A quick assembly device and assembly method for a robot wrist assembly

Abstract

The application provides a quick assembly device and method for a robot wrist assembly, the assembly device comprising a left side plate and a right side plate vertically arranged on both sides of the assembly device, and a detachably connected upper cover plate and a lower bottom plate arranged in a horizontal direction between the left side plate and the right side plate, wherein the distance between the lower surface of the upper cover plate and the upper surface of the lower bottom plate is the same as the distance between the upper surface of the upper plate of the wrist assembly and the lower surface of the lower plate of the wrist assembly, and the upper cover plate is provided with an assembly hole. The method comprises placing the wrist assembly into the assembly device for accurate height and parallelism adjustment. The application can quickly and accurately make the upper plate of the wrist assembly and the lower plate of the wrist assembly reach a fixed assembly distance, and also make the upper plate of the wrist assembly and the lower plate of the wrist assembly reach accurate parallelism. Therefore, the quick assembly device and method provided by the application have the advantages of simplicity, quickness and high accuracy when assembling the wrist assembly.

Description

Technical Field

[0001] This invention relates to the field of robot wrist assembly, and in particular to a rapid assembly device and method for robot wrist assemblies. Background Technology

[0002] Robots are used in photolithography and other semiconductor equipment. As a wafer handling module, the robot must be efficient, reliable, and precise. Robot wrist components, as a part of the robot, are typically mounted in pairs, and the dimensional data between the two wrist components must maintain a high degree of accuracy. Please refer to the appendix. Figure 2 and attached Figure 3 As shown, the wrist assembly includes an upper wrist assembly plate and a lower wrist assembly plate. The upper and lower wrist assembly plates need to maintain precise height and parallelism. Currently, during the assembly of the wrist assembly, manual adjustments to the height and parallelism between the upper and lower wrist assembly plates are required, which is time-consuming and labor-intensive. This is especially true when replacing the wrist assembly, where a significant amount of time is spent adjusting it to meet usage requirements. Therefore, based on the above, an assembly device and method for robot wrist assemblies are needed to improve the assembly speed and accuracy of the wrist assembly. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a rapid assembly device and assembly method for robot wrist components, so as to solve the technical problems mentioned in the background art.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A rapid assembly device for a robot wrist assembly includes a left side plate and a right side plate vertically arranged on both sides of the assembly device. The left side plate and the right side plate are detachably connected by an upper cover plate and a lower bottom plate arranged in a horizontal direction. The distance between the lower surface of the upper cover plate and the upper surface of the lower bottom plate is the same as the distance between the upper surface of the upper plate of the wrist assembly and the lower surface of the lower plate of the wrist assembly. The upper cover plate is provided with assembly holes.

[0006] Furthermore, in the above-described invention, the upper cover plate and the lower base plate are detachably connected between the left side plate and the right side plate by screws.

[0007] A method for quick assembly of a robot wrist assembly, the assembly method comprising the following steps:

[0008] S1. Remove the screws that fix the lower base plate to the left and right side plates, remove the lower base plate, and place the wrist assembly into the cavity of the assembly device along the bottom notch of the assembly device with the upper plate of the wrist assembly facing upward. Then fix the lower base plate to the left and right side plates with screws.

[0009] S2. Install the wrist assembly threaded post onto the upper plate of the wrist assembly through the assembly hole, and make the lower end of the wrist assembly threaded post abut against the upper surface of the lower plate of the wrist assembly. Tighten the wrist assembly threaded post to adjust the distance between the upper plate of the wrist assembly and the lower plate of the wrist assembly until the upper surface of the upper plate of the wrist assembly is in contact with the lower surface of the upper cover plate and the lower surface of the lower plate of the wrist assembly is in contact with the upper surface of the lower base plate.

[0010] S3. Place the wrist component stop blocks into the gap holes that are respectively set on the upper plate and lower plate of the wrist component, and then use bolts to fix and lock the wrist component stop blocks in the gap holes.

[0011] S4. Insert the wrist component wire into the hole of the wrist component stop block from top to bottom;

[0012] S5. Apply adhesive to the contact area between the threaded post of the wrist assembly and the contact area between the wrist assembly wire and the wrist assembly stop block, until all the adhesive parts are fixed. Then fix the wrist assembly wire to the wrist assembly stop block and cut off the protruding wrist assembly wire at the adhesive part along the upper surface of the top cover plate.

[0013] S6. Remove the screws that fix the lower base plate to the left and right side plates, remove the lower base plate, take out the wrist assembly, and then fix the lower base plate to the left and right side plates with the screws.

