A robotic arm, an automatic balancing method for the robotic arm, and a conveying device

Abstract

The present invention relates to the field of semiconductors and discloses a robotic arm, an automatic balancing method for the robotic arm, and a conveying device. The robotic arm comprises: a frame; a sliding assembly slidably disposed on the frame along a set direction; an arm, one end of which is rotatably mounted on the sliding assembly; an adjustment mechanism disposed between the sliding assembly and the arm for adjusting the rotation angle of the arm relative to the sliding assembly; and a sensor disposed on the arm for acquiring position information of the arm in real time. The sensor is used to automatically adjust the arm without stopping the machine.

Description

Technical Field

[0001] The present invention relates to the technical field of semiconductor processing, and in particular to a robotic arm, an automatic balancing method for the robotic arm, and a conveying device. Background Art

[0002] In the display panel manufacturing industry, panel handling is often involved, using multi-layer, multi-row cassettes as transport containers. Especially at the inlet and outlet of the production line, robotic arms are used to contact the cassettes to achieve short-distance movement of panels between the cassettes and production line equipment.

[0003] As a loading container for panels, a cassette is generally composed of a metal frame and multiple layers of support rods and is handled by large logistics robots. The number of layers and columns of a single cassette determines the loading quantity of a single cassette. In the case of the same equipment space, the more layers there are, the larger the loading capacity and the higher the logistics efficiency. Based on the automated logistics of today's high-generation lines, with factors such as increased product size, limited equipment space, and increased production volume, logistics efficiency has a particularly significant impact on corporate benefits.

[0004] The panel handling robots have several mechanical arms that can be adjusted to accommodate panels of varying sizes. Vacuum nozzles are installed to contact the panels, preventing them from tilting or falling during operation. As the finished and semi-finished products handled in production grow in size and weight, the size of the robotic arms also increases, significantly increasing the likelihood of physical deformation. Summary of the Invention

[0005] The invention discloses a mechanical arm, an automatic balancing method of the mechanical arm and a transmission device, which are used for automatically adjusting the arm without stopping the machine.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a robotic arm comprising:

[0008] frame;

[0009] a sliding assembly, the sliding assembly being slidably disposed on the frame along a set direction;

[0010] an arm, one end of the arm being rotatably mounted on the sliding assembly;

[0011] an adjusting mechanism, the adjusting mechanism being disposed between the sliding assembly and the arm and being used to adjust a rotation angle of the arm relative to the sliding assembly;

[0012] A sensor is provided on the arm and is used to obtain position information of the arm in real time.

[0013] The sliding assembly is slidably installed on the frame along a set direction, one end of the arm is rotatably installed on the sliding assembly, and the other end of the arm is used to transport panels. The rotatable end of the arm adjusts the rotation angle of the arm relative to the sliding assembly through an adjustment mechanism, thereby ensuring the horizontality of the end of the arm that transports the panel, and improving the horizontal accuracy of the arm when transporting the panel. The cassette is a tool for carrying panels. Since the horizontality accuracy of the end of the arm that transports the panel is improved, the gap between each layer of the cassette can also be reduced accordingly. At the same cassette height, the number of layers can be increased, thereby improving the loading and transporting panel capacity of a single cassette, reducing the number of cassette handling times, thereby improving the overall logistics efficiency of the production line, reducing logistics equipment wear, and saving logistics costs; the position information of the arm is monitored in real time by sensors, and automatic adjustment can be made through the adjustment mechanism without stopping the robotic arm, thereby improving the horizontal accuracy of the arm.

[0014] Optionally, the sliding assembly includes a slide rail provided on the frame, and a slider sliding along the length direction of the slide rail;

[0015] The arm includes an arm fixing seat and an arm body. The arm fixing seat is installed on the slider through a connecting structure, and the arm body is installed on the arm fixing seat.

[0016] Optionally, it also includes: a bracket, one end of which is arranged on the slider, and the other end of the bracket is connected to the arm body through a rotating shaft, and the arm body is rotated relative to the arm fixing seat through the adjustment mechanism, and the rotation direction of the arm body is perpendicular to its own length direction and the sliding direction of the slider.

