronic watches and electronic computers to the medium-large LCD applied to electronic products such as notebook computers and color televisions, but at the same time, the LCD also suffers from many problems in manufacturing and research and development, one of which is that the color filter substrate of medium and large size or the glass substrate is not easy to transport.
For example, the film surface and the back surface of the color filter substrate are sensitive to dust, particles, oil stains and mechanical touch, a human hand cannot touch the surface or the back surface of the product, and a mechanical arm with a sucker is generally used for moving the substrate.
However, the suction cups used in the past have a problem of poor suction to the substrate, and the substrate is likely to drop, collide, and the like during movement.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem provide a sucking disc and robotic arm, improve the bad problem of sucking disc adsorption substrate.
In order to solve the above technical problem, an embodiment of the present invention provides a suction cup, including: a base for fixing the suction cup; the supporting column is positioned on the base and protrudes out of the surface of the base; adsorb the piece, adsorb the piece and include elasticity portion and absorption portion, the elasticity portion with absorption portion all overlaps and locates on the support column, just the elasticity portion surrounds absorption portion.
Optionally, the elastic part includes: the accommodating part is positioned at the top end of the elastic part, and the adsorption part is positioned in the accommodating part; and one end of the corrugated stretching neck is connected with the accommodating part.
Optionally, the elastic part further includes: and the other end of the corrugated stretching necking is connected with the connecting part.
Optionally, the material of the elastic part includes rubber or silicone.
Optionally, the base has a channel penetrating through the base, and the supporting column is detachably connected with the channel.
Optionally, the detachable connection comprises a threaded connection or a bayonet connection.
Optionally, when the detachable connection is a threaded connection, the inner wall of the channel has an internal thread, and the outer wall of the support column has an external thread adapted to the internal thread.
Optionally, a hollow cavity is arranged inside the supporting column, and the hollow cavity is communicated with the passage.
Optionally, the surface of the adsorption part is provided with an air hole, and the air hole is communicated with the hollow cavity.
Optionally, the material of the adsorption part includes polyetheretherketone resin or polyimide resin.
The embodiment of the utility model provides a still provide a robotic arm with above-mentioned sucking disc, still include: a prong, the sucking disc install in the prong surface, the prong includes middle zone and tip region, middle zone the top surface distance of sucking disc the height of prong surface with the tip region the top surface distance of sucking disc the height of prong surface has the difference.
Compared with the prior art, the utility model discloses technical scheme has following beneficial effect:
this technical scheme provides a sucking disc sets up the elasticity portion around the absorption portion, absorption portion direct contact base plate, and the elasticity portion has elasticity, can take place deformation, and when the base plate was crooked, the elasticity portion can incline certain angle along with the crooked slope of base plate to drive the absorption portion slope, thereby keep the absorption portion to laminate with the base plate all the time, reduce the base plate and take place the circumstances such as drop at the removal in-process.
The mechanical arm comprises the sucker and the tooth fork, wherein the sucker is installed on the surface of the tooth fork, and the height of the top surface of the sucker in the middle area, which is far away from the surface of the tooth fork, is different from the height of the top surface of the sucker in the end area, which is far away from the surface of the tooth fork. The mechanical arm is adopted to transfer the substrate, so that on one hand, the adsorption effect of the sucker and the substrate is improved; on the other hand, the curvature of the base plate can be compensated by the height difference of the sucker on the tooth fork, so that the falling probability of the base plate in the moving process can be reduced.
Drawings
Fig. 1 is a schematic cross-sectional view of a suction cup according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot arm according to an embodiment of the present invention;
fig. 3 is a schematic side view of a robot according to an embodiment of the present invention;
fig. 4 is a schematic side view of a robot arm according to another embodiment of the present invention.
Detailed Description
As described in the background art, in the transportation of a large substrate, it is generally necessary to move the substrate using a robot arm having a chuck, and when the substrate is placed on the chuck, since the large and ultra-thin substrate has a problem of bending, the conventional chuck cannot change an angle with the bending of the substrate, so that the adsorptivity between the chuck and the substrate is not good, and the substrate is likely to be dropped while the substrate is moved.