[0014] The beneficial effects of this invention are as follows: The rapid assembly device and method provided by this invention can quickly and accurately achieve a fixed assembly distance between the upper and lower plates of the wrist assembly, and also ensure precise parallelism between them. Furthermore, during the adhesive application process, the adhesive can be applied to the required bonding location without moving the wrist assembly. Therefore, the rapid assembly device and method provided by this invention offer the advantages of simplicity, speed, and high precision in assembling wrist assemblies. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention;

[0016] Figure 2 This is a schematic diagram of the wrist component structure of the present invention;

[0017] Figure 3 for Figure 2 A magnified view of part A;

[0018] Figure 4This is a schematic diagram of the wrist component assembly structure of the present invention;

[0019] Figure 5 This is a schematic diagram of another assembly structure of the wrist component of the present invention;

[0020] Figure 6 For this Figure 5 Top view.

[0021] In the diagram, 100-left side plate, 101-right side plate, 102-upper cover plate, 103-lower base plate, 104-assembly hole, 105-screw, 200-upper plate of wrist assembly, 201-lower plate of wrist assembly, 202-threaded post of wrist assembly, 203-clearance hole, 204-stop block of wrist assembly, 205-bolt, 206-steel wire of wrist assembly. Detailed Implementation

[0022] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0023] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0024] Example:

[0025] Please see the appendix Figure 2 and attached Figure 3 As shown in the figure, the wrist assembly is assembled. Specifically, the assembled wrist assembly includes an upper wrist assembly plate 200 and a lower wrist assembly plate 201. Corresponding gap holes 203 are provided on the upper wrist assembly plate 200 and the lower wrist assembly plate 201. A wrist assembly stop 204 is provided in the gap hole 203. The wrist assembly stop 204 is locked in the gap hole 203 by bolts 205. In addition, the wrist assembly stop 204 is also glued to the gap hole 203 by applying adhesive. A wrist assembly steel wire 206 is also sleeved on the wrist assembly stop 204 on the upper wrist assembly plate 200 and the lower wrist assembly plate 201. The wrist assembly steel wire 206 is fixed to the wrist assembly stop 204 by adhesive. The lower wrist assembly plate 201 is suspended below the upper wrist assembly plate 200 by the wrist assembly steel wire 206.

[0026] The upper plate 200 of the wrist assembly is provided with a wrist assembly threaded post 202 that passes vertically through the upper plate 200. The lower end of the wrist assembly threaded post 202 tightly abuts against the upper surface of the lower plate 201 of the wrist assembly. The wrist assembly threaded post 202 is used to determine the distance between the upper plate 200 and the lower plate 201 of the wrist assembly. Ideally, the lower end face of each wrist assembly threaded post 202 should be in a plane. However, during the assembly of the wrist assembly, since the depth and force of tightening the wrist assembly threaded post 202 are manually controlled, it is very easy to cause one or more wrist assembly threaded posts 202 to be tightened to different depths. This results in errors in the height and parallelism between the upper plate 200 and the lower plate 201 of the wrist assembly, requiring repeated adjustments to the height and parallelism between the upper plate 200 and the lower plate 201, which is time-consuming and labor-intensive. The technical problem solved by this invention is precisely this.

[0027] Based on the above, the present invention provides a rapid assembly device and method for robot wrist components. Please refer to the appendix for further details. Figure 1 As shown, the assembly device includes a left side plate 100 and a right side plate 101 vertically arranged on both sides of the assembly device. The left side plate 100 and the right side plate 101 are detachably connected by an upper cover plate 102 and a lower bottom plate 103 arranged in the horizontal direction. The upper cover plate 102 is provided with an assembly hole 104. Preferably, the upper cover plate 102 and the lower bottom plate 103 are detachably connected between the left side plate 100 and the right side plate 101 by screws 105.

[0028] In this embodiment, the upper cover plate 102 and the lower base plate 103 are arranged parallel to each other, and the distance between the lower surface of the upper cover plate 102 and the upper surface of the lower base plate 103 is the same as the distance between the upper surface of the upper plate 200 of the wrist assembly and the lower surface of the lower plate 201 of the wrist assembly.

[0029] In this embodiment, a method for a rapid assembly device to improve the assembly speed and accuracy of robot wrist components is also provided, specifically including the following assembly steps:

[0030] Please see the appendix Figure 4 As shown, remove the screws 106 that fix the lower base plate 103 to the left side plate 100 and the right side plate 101, remove the lower base plate 103, and place the wrist assembly into the cavity of the assembly device along the bottom notch of the assembly device with the upper plate 200 of the wrist assembly facing upward. Then, fix the lower base plate 103 to the left side plate 100 and the right side plate 101 again with the screws 106. (See attached image) Figure 5 (As shown).