[0017] Optionally, the adjustment mechanism comprises a cylinder, a fixed end of the cylinder is provided on the slider, and a free end of the cylinder is in contact with the arm body;

[0018] The cylinder is actuated to move the arm body in a direction perpendicular to its own length and the sliding direction of the slider.

[0019] Optionally, the arm fixing seat has a groove on the side facing away from the slider, and the arm body is installed in the groove so that the arm body has a range of motion along a direction perpendicular to its own length and the sliding direction of the slider.

[0020] Optionally, there are multiple sensors, and the sensors are arranged at intervals along the length direction of the arm body.

[0021] Optionally, the connection structure includes a first connection portion, the first connection portion includes a body and a mounting member connected to the body, and a diameter of the body is smaller than a diameter of the mounting member;

[0022] a second connecting portion, wherein one end surface of the second connecting portion is provided with a first blind hole, the first blind hole being used to connect to a rotating member providing a rotational force; an end surface of the second connecting portion adjacent to the first blind hole is in contact with the body, and the diameter of the second connecting portion is the same as that of the body;

[0023] a connecting coating layer, wherein the main body and the second connecting portion are relatively fixed by the connecting coating layer, the connecting coating layer at least partially covering the outer wall of the main body, the connecting coating layer partially covering the outer wall of the second connecting portion, and threads being formed on at least a portion of the outer wall of the second connecting portion not covered by the connecting coating layer; the connecting coating layer causes a force in a first direction applied to a connecting surface formed by the first connecting portion and the second connecting portion to be greater than a force in a second direction, the first direction being perpendicular to the second direction, and the second direction being parallel to the plane of the connecting surface;

[0024] A connection surface formed by the first connection portion and the second connection portion is coplanar with a contact surface formed between the arm and the slider.

[0025] Optionally, a second blind hole is provided on a side surface of the mounting member facing away from the body;

[0026] Along a plane perpendicular to the first direction, the cross-sectional area of the second blind hole is polygonal.

[0027] Optionally, along a plane perpendicular to the first direction, a cross-sectional area of the first blind hole is polygonal.

[0028] In a second aspect, the present invention provides an automatic balancing method for a robotic arm, using the robotic arm described in the first aspect, comprising:

[0029] When the sliding assembly slides on the frame, one end of the arm is rotatably mounted on the sliding assembly;

[0030] The position information of the arm is acquired in real time by the sensor. When the position information of the arm changes, the adjustment mechanism adjusts the rotation angle of the arm relative to the sliding component.

[0031] In a third aspect, the present invention provides a conveying device comprising the robotic arm described in any one of the first aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A top view of a robotic arm provided by an embodiment of the present invention;

[0033] Figure 2 A side view of a robotic arm provided by an embodiment of the present invention;

[0034] Figure 3 A side view of an arm fixing seat provided by him in an embodiment of the present invention;

[0035] Figure 4 A top view of a connection structure provided by an embodiment of the present invention;

[0036] Figure 5 A cross-sectional view of a connection structure provided by an embodiment of the present invention;

[0037] Figure 6a-6d A schematic diagram of an assembly process of a connection structure provided by an embodiment of the present invention;

[0038] Figure 7 A schematic diagram of the installation of a robotic arm and a connection structure provided by an embodiment of the present invention;

[0039] Figure 8 A schematic diagram of a fracture effect of a connection structure in a robotic arm provided by an embodiment of the present invention;

