Carrying manipulator with anti-falling structure

Abstract

The invention discloses a carrying manipulator with an anti-falling structure, and belongs to the technical field of carrying manipulators, the carrying manipulator comprises a mechanical arm and a supporting disc connected with one end of the mechanical arm through a connecting frame, the connecting frame is further provided with a servo motor, and a shaft end bearing of the servo motor penetrates to the lower portion of the supporting disc; and a driven disc coaxial with the servo motor is installed at the shaft end of the servo motor, the driven disc is coaxially arranged below the supporting disc, a clamping assembly is arranged on the supporting disc and the driven disc in a penetrating mode, and the clamping assembly comprises an air bag cushion. According to the tray transporting device, a tray can be clamped from the side face, the bottom face of the tray can be supported in the transporting process, then stability in the tray transporting process can be guaranteed, in addition, it can be avoided that the air bag cushions clamping the tray are far away from one another, the tray can be prevented from being loosened and falling off, meanwhile, the air bag cushions have the tendency to be close to one another, and the transportation efficiency is improved. Therefore, the tray can be further prevented from falling off.

Description

Technical Field

[0001] The present invention relates to the technical field of handling manipulators, and particularly to a handling manipulator provided with an anti-falling structure. Background Art

[0002] In the wave of the rapid development of modern industrial production, the degree of automation continues to rise. As a key equipment in the process of industrial automation, the importance of handling manipulators has become increasingly prominent; When handling and stacking trays for placing wafers layer by layer, generally adsorption-type manipulators are used. However, during the use of adsorption-type manipulators, the trays are likely to slip off the manipulators due to the gradual smoothness of the adsorption parts of the trays, and thus the stable clamping of the trays by the manipulators cannot be ensured; In order to prevent the trays from slipping off the manipulators, generally, the trays are handled by a side clamping method. However, during its use, there are still some problems. For example, for the handling manipulator disclosed in the publication number CN217414031U, which squeezes and clamps the trays from the side through the first claw arm, the second claw arm and the abutting part. Although it can avoid the problem of tray slippage caused by adsorption-type handling of trays, when clamping and handling the trays, the trays still have the possibility of falling. This is because when clamping the trays, only the sides of the trays are clamped. If the clamping height is relatively high, the clamping will be unstable, and the trays are likely to fall under the action of their own gravity; Therefore, a handling manipulator provided with an anti-falling structure is needed to solve the above problems. Summary of the Invention

[0003] The purpose of the present invention is to provide a handling manipulator provided with an anti-falling structure to solve the problem that the existing handling manipulators are prone to tray dropping when handling trays as mentioned in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solutions: A handling manipulator provided with an anti-falling structure includes a robotic arm and a support disk connected to one end thereof through a coupling frame. A servo motor is further installed on the coupling frame, and the shaft end bearing of the servo motor penetrates to the lower part of the support disk. A driven disk coaxial with the servo motor is installed on the shaft end of the servo motor, and the driven disk is coaxially arranged below the support disk. A clamping assembly is penetrated through the support disk and the driven disk, and the clamping assembly includes an airbag pad. An anti-falling assembly for preventing the clamping assembly from loosening the tray is arranged on the support disk.

[0005] Preferably, the clamping assembly includes a strip groove running through the upper and lower sides of the support plate, and three strip grooves are arranged at equal angles with respect to the axis of the support plate, the driven plate is provided with an arc groove running through the upper and lower sides thereof, and three arc grooves are arranged with respect to the axis of the driven plate, the strip grooves and the arc grooves are arranged in one-to-one correspondence, the corresponding strip grooves and arc grooves are passed through corresponding mounting frames, and an airbag cushion is arranged at the lower end of each mounting frame.

[0006] Preferably, the clamping assembly also includes a slide groove arranged on the upper surface of the support plate, and there are three groups of slide grooves, and each group of slide grooves is provided with two slide grooves. The three groups of slide grooves are respectively arranged in one-to-one correspondence with the three strip grooves, and the two slide grooves of each group are respectively arranged on both sides of the corresponding strip grooves. A slider is fixedly connected to the top of each of the mounting frames, and the slider is n-shaped, and its two ends are respectively slidably connected to the slide grooves on both sides of the corresponding strip grooves.