[0031] The wrist assembly threaded post 200 is installed on the upper plate 200 of the wrist assembly through the mounting hole 104, and the lower end of the wrist assembly threaded post 202 abuts against the upper surface of the lower plate 201 of the wrist assembly. The wrist assembly threaded post 202 is turned to adjust the distance between the upper plate 200 and the lower plate 201 of the wrist assembly until the upper surface of the upper plate 200 is in contact with the lower surface of the upper cover plate 102 and the lower surface of the lower plate 201 is in contact with the upper surface of the lower base plate 103. Through this step, the distance between the upper surface of the upper plate 200 and the lower surface of the lower plate 201 of the wrist assembly is kept the same as the distance between the lower surface of the upper cover plate 102 and the upper surface of the lower base plate 103. This ensures that the distance between the upper plate 200 and the lower plate 201 of the wrist assembly has precise assembly accuracy, and also ensures that the upper plate 200 and the lower plate 201 of the wrist assembly have precise parallelism.

[0032] The wrist component stop 204 is placed into the gap holes 203 respectively set on the upper plate 200 and lower plate 201 of the wrist component, and then the wrist component stop 204 is fixed and locked in the gap hole 203 using bolts 205; the wrist component wire 206 is inserted into the hole of the wrist component stop 204 from top to bottom; the wrist component threaded post 202 and the contact area between the wrist component wire 206 and the wrist component stop 204 are coated with glue until all the coated parts are fixed. The wrist component wire 206 is fixed on the wrist component stop 204. The protruding wrist component wire 206 at the glued part is cut off along the upper surface of the upper cover plate 102. In this step, since the entire wrist component is fixed in the assembly device, the glue can be applied to the glued position without moving the wrist component, which speeds up the glue application operation and simplifies the glue application difficulty.

[0033] Remove the screws that fix the lower base plate to the left and right side plates, remove the lower base plate, and take out the wrist assembly after the glue application is completed. At this time, the lower plate 201 of the wrist assembly is suspended below the upper plate 200 of the wrist assembly with a precise distance and accurate parallelism, thus completing the entire assembly process of the wrist assembly. Finally, fix the lower base plate 103 to the left and right side plates 101 with screws 106 and put the assembly device back in place.

[0034] As can be seen from the above, the rapid assembly device and method provided by the present invention can quickly and accurately achieve a fixed assembly distance between the upper plate 200 and the lower plate 201 of the wrist assembly, and can also achieve precise parallelism between the upper plate 200 and the lower plate 201. Furthermore, during the adhesive application process of the wrist assembly, the adhesive can be applied to the required bonding position without moving the wrist assembly. Therefore, the rapid assembly device and method provided by the present invention have the advantages of simplicity, speed, and high precision in assembling wrist assemblies.

[0035] The embodiments described above are merely illustrative of specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A rapid assembly method for a robot wrist component, characterized in that, Includes the following steps: S1. Remove the screws that fix the lower base plate to the left and right side plates, remove the lower base plate, and place the wrist assembly into the cavity of the assembly device along the bottom notch of the assembly device with the upper plate of the wrist assembly facing upward. Then fix the lower base plate to the left and right side plates with screws. S2. Install the wrist assembly threaded post onto the upper plate of the wrist assembly through the assembly hole, and make the lower end of the wrist assembly threaded post abut against the upper surface of the lower plate of the wrist assembly. Tighten the wrist assembly threaded post to adjust the distance between the upper plate of the wrist assembly and the lower plate of the wrist assembly until the upper surface of the upper plate of the wrist assembly is in contact with the lower surface of the upper cover plate and the lower surface of the lower plate of the wrist assembly is in contact with the upper surface of the lower base plate. S3. Place the wrist component stop blocks into the gap holes that are respectively set on the upper plate and lower plate of the wrist component, and then use bolts to fix and lock the wrist component stop blocks in the gap holes. S4. Insert the wrist component wire into the hole of the wrist component stop block from top to bottom; S5. Apply adhesive to the contact area between the threaded post of the wrist assembly and the contact area between the wrist assembly wire and the wrist assembly stop block, until all the adhesive parts are fixed. Then fix the wrist assembly wire to the wrist assembly stop block and cut off the protruding wrist assembly wire at the adhesive part along the upper surface of the top cover plate. S6. Remove the screws that fix the lower base plate to the left and right side plates, remove the lower base plate, take out the wrist assembly, and then fix the lower base plate to the left and right side plates with the screws.

2. The apparatus for the rapid assembly method of the robot wrist assembly according to claim 1, characterized in that, The upper cover plate and the lower base plate are detachably connected between the left side plate and the right side plate by screws.

3. The apparatus for the rapid assembly method of the robot wrist assembly according to claim 1, characterized in that, The assembly device includes a left side plate and a right side plate vertically arranged on both sides of the assembly device. The left side plate and the right side plate are detachably connected by an upper cover plate and a lower bottom plate arranged in the horizontal direction. The distance between the lower surface of the upper cover plate and the upper surface of the lower bottom plate is the same as the distance between the upper surface of the wrist assembly and the lower surface of the wrist assembly. The upper cover plate is provided with assembly holes.

Images