[0040] In the figure: 1-arm body; 2-sensor; 3-arm fixing seat; 31-groove; 4-connecting structure; 5-slide rail; 6-slider; 7-rotating shaft; 8-cylinder; 9-cylinder base; 10-bracket; 11-trachea; 13-second blind hole; 14-first blind hole; 15-first connecting part; 151-body; 152-mounting part; 16-connecting coating layer; 17-second connecting part; 18-thread; 19-inner wall of the first blind hole; 20-adhesive layer. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] The finished and semi-finished products handled by robotic arms in panel production are becoming increasingly larger and heavier, leading to a corresponding increase in the size of the robotic arms, significantly increasing the probability of physical deformation. To prevent deformation or sagging of the robotic arms, which are fixed at only one end, they are typically constructed from lightweight, high-performance carbon fiber with a high elastic modulus. Multiple vacuum air pipes 11 are internally installed. Damage to these pipes results in high hardware costs, complex and difficult replacement procedures, and long repair times, severely impacting production capacity and equipment utilization. Currently, there is no data-based early warning or monitoring system, and problems can only be discovered after a machine downtime for maintenance or a collision. A collision shatters the glass substrate within the panel, and the resulting debris severely impacts production line cleanliness, easily causing foreign matter defects and impacting panel production yield.

[0043] Due to limitations in hardware precision and usage intensity, the robot's multiple arms are fixed at only one end, resulting in height errors in the horizontality of the suspended arm ends. Furthermore, due to the large size and weight of the products, the horizontality of the robotic arm fluctuates greatly when it is empty or loaded with panels. To reduce the probability of collision between the robotic arm and the hardware and panels inside the cassette, the design margins between the layers inside the cassette are relatively high. The thickness of a single panel is only 1mm, while the spacing between the layers inside the cassette needs to be designed to be more than 40mm. Therefore, within the same equipment space, the loading capacity of a single cassette is smaller, the total number of cassettes required is larger, and the cassettes are frequently moved, resulting in lower efficiency of the automated logistics system for high-capacity production lines, affecting the overall utilization rate of the production line.

[0044] And in the current technology, the robotic arm is installed on the robot, that is, one end of the robotic arm is fixed to the sliding component of the robot body 151. The arm and the sliding component are currently fixed by screws, and its levelness can only be manually adjusted during the installation and commissioning of the equipment. It is generally adjusted by loosening or tightening the screws and adding or removing gaskets. This method has limited adjustment space and cannot be adjusted in time. It has poor accuracy and large levelness error, and cannot achieve automatic inspection, abnormality recording and early warning feedback.

[0045] In order to solve the above-mentioned problems, such as Figure 1 and Figure 2 As shown, in a first aspect, an embodiment of the present invention provides a robotic arm, comprising:

[0046] frame;

[0047] A sliding assembly is slidably arranged on the frame along a set direction;

[0048] An arm, one end of which is rotatably mounted on the sliding assembly;

[0049] An adjustment mechanism is provided between the sliding assembly and the arm, and is used to adjust a rotation angle of the arm relative to the sliding assembly;

[0050] Sensor 2: Sensor 2 is set on the arm and is used to obtain the position information of the arm in real time.

[0051] It should be noted that the sliding assembly is slidably mounted on the frame along a set direction, one end of the arm is rotatably mounted on the sliding assembly, and the other end of the arm is used to transport panels. The rotatable end of the arm adjusts the rotation angle of the arm relative to the sliding assembly through an adjustment mechanism, thereby ensuring the horizontality of one end of the arm that transports the panel, and improving the horizontal accuracy of the arm when transporting the panel. The cassette is a tool for carrying panels. Since the horizontality accuracy of one end of the arm that transports the panel is improved, the gap between each layer of the cassette can also be reduced accordingly. Under the same cassette height, the number of layers can be increased, thereby improving the ability of a single cassette to load and transport panels, reducing the number of cassette handling times, thereby improving the overall logistics efficiency of the production line, reducing wear on logistics equipment, and saving logistics costs; the sensor 2 monitors the position information of the arm in real time, and can automatically adjust through the adjustment mechanism without stopping the robotic arm, thereby improving the horizontal accuracy of the arm.