[0007] Preferably, the mounting frame is composed of a rod-like structure, a vertical plate structure and an inverted L-shaped arc plate, wherein the inverted L-shaped arc plate is used to install the airbag cushion, the rod-like structure passes through the strip groove and the arc groove in sequence, and the slider is installed at the upper end of the rod-like structure, the lower end of the rod-like structure is fixed to a protrusion that passes through the side of the L-shaped arc plate, and the vertical plate structure is coaxially fixed to the lower end of the rod-like structure.

[0008] Preferably, the anti-drop assembly includes pawls arranged at equal angles on the outside of the driven disk, an outer frame is arranged on the outside of the driven disk, and ratchets are arranged at equal angles on the inside of the outer frame, the ratchets are meshed and connected with the pawls, and are used to limit the rotation direction of the driven disk so that the three mounting frames can only move close to each other.

[0009] Preferably, a wedge-shaped groove is provided on the upper side of the ratchet for squeezing the pawl, so that the driven disk has a tendency to rotate further through the gravity of the outer frame, and the three mounting frames have a tendency to move closer, thereby ensuring the stability of the clamping tray.

[0010] Preferably, the anti-drop assembly also includes three groups of cylindrical piston tubes arranged at equal angles on the upper surface of the support plate, each group of cylindrical piston tubes is provided with two cylindrical piston tubes, and the three groups of cylindrical piston tubes are also arranged one by one corresponding to the three strip grooves, and the two cylindrical piston tubes of each group are respectively arranged on both sides of the corresponding strip grooves, and the lower end of the piston column is seamlessly slidably connected to the inner side of the upper end opening of each of the cylindrical piston tubes, and the upper end of the piston column is fixedly connected to the inner upper end of the outer frame.

[0011] Preferably, the telescopic range of the piston column is greater than the thickness of the pawl, so that the piston column can drive the outer frame to move synchronously, causing the ratchet to completely stagger with the pawl, so as to release the restriction on the rotation direction of the driven disk.

[0012] Preferably, the anti-falling component further includes a flat piston tube fixedly connected to the vertical plate structure at the lower end of each mounting frame. One end of a piston frame is slidably connected to the inner side of the open end of the flat piston tube in a seamless manner. The other end of the piston frame is mounted with a rubber wheel through a bearing. One end of the piston frame extending into the opening of the flat piston tube is connected to the inner end of the flat piston tube through a spring. The two cylindrical piston tubes in the same group and the flat piston tube at the corresponding position are connected through a three-way hose in a through manner.