In order to solve the above problem, an embodiment of the utility model provides a sucking disc and robotic arm, wherein the sucking disc includes base, support column and adsorbs the piece, adsorbs the piece and includes elasticity portion and absorption portion, the elasticity portion with the absorption portion all overlaps and locates on the support column, just the elasticity portion surrounds the absorption portion. The adsorption part is used for adsorbing the substrate, and with substrate direct contact, through setting up the elastic part that surrounds the adsorption part, when the substrate is crooked, the elastic part can be according to the suitable angle of adjustment of the crooked degree of substrate, can drive the adsorption part angle of adjustment that is being wrapped up to make the adsorption part can keep the state with the substrate laminating, improve the adsorption effect, reduce the condition that takes place to remove in-process substrate and drop.
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic cross-sectional view of a suction cup according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a robot arm according to an embodiment of the present invention; fig. 3 is a schematic side view of a robot arm according to an embodiment of the present invention; fig. 4 is a schematic side view of a robot arm according to another embodiment of the present invention.
Referring to fig. 1, the suction cup 1 includes: a base 10 for fixing the suction cup 1; the supporting column 20 is positioned on the base 10 and protrudes out of the surface of the base 10; the adsorbing member comprises an elastic part 30 and an adsorbing part 40, the elastic part 30 and the adsorbing part 40 are all sleeved on the supporting column 20, and the elastic part 30 surrounds the adsorbing part 40.
In this embodiment, the suction cup 1 is used to suck the substrate on the surface of the suction cup when transferring the substrate.
In this embodiment, the base 10 is used to fix the suction cup 1, and the base 10 is made of an aluminum alloy.
In this embodiment, the base 10 includes a first disk 11 and a second disk 12 that are disposed opposite to each other, and a connecting column 13 that connects the first disk 11 and the second disk 12, and central axes of the first disk 11, the second disk 12, and the connecting column 13 coincide.
In this embodiment, the base 10 is integrally i-shaped, so that the weight of the base can be reduced, and the load bearing of the mechanical arm can be reduced when the suction cup is mounted on the mechanical arm.
In this embodiment, the base 10 has a channel extending through the base 10, specifically, the channel extends through the first disk 11, the connecting column 13, and the second disk 12.
In this embodiment, the supporting column 20 is detachably connected to the base 10, so that the supporting column 20 and the adsorbing member sleeved on the supporting column 20 can be replaced conveniently.
In this embodiment, the supporting column 20 is connected to the base 10 by a screw, the inner wall of the channel of the base 10 has an internal thread, and the outer wall of the supporting column 20 has an external thread adapted to the internal thread, so that the supporting column 20 is connected to the base 10.
In other embodiments, the support post 20 and the channel may be connected by plugging.
In this embodiment, one end of the supporting column 20 is located in the channel, and the other end protrudes from the surface of the base 10, and is used for connecting an adsorbing member.
In this embodiment, the supporting pillar 20 has a hollow cavity therein, and the hollow cavity is communicated with the passage.
In this embodiment, the elastic part 30 with the absorption part 40 all overlap and locate support column 20 protrusion in one on the surface of base 10 is served, just the elastic part 30 surrounds absorption part 40, elastic part 30 has elasticity, absorption part 40 direct contact base plate, when the base plate is crooked, it is right the absorption piece formation pressure, elastic part 30 has elastic deformation, can take place the slope of certain angle under the pressure effect, drives the absorption part 40 slope that is being surrounded, thereby makes absorption part 40 still keeps good contact with the base plate surface, has improved the adsorption effect.
In this embodiment, the elastic portion 30 is made of rubber; in other embodiments, an elastic material such as silicone may be used.
In this embodiment, the rubber is a high temperature resistant rubber, and the heat resistant temperature of the high temperature resistant rubber is greater than 200 ℃. Because the sucking disc 1 can adsorb the substrate with higher temperature in the process, the elastic part 30 is close to the substrate, and high temperature resistant rubber is needed, so that the elastic part 30 is prevented from aging and losing elasticity, and the service time of the elastic part 30 is prolonged.
In this embodiment, the elastic portion 30 is a hollow structure, on one hand, the elastic portion 30 can better wrap the absorption portion 40, so that the actions of the elastic portion 30 and the absorption portion 40 are synchronous; on the other hand, the hollow structure is more favorable for the deformation of the elastic part 30, and the inclination angle can be better adjusted along with the bending of the substrate.