[0052] Through sensor 2, software algorithm and adjustment structure, the horizontality of multiple long-rod-shaped robotic arms can be automatically adjusted. Even for a single robotic arm, the horizontality of its free end and fixed end can be adjusted. When the panel products are transported at high speed, the adjustable structure can obtain the position information of the arm body 1 through sensor 2, and adjust the horizontality of the arm body 1 at any time to keep it at a good horizontal accuracy at all times, so as to avoid collisions caused by the horizontality deviation of the robotic arm.

[0053] Specifically, the sliding assembly includes a slide rail 5 provided on the frame, and a slider 6 sliding along the length direction of the slide rail 5;

[0054] The arm includes an arm fixing seat 3 and an arm body 1 . The arm fixing seat 3 is installed on the slider 6 through a connecting structure 4 , and the arm body 1 is installed on the arm fixing seat 3 .

[0055] One end of the arm body 1 is fixed to the arm fixing base 3, which is mounted on the slider 6. The slider 6 can be driven by a servo motor to adjust along the length of the slide rail 5, thereby achieving the movement of the arm body 1. The free end of the arm body 1, that is, the end of the arm body 1 away from the arm fixing base 3, is used for mechanical transportation of panels. The movement mode of the slide rail 5 and the slider 6 improves the efficiency of panel transportation.

[0056] In some specific embodiments, the embodiment of the present invention provides a robotic arm further comprising: a bracket 10, one end of the bracket 10 is disposed on the slider 6, and the other end of the bracket 10 is connected to the arm body 1 via a rotating shaft 7, and a rotating shaft 7 and an adjustment mechanism are provided to enable the arm body 1 to rotate relative to the arm fixing seat 3, so that the arm body 1 is stable and adjustable. Specifically, the rotation direction of the arm body 1 is perpendicular to its own length direction and the sliding direction of the slider 6, that is, Figure 2 The arm body 1 can rotate around the rotating shaft 7.

[0057] Specifically, the adjustment mechanism includes a cylinder 8, the fixed end of the cylinder 8 is set on the slider 6, and the free end of the cylinder 8 is in contact with the arm body 1; the fixed end of the cylinder 8 is installed on the slider 6 through the cylinder base 9, and the cylinder 8 is actuated to move the arm body 1 in a direction perpendicular to its own length and the sliding direction of the slider 6. Figure 2 As shown, when there are two cylinders 8, the two high-precision cylinders 8 on either side of the rotating shaft 7 are electrically controlled by software to individually raise or lower them, thereby achieving the angle adjustment of the arm body 1. If the free end of the arm body 1 is not level due to the excessive weight of the panel it carries, the sensor 2 detects it and, after software calculation, controls the movement of the two cylinders 8 until the sensor 2 detects that the level requirement is met, ensuring that the arm body 1 always maintains good levelness and prevents sagging. If the standard is not met, the device will alarm.

[0058] like Figure 3 As shown, in order to ensure that the cylinder 8 has a certain degree of freedom in adjusting the arm body 1, the arm fixing base 3 has a groove 31 on the side facing away from the slider 6. The arm body 1 is installed in the groove 31 so that the arm body 1 has a range of motion along a direction perpendicular to its own length and the sliding direction of the slider 6. In other words, the arm fixing base 3 here is in a "concave" shape, so that the upper surface of the arm body 1 installed in the groove 31 is exposed. The upper surface of the arm body 1 here refers to the surface on the side away from the arm fixing base 3.

[0059] It can be understood that the sensor 2 is used to obtain the position information of the arm body 1. When the panel is carried by the arm body 1, multiple arm bodies 1 may be required, and the arm length is relatively long, for example, more than 2 meters. The arm body 1 is affected by its own weight and the load of heavier products. The suspended end is prone to sagging, and there are hardware errors between multiple arms, resulting in loss of horizontality.

[0060] In order to facilitate determination of the horizontality of the arm body 1 , there are multiple sensors 2 on the arm body 1 , and the sensors 2 are arranged at intervals along the length direction of the arm body 1 .