[0013] Preferably, three inverted L-shaped slot holes are arranged on the outer frame at equal angles, and the slot holes penetrate through the inner and outer sides of the outer frame. The three three-way hoses respectively pass through the outer frame through the three slot holes movably.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: The handling manipulator provided with the anti-falling structure not only clamps the tray from the side, but also can support the bottom surface of the tray during transportation, thereby ensuring the stability during the transportation of the tray. In addition, it can also prevent the airbag pads for clamping the tray from moving away from each other, thus avoiding the tray from being loosened and falling. At the same time, it can also make the airbag pads have a tendency to approach each other, thereby further preventing the tray from falling: 1. During the process of clamping the tray, the rubber wheel first contacts the tray. After that, the rubber wheel is pressed and gradually moves outward until the tray moves between the three airbag pads. Then the servo motor starts and drives the driven disk to rotate forward. Under the action of the strip-shaped groove and the arc-shaped groove, the mounting frames will approach each other, so that the three airbag pads can approach each other to realize the clamping of the tray. During the process of handling the tray, the rubber wheel gradually resets, and then the ratchet teeth and the ratchet pawl gradually engage, which makes the driven disk unable to rotate reversely, thus avoiding the situation that the servo motor wrongly drives the driven disk to rotate reversely during handling, resulting in the tray being loosened and falling; 2. After the rubber wheel resets, it supports the lower end of the tray. The gravity of the tray is vertically downward, while the moving direction of the rubber wheel is horizontal. Therefore, the rubber wheel cannot be pushed away only by the gravity of the tray. Thus, the bottom surface of the tray can be supported by the rubber wheel to ensure the stability during the handling of the tray; 3. During the process of handling the tray, under the action of the gravity of the outer frame, the ratchet teeth have a tendency to press towards the ratchet pawl, which can make the driven disk have a further tendency to rotate forward, and thus the three airbag pads have a further tendency to approach each other, which helps to further prevent the tray from falling during handling; 4. By setting the rubber wheel, the position of the pallet can be limited during the process of lowering the pallet, so as to ensure that the pallets are neatly stacked layer by layer. In addition, during the process of lowering the pallet, the rubber wheel drives the piston frame to move, thereby squeezing the gas in the flat piston tube into the cylindrical piston tube, so that the outer frame moves upward, so that the ratchet and the pawl can be completely staggered, which helps the servo motor to drive the driven disk to rotate in the opposite direction, thereby facilitating the release of the pallet. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 It is a bottom view structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the cross-sectional structure of the present invention; Figure 4 For the present invention Figure 3 A schematic diagram of the enlarged structure of point A; Figure 5 It is a schematic diagram of a partial cross-sectional structure of the present invention; Figure 6 For the present invention Figure 5 A schematic diagram of the enlarged structure of point B in the middle; Figure 7 It is a schematic diagram of the connection structure between the outer frame and the driven disk of the present invention; Figure 8 For the present invention Figure 7 The schematic diagram of the enlarged structure of point C in the middle; Figure 9 This is a schematic diagram of the top view of the connection structure of the outer frame of the present invention; Figure 10 It is a schematic diagram of the connection structure of the driven disk of the present invention when viewed from above.

[0016] In the figure: 1. Robotic arm; 2. Coupling frame; 3. Support plate; 4. Servo motor; 5. Outer frame; 6. Three-way hose; 7. Driven plate; 8. Airbag cushion; 9. Strip groove; 10. Mounting frame; 11. Flat piston tube; 12. Piston frame; 13. Spring; 14. Rubber wheel; 15. Slider; 16. Slide groove; 17. Piston column; 18. Columnar piston tube; 19. Arc groove; 20. Ratchet; 21. Paw. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0018] Please refer to Figures 1 - 10 , the present invention provides the following technical solutions: Embodiment 1: To solve the problem that the conventional handling manipulator only clamps the tray from the side and does not have a structure to support the tray from the bottom, which easily causes the tray to fall during handling, the following technical solutions are provided. Specifically, a handling manipulator with an anti-falling structure includes a robotic arm 1 and a support disk 3 connected to one end thereof through a coupling frame 2. A servo motor 4 is also installed on the coupling frame 2, and the shaft end bearing of the servo motor 4 penetrates to the lower part of the support disk 3. A driven disk 7 coaxial with it is installed on the shaft end of the servo motor 4, and the driven disk 7 is coaxially arranged below the support disk 3. A clamping assembly is penetrated through the support disk 3 and the driven disk 7, and the clamping assembly includes an airbag pad 8. An anti-falling assembly for preventing the clamping assembly from loosening the tray is arranged on the support disk 3.

