A carrying robot with a fall-preventing structure

Abstract

The application 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 to one end of the mechanical arm through a connecting frame. A servo motor is further installed on the connecting frame, and the shaft end bearing of the servo motor is arranged to penetrate through the supporting disc downwards. A driven disc coaxial with the servo motor is installed on the shaft end of the servo motor and is coaxially arranged below the supporting disc. A clamping assembly is arranged to penetrate through the supporting disc and the driven disc, and the clamping assembly comprises air bag pads. The application can not only clamp a tray from the side, but also support the bottom surface of the tray during transportation, thereby ensuring the stability of the tray during transportation. In addition, the air bag pads clamping the tray can be prevented from moving away from each other, so that the tray can be prevented from being loosened and falling off. Meanwhile, the air bag pads can have a tendency to move close to each other, thereby further preventing the tray from falling off.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of handling manipulator, in particular to a handling manipulator with anti-falling structure. BACKGROUND

[0002] In the modern industrial production, the degree of automation continues to rise, and the handling manipulator, as a key equipment in the process of industrial automation, is becoming more and more important.

[0003] When the tray for placing wafers is stacked layer by layer, the mechanical hand generally adopts the suction type, but the suction type mechanical hand is easy to cause the tray to slip off from the mechanical hand due to the gradual smoothness of the tray suction part, thereby unable to ensure the stable clamping of the tray by the mechanical hand.

[0004] In order to avoid the tray from slipping off the mechanical hand, the tray is generally transported by clamping from the side, but there are still some problems in the process of use, for example, the handling manipulator disclosed in the publication No. CN217414031U, which clamps and holds the tray from the side through the first claw arm, the second claw arm and the abutting part, although it can avoid the problem of tray slipping caused by the suction type handling tray, but when clamping and transporting the tray, the tray still has the possibility of falling, because when clamping the tray, it only clamps the side of the tray, if the clamping height is high, the clamping will not be stable, and the tray is easy to fall under the action of its own gravity.

[0005] Therefore, a handling manipulator with anti-falling structure is needed to solve the above problems. SUMMARY

[0006] The purpose of the present application is to provide a handling manipulator with anti-falling structure to solve the problem of the existing handling manipulator that the tray is easy to fall when transporting the tray in the background art.

[0007] To achieve the above purpose, the present application provides the following technical scheme:

[0008] A handling manipulator with anti-falling structure, comprising a mechanical arm and a support disc connected to one end of the mechanical arm through a connecting frame, a servo motor is also installed on the connecting frame, and the shaft end bearing of the servo motor penetrates to the lower part of the support disc, a driven disc coaxial with the servo motor is installed on the shaft end of the servo motor, and the driven disc is coaxially arranged below the support disc, a clamping assembly is arranged through the support disc and the driven disc, and the clamping assembly comprises an air bag pad, and an anti-falling assembly is arranged on the support disc to prevent the clamping assembly from loosening the tray.

[0009] Preferably, the clamping assembly comprises strip-shaped grooves penetrating through both sides of the support disc, and three strip-shaped grooves are arranged at equal angles with respect to the axis of the support disc, the driven disc is provided with arc-shaped grooves penetrating through both sides thereof, and three arc-shaped grooves are arranged with respect to the axis of the driven disc, the strip-shaped grooves and the arc-shaped grooves are arranged one by one in correspondence, corresponding strip-shaped grooves and arc-shaped grooves are provided with corresponding mounting frames penetrating therethrough, and the air bag cushion is arranged at the lower end of each mounting frame.

[0010] Preferably, the clamping assembly further comprises sliding grooves arranged on the upper surface of the support disc, the sliding grooves are arranged in three groups, and each group is provided with two sliding grooves, the three groups of sliding grooves are arranged one by one in correspondence with the three strip-shaped grooves, and the two sliding grooves of each group are arranged on both sides of the corresponding strip-shaped groove, the top end of each mounting frame is fixedly connected with a sliding block, the sliding block is in the shape of n, and the two ends thereof are respectively connected with the sliding grooves on both sides of the corresponding strip-shaped groove in a sliding manner.

[0011] Preferably, the mounting frame is composed of a rod-shaped structure, a vertical plate body structure and an inverted L-shaped arc-shaped plate, the inverted L-shaped arc-shaped plate is used for mounting the air bag cushion, the rod-shaped structure penetrates through the strip-shaped grooves and the arc-shaped grooves in sequence, the sliding block is arranged at the upper end of the rod-shaped structure, the lower end of the rod-shaped structure is fixedly connected with a protrusion arranged on the side surface of the L-shaped arc-shaped plate, and the vertical plate body structure is coaxially fixedly arranged at the lower end of the rod-shaped structure.