[0061] At present, due to mechanical error considerations, the gap between each layer of the cassette for loading panels is relatively large, the thickness of a single panel is only 1mm, and the gap interval between each layer of the cassette needs to be designed to be more than 40mm. The loading capacity of a single cassette is relatively low. Through the coordinated use of the sensor 2 and the adjustment mechanism in the embodiment of the present invention, the horizontal progress of the arm body 1 can be greatly improved, thereby ensuring the horizontal accuracy when placing the panel in the cassette. The gap between each layer of the cassette can also be reduced accordingly. Under the same cassette height, the number of layers can be increased, the loading capacity of a single cassette can be improved, and the number of cassette handling times can be reduced, thereby improving the overall logistics efficiency of the production line, reducing wear on logistics equipment, and saving logistics costs.

[0062] During daily production or equipment maintenance, the robotic arm often accidentally collides with objects due to hardware accuracy deviation, equipment software problems or human operating errors caused by long-term uninterrupted production. When the impact is strong, the carbon fiber robotic arm may be damaged or its fixed connection structure 4 may break. If the fixed connection structure 4 breaks, the broken part cannot be removed from the slider 6 and the arm, causing the arm and slider 6 to be scrapped. In severe cases, the slide rail 5 may also be damaged. Replacing the arm and slider 6 and the slide rail 5 is complicated, difficult and time-consuming, affecting production plans and causing large direct and indirect economic losses.

[0063] In some specific embodiments, such as Figure 4 and Figure 5 As shown, the connection structure 4 includes a first connection portion 15, and the first connection portion 15 includes a body 151 and a mounting member 152 connected to the body 151. The diameter of the body 151 is smaller than the diameter of the mounting member 152;

[0064] The second connecting portion 17 has a first blind hole 14 formed on one end surface thereof. Figure 5 In the embodiment, the first blind hole has a first blind hole inner wall 19 that contacts the hexagonal wrench, and the first blind hole 14 is used to connect to a rotating member that provides a rotational force; an end surface of the second connecting portion 17 close to the first blind hole 14 contacts the body 151, and the diameter of the second connecting portion 17 is the same as the diameter of the body 151;

[0065] The connecting coating layer 16 is used to relatively fix the main body 151 and the second connecting portion 17. The connecting coating layer 16 covers at least a portion of the outer wall of the main body 151 and a portion of the outer wall of the second connecting portion 17. The connecting coating layer 16 forms a thread 18 on at least a portion of the outer wall of the second connecting portion 17 not covered by the connecting coating layer 16. The connecting coating layer 16 ensures that the force in the first direction of the connecting surface formed by the first connecting portion 15 and the second connecting portion 17 is greater than the force in the second direction. The first direction is perpendicular to the second direction, and the second direction is parallel to the plane of the connecting surface.

[0066] The connection surface formed by the first connection portion 15 and the second connection portion 17 is coplanar with the contact surface formed between the arm and the slider 6 .