[0019] The clamping assembly includes strip-shaped grooves 9 penetrating through the upper and lower sides of the support disk 3, and three strip-shaped grooves 9 are arranged at equal angles with respect to the axis of the support disk 3. Arc-shaped grooves 19 penetrating through the upper and lower sides thereof are arranged on the driven disk 7, and three arc-shaped grooves 19 are arranged with respect to the axis of the driven disk 7. The strip-shaped grooves 9 and the arc-shaped grooves 19 are arranged in one-to-one correspondence. Corresponding mounting frames 10 penetrate through the corresponding strip-shaped grooves 9 and arc-shaped grooves 19, and the airbag pads 8 are arranged at the lower ends of each mounting frame 10. The clamping assembly further includes sliding grooves 16 arranged on the upper surface of the support disk 3. There are three groups of sliding grooves 16, and each group of sliding grooves 16 has two. The three groups of sliding grooves 16 are respectively arranged in one-to-one correspondence with the three strip-shaped grooves 9, and the two sliding grooves 16 in each group are respectively arranged on both sides of the corresponding strip-shaped groove 9. The top end of each mounting frame 10 is fixedly connected with a slider 15. The slider 15 is in an n shape, and its two ends are respectively slidably connected with the sliding grooves 16 on both sides of the corresponding strip-shaped groove 9. According to Figure 3 , Figure 4 , Figure 5 and Figure 7 , when the servo motor 4 is started, the servo motor 4 drives the driven disk 7 to rotate. When the driven disk 7 rotates, the arc-shaped grooves 19 arranged thereon rotate synchronously with it, while the strip-shaped grooves 9 on the support disk 3 are fixed. Therefore, the three mounting frames 10 will approach each other, so that the three airbag pads 8 can approach each other to clamp and fix the side of the tray.

[0020] The mounting bracket 10 is composed of a rod-shaped structure, a vertical plate structure, and an inverted L-shaped arc plate. The inverted L-shaped arc plate is used to mount the airbag pad 8. The rod-shaped structure sequentially passes through the strip-shaped groove 9 and the arc-shaped groove 19, and the slider 15 is mounted at the upper end of the rod-shaped structure. The lower end of the rod-shaped structure is fixedly passed through the protrusion on the side of the L-shaped arc plate. The vertical plate structure is coaxially and fixedly mounted at the lower end of the rod-shaped structure. A flat piston tube 11 is fixedly connected to the vertical plate structure at the lower end of each mounting bracket 10. One end of a piston frame 12 is slidably and seamlessly connected to the inner side of the open end of the flat piston tube 11. The other end of the piston frame 12 is mounted with a rubber wheel 14 by a bearing. One end of the piston frame 12 extending into the opening of the flat piston tube 11 is connected to the inner end of the flat piston tube 11 through a spring 13. According to Figure 3 and Figure 4 , the three airbag pads 8 clamp the tray. During the process of carrying the tray, since the lower end of the rubber wheel 14 will be suspended, it will be reset under the action of the spring 13, so that the rubber wheel 14 supports on the lower surface of the tray. Since the mass of the tray is light and the gravity of the tray is vertically downward, while the moving direction of the rubber wheel 14 is horizontal, only relying on the gravity of the tray cannot make the rubber wheel 14 move. Therefore, the stability of carrying the tray can be improved by relying on the support of the rubber wheel 14 on the tray; When the tray needs to be put down, the rubber wheel 14 first contacts the tray carried before. Then, the rubber wheel 14 is squeezed to a certain extent under the action of the robotic arm 1 and moves away from each other, so as not to affect the putting down of the tray. During this process, the rubber wheel 14 can position the tray to ensure that the trays are stacked layer by layer in alignment.

[0021] Embodiment 2: To solve the problem that the conventional handling manipulator does not have an anti-drop structure, the following technical solution is provided. Specifically, the anti-drop component includes pawls 21 arranged at equal angles on the outer side of the driven disk 7. An outer frame 5 is arranged on the outer side of the driven disk 7, and ratchet teeth 20 are arranged at equal angles on the inner side of the outer frame 5. The ratchet teeth 20 are meshed with the pawls 21 to limit the rotation direction of the driven disk 7, so that the three mounting brackets 10 can only move closer to each other. A wedge-shaped groove is arranged on the upper side surface of the ratchet teeth 20 to squeeze the pawls 21. Due to the gravity of the outer frame 5, the driven disk 7 has a tendency to further rotate, so that the three mounting brackets 10 have a tendency to move closer to each other, thereby ensuring the stability of clamping the tray.