[0012] Preferably, the anti-falling assembly comprises pawls arranged at equal angles on the outer side of the driven disc, the outer side of the driven disc is provided with an outer frame, the inner side of the outer frame is arranged with ratchets at equal angles, the ratchets are connected with the pawls in a meshing manner, and the ratchets are used for limiting the rotating direction of the driven disc, so that the three mounting frames can only move towards each other.

[0013] Preferably, the upper end side surface of the ratchet is provided with a wedge-shaped groove, the wedge-shaped groove is used for extruding the pawl, the driven disc has a further rotating trend through the gravity of the outer frame, so that the three mounting frames have a further approaching trend, and the stability of the clamping tray is ensured.

[0014] Preferably, the anti-falling assembly further comprises three groups of cylindrical piston tubes arranged at equal angles on the upper surface of the support disc, each group of cylindrical piston tubes is provided with two cylindrical piston tubes, and the three groups of cylindrical piston tubes are arranged one by one in correspondence with the three strip-shaped grooves, the two cylindrical piston tubes of each group are arranged on both sides of the corresponding strip-shaped groove, the lower end of a piston column is connected with the upper end opening of each cylindrical piston tube in a seamless sliding manner, and the upper end of the piston column is fixedly connected to the inner upper end of the outer frame.

[0015] Preferably, the extension range of the piston column is greater than the thickness of the pawl, so that the outer frame can be driven to move synchronously by the piston column, the ratchet is completely disengaged from the pawl, the limitation on the rotating direction of the driven disc is removed, and the stability of the clamping tray is ensured.

[0016] Preferably, the anti-falling assembly further comprises a flat piston pipe fixedly connected to the vertical plate structure at the lower end of each mounting frame, and the inside of the open end of the flat piston pipe is seamlessly slidably connected to one end of a piston frame, the other end of the piston frame is bearing-mounted with a rubber wheel, and the end of the piston frame extending into the opening of the flat piston pipe is connected to the inner end of the flat piston pipe through a spring, and the two cylindrical piston pipes in the same group and the corresponding flat piston pipes are connected through a three-way hose.

[0017] Preferably, three inverted L-shaped slot holes are equiangularly arranged on the outer frame, and the slot holes pass through the inner and outer sides of the outer frame, and the three three-way hoses are movably passed through the outer frame through the three slot holes.

[0018] Compared with the prior art, the beneficial effects of the present application are that the carrying manipulator provided with the anti-falling structure not only clamps the tray from the side, but also supports the bottom surface of the tray during transportation, thereby ensuring the stability during transportation of the tray, and avoiding the air bag pads clamping the tray from moving away from each other, so that the tray can be prevented from being loosened and falling, and at the same time, the air bag pads can have a tendency to move close to each other, thereby further preventing the tray from falling:

[0019] 1. During clamping of the tray, the rubber wheel first contacts the tray, and then the rubber wheel is gradually moved outward under pressure until the tray moves between the three air bag pads, and then the servo motor is started to drive the driven disc to rotate forward, and under the action of the strip-shaped groove and the arc-shaped groove, the mounting frames move close to each other, so that the three air bag pads move close to each other to clamp the tray, and during carrying of the tray, the rubber wheel is gradually reset, so that the ratchet and the pawl are gradually engaged, which prevents the driven disc from rotating reversely, thereby avoiding the tray from being loosened and falling due to the error of the servo motor driving the driven disc to rotate reversely during carrying;

[0020] 2. After the rubber wheel is reset, it supports the lower end of the tray, the gravity of the tray is vertically downward, and the moving direction of the rubber wheel is horizontal, so only the gravity of the tray cannot push away the rubber wheel, and the rubber wheel can support the bottom surface of the tray to ensure the stability during carrying of the tray;

[0021] 3. During carrying of the tray, the ratchet has a tendency to press the pawl under the gravity of the outer frame, thereby making the driven disc have a tendency to further rotate forward, so that the three air bag pads have a tendency to further move close to each other, which helps to further prevent the tray from falling during carrying;

[0022] 4. By setting the rubber wheel, the position of the pallet can be restricted during the process of lowering the pallet, thereby ensuring 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

[0023] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of the present invention when viewed from above;