[0067] It should be noted that the present invention provides a connection structure 4, which is used to connect the arm and the slider 6. A contact surface is formed between the arm and the slider 6. The connection structure 4 includes a first connection part 15, a second connection part 17 and a connection coating layer 16, wherein the first connection part 15 includes a body 151 and a mounting member 152 connected to the body 151. The diameter of the body 151 is smaller than the diameter of the mounting member 152. When the first connection part 15 is rotated, the rotational force is directly applied to the mounting member 152 to realize the rotation of the body 151; a first blind hole 14 is provided on one end surface of the second connection part 17. The second connecting portion 17 has an end face of the first blind hole 14 in contact with the body 151 of the first connecting portion 15, and the diameter of the second connecting portion 17 is the same as the diameter of the body 151 of the first connecting portion 15, so that the first connecting portion 15 and the second connecting portion 17 can be fixed relative to each other using the connecting coating 16. The connecting coating 16 is located on the outer wall of the first connecting portion 15 and the outer wall of the second connecting portion 17. A thread is provided on at least a portion of the second connecting portion 17 that is not covered with the connecting coating 16, so that the threaded portion of the second connecting portion 17 is threadedly connected to the arm or the slider 6. Because the first connecting portion The connecting surface between the part 15 and the second connecting part 17 is connected by a connecting coating 16. The connecting coating 16 makes the force on the connecting surface in the first direction greater than the force in the second direction. The first direction is perpendicular to the second direction, and the second direction is parallel to the connecting surface. The connecting surface is coplanar with the contact surface formed between the arm and the slider 6, that is, the connecting surface is designed to be a fracture surface. Since the connecting surface of the first connecting part 15 and the second connecting part 17 has sufficient strength in the first direction and low strength in the second direction, when the arm and the slider 6 collide, the first connecting part 15 and the second connecting part 17 are disconnected from the connecting surface. The first connecting portion 15 is broken at the surface, thereby avoiding damage when the arm and the slider 6 collide. After the breakage, the first connecting portion 15 is located in the arm, and the second connecting portion 17 is located in the slider 6. The first connecting portion 15 after the breakage is removed from the arm by acting on the mounting member 152, and the second connecting portion 17 after the breakage is removed from the slider 6 by acting on the first blind hole 14. Since both the first connecting portion 15 and the second connecting portion 17 can be removed after the breakage, the arm and the slider 6 are avoided from being scrapped, thereby eliminating the need for replacement and repair of the arm and the slider 6, thereby saving time and economic costs.

[0068] When the arm body 1 is accidentally hit, the connection structure 4 includes: a first connection part 15 and a second connection part 17 of aluminum alloy material, a connection coating layer 16 of carbon fiber cloth, and an adhesive layer 20 for pasting the connection coating layer 16. For example, the adhesive layer 20 is bonded with an adhesive resin, and a designed connection surface is provided between the first connection part 15 and the second connection part 17 as a fracture surface. It has sufficient strength in a fixed force direction, that is, in the first direction, that is, the vertical direction, and is slightly weaker in the fracture force direction, that is, the second direction, that is, the horizontal direction. Its force fracture threshold can be designed by adjusting the thickness and density of the connection coating layer 16 through relevant destructive experiments.

[0069] For example, the second blind hole 13 is provided on the side of the mounting member 152 facing away from the body 151; the cross-sectional area of the second blind hole 13 along the plane perpendicular to the first direction is polygonal. The cross-sectional area of the first blind hole 14 along the plane perpendicular to the first direction is polygonal.

[0070] For example, first blind hole 14 is a hexagonal thread. When first connection portion 15 breaks and falls, first blind hole 14 of second connection portion 17 is exposed. If the robot arm is unexpectedly subjected to a force that reaches the design threshold of connection structure 4, connection structure 4 can achieve energy absorption protection by fracturing along the designed fracture surface, preventing damage to the robot arm and slider 6. Furthermore, the portion of the slider 6 that breaks is the second connection portion 17, exposing first blind hole 14. This allows for easy removal using a hexagonal wrench, preventing the slider 6 from being scrapped.

[0071] By designing the material and structure of the connection structure 4, the connection between the first connection part 15, the second connection part 17 and the connection coating layer 16 can break automatically at the designed breaking point after the force reaches a certain magnitude. For example, the connection coating layer 16 is carbon fiber, and the first connection part 15 and the second connection part 17 are aluminum alloy composite materials. The connection surface of the first connection part 15 and the second connection part 17 can break automatically at the designed breaking point after the force reaches a certain magnitude, thereby preventing the robot arm and the fixed slide rail 5 from being damaged by excessive force in the event of an accidental collision. After breaking, the above-mentioned connection structure 4 can be easily removed from the fixed slider 6, thereby avoiding replacement and scrapping of the slider 6.