With continued reference to fig. 1, the elastic portion 30 includes: a housing part 31, wherein the housing part 31 is positioned at the top end of the elastic part 30, and the adsorption part 40 is positioned in the housing part 30; a corrugated expansion neck 32, one end of the corrugated expansion neck 32 being connected to the receiving portion 31.
In this embodiment, the elastic portion 30 further includes: and a connecting part 33, and the other end of the corrugated expansion neck 32 is connected with the connecting part 33.
In this embodiment, the accommodating portion 31, the corrugated extending neck 32 and the connecting portion 33 are integrally formed and integrally sleeved on the supporting post 20.
In this embodiment, the accommodating part 31 is in a dish shape for accommodating the adsorption part 40.
In this embodiment, the corrugated expansion neck 32 can expand and contract under the action of an external force, and when the substrate is bent in a certain direction, the corrugated expansion neck 32 is compressed by the force applied in the direction in which the substrate is bent and expands on the opposite side.
In this embodiment, the compression distance of the corrugated stretching neck 32 is 1-15 mm, which can satisfy the bending degree of most substrates.
In other embodiments, the compression distance of the corrugated stretch-reducing collar 32 is not limited thereto, and may be adjusted according to the actual size of the suction cup 1.
The number of the corrugated expansion necks 32 may be one or more.
In this embodiment, the connecting portion 33 is cylindrical, and the connecting portion 33 facilitates the connection between the elastic portion 30 and the supporting column 20.
In other embodiments, the connecting portion 33 may not be included, so that the corrugated expansion neck 32 is directly sleeved on the supporting pillar 20.
In this embodiment, the surface of the absorption portion 40 is a plane and is directly attached to the substrate.
In this embodiment, the surface of the absorption part 40 has an air hole, and the air hole is communicated with the hollow cavity and the channel.
In this embodiment, sucking disc 1 is connected with the evacuation machine, place the base plate on sucking disc 1 after, through the passageway the cavity and the inside air of 1 of gas pocket extraction sucking disc causes inside and outside pressure differential for the base plate is adsorbed on sucking disc 1.
In the present embodiment, the shape of the suction portion 40 is adapted to the shape of the accommodating portion 31, so that the suction portion 40 can be tilted together with the accommodating portion 31.
In this embodiment, the material of the adsorption part 40 includes polyetheretherketone resin; in other embodiments, the material of the adsorption part 40 may also be polyimide resin.
In this embodiment, the peek resin is a high temperature resistant material, and the adsorption portion 40 may directly contact the high temperature substrate, so as to prolong the aging time.
The embodiment of the utility model also provides a mechanical arm, which combines and refers to fig. 2 and fig. 3, and comprises the sucker 1; a fork 2, the suction cup 1 is installed on the surface of the fork 2 through the base 10, the fork 2 includes a middle area I and an end area II, the middle area I the top surface of the suction cup 1 is spaced from the height h1 of the surface of the fork 2 and the end area II the top surface of the suction cup 1 is spaced from the height h2 of the surface of the fork 2 with a difference.
In this embodiment, each prong 2 has one or more suction cups 1.
In this embodiment, the robot arm has a plurality of teeth 2, and each tooth 2 is parallel to each other, and a plurality of teeth 2 can make placing of base plate more steady.
When the robot arm has a plurality of prongs 2, including first prongs 21 located at both sides and second prongs 22 located at the middle, the height of the top surface of the suction cup 1 on the first prong 21 from the surface of the first prong 21 is different from the height of the top surface of the suction cup 1 on the second prong 22 from the surface of the second prong 22.
In the embodiment, the height difference between the sucking disc 1 of the middle area I and the sucking disc 1 of the end area II is 1-5 mm; the height difference range between the suction cup 1 on the first dental fork 21 and the suction cup 1 on the second dental fork 22 is 1-5 mm.
Referring to fig. 3, in an embodiment in which the robot arm is mounted on a cart for transporting a substrate 3, the substrate 3 is parallel to the ground, the height h1 of the top surface of the suction cup 1 of the middle area I from the surface of the prong 2 is less than the height h2 of the top surface of the suction cup 1 of the end area II from the surface of the prong 2, i.e. h1 < h 2.
In a state where the base plate 3 is parallel to the ground, the height of the top surface of the suction cup 1 on the second fork 22 from the surface of the second fork 22 is smaller than the height of the top surface of the suction cup 1 on the first fork 21 from the surface of the first fork 21.