[0022] The anti-drop assembly also includes three groups of cylindrical piston tubes 18 arranged at equal angles on the upper surface of the support plate 3, each group of cylindrical piston tubes 18 is provided with two, and the three groups of cylindrical piston tubes 18 are also arranged one by one with the three strip grooves 9. The two cylindrical piston tubes 18 of each group are respectively arranged on both sides of the corresponding strip grooves 9. The lower end of the piston column 17 is seamlessly slidably connected to the inner side of the upper end opening of each cylindrical piston tube 18, and the upper end of the piston column 17 is fixedly connected to the inner upper end of the outer frame 5. The telescopic range of the piston column 17 is greater than the thickness of the pawl 21, which is convenient for passing The piston column 17 drives the outer frame 5 to move synchronously, so that the ratchet 20 is completely staggered with the pawl 21, so as to release the restriction on the rotation direction of the driven disk 7 (the ratchet 20 and the pawl 21 are densely arranged on the inner side of the outer frame 5 and the outer side of the driven disk 7, respectively). The two cylindrical piston tubes 18 of the same group and the flat piston tubes 11 at the corresponding position are connected through the three-way hose 6. Three inverted L-shaped slots are arranged at equal angles on the outer frame 5, and the slots penetrate the inner and outer sides of the outer frame 5. The three three-way hoses 6 are respectively arranged through the three slots to flexibly penetrate the outer frame 5. Figures 3 - 10 During the process of transporting the pallet, the outer frame 5 has a tendency to drive the ratchet 20 to move downward under the action of its gravity. The wedge-shaped groove set on the ratchet 20 can make the driven plate 7 have a tendency to continue to rotate in the positive direction, so that the three airbag cushions 8 have a tendency to approach each other, which helps to improve the stability of clamping the pallet. In addition, through the engagement of the ratchet 20 and the pawl 21, the driven plate 7 can be prevented from rotating in the reverse direction, thereby avoiding the problem of the servo motor 4 starting up incorrectly during the process of transporting the pallet, which causes the driven plate 7 to rotate in the reverse direction, and thus preventing the pallet from falling during the transportation process.

[0023] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0024] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A handling manipulator provided with an anti-falling structure, comprising a robotic arm (1) and a support disk (3) connected to one end thereof through a coupling frame (2), characterized in that: A servo motor (4) is also installed on the coupling frame (2), and the shaft end bearing of the servo motor (4) penetrates to the lower side of the support disk (3). A driven disk (7) coaxial with the servo motor (4) is installed on the shaft end of the servo motor (4), and the driven disk (7) is coaxially arranged under the support disk (3). A clamping assembly is arranged through the support disk (3) and the driven disk (7), and the clamping assembly includes an airbag pad (8). An anti-falling assembly for preventing the clamping assembly from loosening the tray is arranged on the support disk (3).

2. The handling manipulator with a falling prevention structure according to claim 1, wherein: The clamping assembly includes strip-shaped grooves (9) penetrating through the upper and lower sides of the support disk (3), and three strip-shaped grooves (9) are arranged at equal angles with respect to the axis of the support disk (3). Arc-shaped grooves (19) penetrating through the upper and lower sides of the driven disk (7) are arranged on the driven disk (7), and three arc-shaped grooves (19) are arranged with respect to the axis of the driven disk (7). The strip-shaped grooves (9) and the arc-shaped grooves (19) are arranged in one-to-one correspondence. Corresponding mounting frames (10) penetrate through the corresponding strip-shaped grooves (9) and arc-shaped grooves (19), and the airbag pad (8) is arranged at the lower end of each mounting frame (10).