[0072] like Figure 6a-6d As shown, the first connecting portion 15 and the second connecting portion 17 are made by grinding, coating with an adhesive layer 20, and wrapping with a connecting coating layer 16. The carbon fiber material used as the connecting coating layer 16 has unique material properties and is "strong" in the design stress direction and "brittle" in the non-design stress direction. The connecting structure 4 can be made to have sufficient strength in the first direction, that is, the longitudinal stress, to meet the fixing requirements. When the robot arm collides with the machine and is subjected to the second direction, that is, the lateral stress, it will break automatically after reaching the destructive stress. As shown in the attached figure Figure 7 and Figure 8 The figure shows the direction of force when the connection structure 4 is used for fixing and receiving stress, F1 is much greater than F2. Its transverse force failure limit F2 can be changed by adjusting the connection coating layer 16 according to needs.

[0073] Continue to refer Figure 7 The size of the connecting structure 4 can be changed according to the actual robot arm. The height h of the first connecting part 15 can be customized according to the height H of the arm fixing seat 3, so that the connecting surface of the first connecting part 15 and the second connecting part 17 is consistent with the contact surface of the required fixing parts. Figure 7 As shown, H = h.

[0074] The use process of the robotic arm provided in the embodiment of the present invention is as follows:

[0075] First, use an Allen wrench to tighten the second blind hole 13 on the first connection part 15 of the connection structure 4 to fix the robot arm to the slider 6 that drives the arm movement. The connection structure 4 can meet the mechanical strength required for fixation and ensure the reliability of fixation.

[0076] During the operation of the robotic arm, multiple sensors 2 inside the arm body 1 will monitor and record the horizontality data in real time. For example, sensor 2 is a horizontal gyroscope sensor 2. Multiple sensors 2 can provide real-time feedback data and integrate them according to the position data of the arm body 1 in which they are located to obtain the overall force condition of the entire arm body 1. Through computer simulation and debugging, the rotation angle that can keep the end of the arm body 1 horizontal and not drooping is calculated, and the activity data of the cylinder 8 is obtained, thereby ensuring the drooping amount of the arm body 1.

[0077] While the arm 1 is in operation, the software system monitors and dynamically adjusts its horizontality, comparing it to a set range. If it exceeds this range, the software logic controls the movement of two high-precision cylinders 8 at the fixed end of the arm 1. By adjusting the angle of the arm 1, the arm 1 automatically maintains horizontality even when loading heavy panels, without stopping the machine. If the arm 1 consistently fails to meet the preset standard, an alarm will sound to alert personnel for maintenance, preventing accidents.

[0078] Since the horizontality of the arm body 1 can be automatically adjusted, the accuracy of the arm body 1 in transporting panels into the cassette is greatly improved, which can reduce the height margin between cassette layers. For cassettes of the same volume, the number of layers is more, which can increase the loading capacity of a single cassette and reduce the number of cassette transports, thereby improving the overall logistics efficiency of the production line, reducing wear and tear on logistics equipment, and saving logistics costs.

[0079] When the robotic arm provided by the embodiment of the present invention fails or is accidentally struck by a human operator, the connecting structure 4 will break at the connecting surface to absorb the impact force, reducing the force on the robotic arm and preventing damage to the arm body 1. After the connecting structure 4 breaks from the connecting surface, the first blind hole 14 of the second connecting portion 17, which is the internal hexagonal thread, will be exposed. The first blind hole 14 of the broken portion can be easily removed with a hexagonal wrench, avoiding the situation where the second connecting portion 17 breaks and cannot be removed from the slider 6, causing the slider 6 to be scrapped. Replacement is convenient, quick and low-cost.

[0080] In a second aspect, an embodiment of the present invention provides an automatic balancing method for a robotic arm, which is applied to the robotic arm of the first aspect, comprising:

[0081] When the sliding assembly slides on the rack, one end of the arm is rotatably mounted on the sliding assembly;

[0082] The position information of the arm is obtained in real time through the sensor 2. When the position information of the arm changes, the adjustment mechanism adjusts the rotation angle of the arm relative to the sliding component.

[0083] The automatic balancing method of the robotic arm provided in the embodiment of the present invention can realize the refinement of production data in the big data era by collecting real-time monitoring data of the robotic arm's horizontality, establishing a corresponding database and management system, and through daily data analysis and monitoring, preventing the occurrence of production accidents in advance and formulating more reasonable equipment inspection and maintenance plans.