The base plate 3 is parallel to the ground, so that when the base plate 3 moves through the mechanical arm, the base plate 3 bends from two ends to the middle, and the probability of falling of the base plate can be reduced.
Referring to fig. 4, in another embodiment, when the robot arm is used to remove the substrate 3 from the frame, the substrate 3 is perpendicular to the ground, and the height h1 of the top surface of the suction cup 1 of the middle area I from the surface of the prong 2 is greater than the height h2 of the top surface of the suction cup 1 of the end area II from the surface of the prong 2, i.e., h1 > h 2.
In a state where the base plate 3 is perpendicular to the ground, the height of the top surface of the suction cup 1 on the second fork 22 from the surface of the second fork 22 is greater than the height of the top surface of the suction cup 1 on the first fork 21 from the surface of the first fork 21.
Under the state on 3 perpendicular to ground of base plate, because the action of gravity, base plate 3 can be crooked naturally, when robotic arm was close to base plate 3, tooth fork 2 was nearer apart from 3 both ends of base plate, and is far away from 3 middles of base plate, consequently need be higher with the high setting of sucking disc 1 on sucking disc 1 of 2 middle zone I of tooth fork and the sucking disc 1 on the second tooth fork 22 to can suck base plate 3, set up like this and can be when sucking disc 1 absorbs base plate 3, strengthen the adsorption affinity with 3 each positions of base plate, reduce the probability that base plate 3 dropped.
In this embodiment, a first disc 11 of the base 10 is provided with a screw hole, and the suction cup 1 is connected with the tooth fork 2 by screw fixation.
In this embodiment, the top surface of the suction cup 1 can be flexibly adjusted from the surface of the tooth fork 2, and the height can be adjusted by increasing or decreasing the spacer between the base 10 and the tooth fork 2, so that when the mechanical arm is suitable for different scenes, the heights of the suction cups 1 in the middle area I and the end area II can be flexibly adjusted, or the heights of the suction cups 1 on the first tooth fork 21 and the second tooth fork 22 can be adjusted.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention, and the scope of the present invention is defined by the appended claims.
Claims (9)
1. A suction cup, comprising:
a base for fixing the suction cup;
the supporting column is positioned on the base and protrudes out of the surface of the base;
adsorb the piece, adsorb the piece and include elasticity portion and absorption portion, the elasticity portion with absorption portion all overlaps and locates on the support column, just the elasticity portion surrounds absorption portion.
2. The suction cup as set forth in claim 1, wherein said elastic portion includes: the accommodating part is positioned at the top end of the elastic part, and the adsorption part is positioned in the accommodating part; and one end of the corrugated stretching neck is connected with the accommodating part.
3. The suction cup as set forth in claim 2, wherein said resilient portion further comprises: and the other end of the corrugated stretching necking is connected with the connecting part.
4. The suction cup as set forth in claim 1 wherein said base has a channel extending therethrough, said support post being removably connected to said channel.
5. Suction cup according to claim 4, characterized in that the detachable connection comprises a screw connection or a bayonet connection.
6. The suction cup as set forth in claim 5, wherein when said detachable connection is a threaded connection, said channel inner wall has an internal thread and said support post outer wall has an external thread matching said internal thread.
7. The suction cup as set forth in claim 4 wherein said support post has a hollow cavity therein, said hollow cavity communicating with said passage.
8. The suction cup as claimed in claim 7, wherein said suction portion has an air hole on a surface thereof, said air hole communicating with said hollow cavity.
9. A mechanical arm for transferring a substrate is characterized by comprising:
the suction cup of any one of claims 1 to 8;
a prong, the sucking disc install in the prong surface, the prong includes middle zone and tip region, middle zone the top surface distance of sucking disc the height of prong surface with the tip region the top surface distance of sucking disc the height of prong surface has the difference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123124594.1U CN217072418U (en) | 2021-12-13 | 2021-12-13 | Sucking disc and robotic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123124594.1U CN217072418U (en) | 2021-12-13 | 2021-12-13 | Sucking disc and robotic arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217072418U true CN217072418U (en) | 2022-07-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123124594.1U Active CN217072418U (en) | 2021-12-13 | 2021-12-13 | Sucking disc and robotic arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217072418U (en) |
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2021
- 2021-12-13 CN CN202123124594.1U patent/CN217072418U/en active Active
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