3. The handling manipulator with a falling prevention structure according to claim 2, characterized in that: The clamping assembly further includes sliding grooves (16) arranged on the upper surface of the support disk (3). There are three groups of sliding grooves (16), and each group of sliding grooves (16) has two. The three groups of sliding grooves (16) are respectively arranged in one-to-one correspondence with the three strip-shaped grooves (9), and the two sliding grooves (16) in each group are respectively arranged on both sides of the corresponding strip-shaped groove (9). A slider (15) is fixedly connected to the top end of each mounting frame (10). The slider (15) is in an n shape, and its two ends are respectively slidably connected to the sliding grooves (16) on both sides of the corresponding strip-shaped groove (9).

4. A handling manipulator with a falling prevention structure according to claim 3, characterized in that: The mounting frame (10) is composed of a rod-shaped structure, a vertical plate structure, and an inverted L-shaped arc-shaped plate. The inverted L-shaped arc-shaped plate is used to mount the airbag pad (8). The rod-shaped structure sequentially penetrates through the strip-shaped groove (9) and the arc-shaped groove (19), and the slider (15) is installed at the upper end of the rod-shaped structure. The lower end of the rod-shaped structure fixedly penetrates through the protrusion on the side surface of the L-shaped arc-shaped plate, and the vertical plate structure is coaxially and fixedly installed at the lower end of the rod-shaped structure.

5. A handling manipulator with a falling prevention structure according to claim 4, characterized in that: The anti-falling assembly includes pawls (21) arranged at equal angles on the outer side of the driven disk (7). An outer frame (5) is arranged on the outer side of the driven disk (7), and ratchet teeth (20) are arranged at equal angles on the inner side of the outer frame (5). The ratchet teeth (20) are meshed with the pawls (21) to limit the rotation direction of the driven disk (7).

6. The handling manipulator with a falling prevention structure according to claim 5, characterized in that: A wedge-shaped groove is arranged on the upper side surface of the ratchet teeth (20) for extruding the pawls (21). Due to the gravity of the outer frame (5), the driven disk (7) has a tendency to further rotate, so that the three mounting frames (10) have a tendency to further approach, thereby ensuring the stability of clamping the tray.

7. A handling manipulator with a falling prevention structure according to claim 6, characterized in that: The anti-drop assembly further comprises three groups of cylindrical piston tubes (18) arranged at equal angles on the upper surface of the support plate (3), each group of cylindrical piston tubes (18) being provided with two cylindrical piston tubes (18), and the three groups of cylindrical piston tubes (18) are also arranged in one-to-one correspondence with the three strip grooves (9), and the two cylindrical piston tubes (18) of each group are respectively arranged on both sides of the corresponding strip groove (9), and the inner side of the upper end opening of each cylindrical piston tube (18) is seamlessly slidably connected to the lower end of the piston column (17), and the upper end of the piston column (17) is fixedly connected to the inner upper end of the outer frame (5).

8. The handling manipulator with a falling prevention structure according to claim 7, characterized in that: The telescopic range of the piston column (17) is greater than the thickness of the pawl (21), so that the piston column (17) can drive the outer frame (5) to move synchronously, causing the ratchet (20) to completely stagger with the pawl (21), thereby relieving the restriction on the rotation direction of the driven disk (7).

9. The handling manipulator with a falling prevention structure according to claim 8, characterized in that: The anti-drop assembly also includes a flat piston tube (11) fixedly connected to the vertical plate structure at the lower end of each mounting frame (10), and one end of a piston frame (12) is seamlessly slidably connected to the inner side of the open end of the flat piston tube (11), and a rubber wheel (14) is mounted on the bearing of the other end of the piston frame (12). The end of the piston frame (12) extending into the opening of the flat piston tube (11) is connected to the inner end of the flat piston tube (11) through a spring (13), and the two cylindrical piston tubes (18) in the same group and the flat piston tubes (11) at corresponding positions are connected through a three-way hose (6).

10. A handling manipulator with an anti-falling structure according to claim 9, characterized in that: The outer frame (5) is provided with three inverted L-shaped slots at equal angles, and the slots penetrate both inner and outer sides of the outer frame (5), and the three three-way hoses (6) are respectively movably penetrated through the outer frame (5) through the three slots.

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