[0084] In a third aspect, an embodiment of the present invention provides a conveying device, comprising the robotic arm of any one of the first aspects.

[0085] Obviously, those skilled in the art may make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A robotic arm, characterized in that: include: frame; a sliding assembly, the sliding assembly being slidably disposed on the frame along a set direction; an arm, one end of which is rotatably mounted on the sliding assembly; an adjusting mechanism, the adjusting mechanism being disposed between the sliding assembly and the arm and being used to adjust a rotation angle of the arm relative to the sliding assembly; A sensor, the sensor being arranged on the arm and configured to obtain position information of the arm in real time; The sliding assembly includes a slide rail provided on the frame, and a slider sliding along the length direction of the slide rail; The arm includes an arm fixing seat and an arm body, the arm fixing seat is mounted on the slider through a connecting structure, and the arm body is mounted on the arm fixing seat; The connecting structure includes a first connecting portion, the first connecting portion includes a body and a mounting member connected to the body, and the diameter of the body is smaller than the diameter of the mounting member; a second connecting portion, wherein one end surface of the second connecting portion is provided with a first blind hole, the first blind hole being used to connect to a rotating member providing a rotational force; an end surface of the second connecting portion adjacent to the first blind hole is in contact with the body, and the diameter of the second connecting portion is the same as that of the body; a connecting coating layer, wherein the main body and the second connecting portion are relatively fixed by the connecting coating layer, the connecting coating layer at least partially covering the outer wall of the main body, the connecting coating layer partially covering the outer wall of the second connecting portion, and threads being formed on at least a portion of the outer wall of the second connecting portion not covered by the connecting coating layer; the connecting coating layer causes a force in a first direction applied to a connecting surface formed by the first connecting portion and the second connecting portion to be greater than a force in a second direction, the first direction being perpendicular to the second direction, and the second direction being parallel to the plane of the connecting surface; A connection surface formed by the first connection portion and the second connection portion is coplanar with a contact surface formed between the arm and the slider.

2. The robotic arm according to claim 1, characterized in that: Also includes: A bracket, one end of which is arranged on the slider, and the other end of which is connected to the arm body through a rotating shaft. The arm body is rotated relative to the arm fixing seat through the adjusting mechanism, and the rotation direction of the arm body is perpendicular to its own length direction and the sliding direction of the slider.

3. The robotic arm according to claim 2, characterized in that: The adjustment mechanism includes a cylinder, a fixed end of the cylinder is arranged on the slider, and a free end of the cylinder is in contact with the arm body; The cylinder is actuated to move the arm body in a direction perpendicular to its own length and the sliding direction of the slider.

4. The robotic arm according to claim 3, characterized in that: The arm fixing seat has a groove on the side away from the slider, and the arm body is installed in the groove so that the arm body has a range of motion along a direction perpendicular to its own length and the sliding direction of the slider.

5. The robotic arm according to any one of claims 1 to 4, characterized in that: There are multiple sensors, and the sensors are arranged at intervals along the length direction of the arm body.

6. The robotic arm according to claim 1, characterized in that: A second blind hole is provided on a surface of the mounting member facing away from the body; Along a plane perpendicular to the first direction, the cross-sectional area of the second blind hole is polygonal.

7. The robotic arm according to claim 1 or 6, characterized in that: Along a plane perpendicular to the first direction, the cross-sectional area of the first blind hole is polygonal.

8. A method for automatic balancing of a robotic arm, characterized in that: The application of the robotic arm according to any one of claims 1 to 7 comprises: When the sliding assembly slides on the frame, one end of the arm is rotatably mounted on the sliding assembly; The position information of the arm is acquired in real time by the sensor. When the position information of the arm changes, the adjustment mechanism adjusts the rotation angle of the arm relative to the sliding component.

9. A conveying device, characterized in that: A robotic arm comprising any one of claims 1 to 7.

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