Mechanical arm and automatic carrying device

Abstract

The invention provides a mechanical arm and an automatic carrying device. The mechanical arm is mounted on an expansion frame of an automatic navigation trolley in a side-mounted installation mode, the height of a mounting point relative to a ground is higher than the height of the top surface of a material relative to the ground, compared with the prior art, the working space of the mechanical arm is large, carrying of deeper or lower stations can be met, meanwhile, the interference of the mechanical arm and the self-station can be avoided in the carrying process of the mechanical arm of theembodiment, a large amount of motion track of the mechanical arm do not deed to be wasted, and the carrying efficiency is improved. Furthermore, a rotation connecting block is additionally arranged ata mechanical fork and a joint of a wrist part, so that a certain included angle is formed between the mechanical fork and the joint of the wrist part, and a singular point of the wrist part of the mechanical arm can be eliminated.

Description

technical field [0001] The invention relates to the field of mechanical technology, in particular to a mechanical arm and an automatic handling device. Background technique [0002] Automated logistics systems have been widely used in the industrial field, and the main body of automation is to use six-axis robotic arms to carry goods. The six-axis robotic arm can move the items at the end of the arm from one position to another by using multiple arms with rotating joints. To another position, the six-axis robotic arm has a high degree of freedom, but there may also be singularities that make 1. The degree of freedom of the six-axis robotic arm is reduced and certain movements cannot be realized. 2. The six-axis robotic arm is out of control and unpredictable sports. [0003] The six-axis robotic arm may produce three kinds of singular points: shoulder singular point, elbow singular point and wrist singular point. When the wrist singular point is that axis 4 and axis 6 are p...

AI Technical Summary

Problems solved by technology

However, its working space is small, and it cannot meet the handling of deeper or lower stations.

Although there is basically no wrist singularity during the handling process, in order to avoid interference with its own station, the six-axis robotic arm needs to waste a lot of trajectories to avoid, which greatly reduces the handling efficiency

As the semiconductor industry is increasingly pursuing unmanned production in the processing and manufacturing process, the requirements for automatic cassette handling equipment are also getting higher and higher. less

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