[0025] Figure 3 It is a schematic diagram of the cross-sectional structure of the present invention;

[0026] Figure 4 For the present invention Figure 3 A schematic diagram of the enlarged structure of point A;

[0027] Figure 5 It is a partial cross-sectional structural schematic diagram of the present invention;

[0028] Figure 6 For the present invention Figure 5 A schematic diagram of the enlarged structure of point B;

[0029] Figure 7 This is a schematic diagram of the connection structure between the outer frame and the driven disk of the present invention;

[0030] Figure 8 For the present invention Figure 7 Schematic diagram of the enlarged structure of point C in the middle;

[0031] Figure 9 This is a schematic diagram of the top view of the connection structure of the outer frame of the present invention;

[0032] Figure 10 This is a schematic diagram of the connection structure of the driven disk of the present invention when viewed from above.

[0033] In the figure: 1. Robotic arm; 2. Connecting 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. Cylindrical piston tube; 19. Arc groove; 20. Ratchet; 21. Pawl. DETAILED DESCRIPTION

[0034] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0035] Please refer to Figures 1-10 The present application provides the following technical solutions:

[0036] Embodiment one: in order to solve the problem that the previous handling manipulator only clamps the tray from the side and does not have the structure of supporting the tray from the bottom, which easily leads to the tray falling during the handling process, the present application provides the following technical solution, specifically, a handling manipulator with anti-falling structure, comprising a mechanical arm 1 and a support disc 3 connected to one end of the mechanical arm 1 through a connecting frame 2, a servo motor 4 is also installed on the connecting frame 2, and the shaft end bearing of the servo motor 4 penetrates to the lower part of the support disc 3, a driven disc 7 coaxial with the servo motor 4 is installed on the shaft end of the servo motor 4, and the driven disc 7 is coaxially arranged below the support disc 3, a clamping assembly is arranged through the support disc 3 and the driven disc 7, and the clamping assembly comprises an air bag pad 8, and the support disc 3 is provided with an anti-falling assembly to prevent the clamping assembly from loosening the tray.

[0037] The clamping assembly comprises a strip-shaped slot 9 penetrating the upper and lower sides of the support disc 3, and the strip-shaped slot 9 is arranged at an equal angle of three about the axis of the support disc 3, the driven disc 7 is provided with an arc-shaped slot 19 penetrating the upper and lower sides thereof, and the arc-shaped slot 19 is arranged at an equal angle of three about the axis of the driven disc 7, the strip-shaped slot 9 and the arc-shaped slot 19 are arranged one by one, and the corresponding strip-shaped slot 9 and arc-shaped slot 19 are penetrated by a corresponding mounting frame 10, and the air bag pad 8 is arranged at the lower end of each mounting frame 10, the clamping assembly further comprises a sliding groove 16 arranged on the upper surface of the support disc 3, the sliding groove 16 is arranged in three groups, and each group of the sliding groove 16 is arranged in two, the three groups of sliding grooves 16 are arranged one by one corresponding to the three strip-shaped slots 9, and the two sliding grooves 16 of each group are arranged on the two sides of the corresponding strip-shaped slot 9, the top end of each mounting frame 10 is fixedly connected with a sliding block 15, the sliding block 15 is in the shape of n, and the two ends thereof are respectively connected with the sliding grooves 16 on the two sides of the corresponding strip-shaped slot 9, according to Figure 3 、 Figure 4 、 Figure 5 and Figure 7 , the servo motor 4 is started, the servo motor 4 drives the driven disc 7 to rotate, the arc-shaped slot 19 arranged on the driven disc 7 rotates synchronously with the driven disc 7, and the strip-shaped slot 9 on the support disc 3 is fixed, so that the three mounting frames 10 are close to each other, so that the three air bag pads 8 are close to each other, so that the three air bag pads 8 clamp and fix the side of the tray.

[0038] The mounting frame 10 is composed of a rod-shaped structure, a vertical plate body structure and an inverted L-shaped arc-shaped plate, wherein the inverted L-shaped arc-shaped plate is used for mounting the air bag cushion 8, the rod-shaped structure penetrates the strip-shaped groove 9 and the arc-shaped groove 19 in sequence, 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 provided with a protrusion penetrating the side surface of the L-shaped arc-shaped plate, the vertical plate body structure is coaxially fixedly mounted at the lower end of the rod-shaped structure, the flat piston pipe 11 is fixedly connected to the upper end of the vertical plate body structure at the lower end of each mounting frame 10, and the inside of the open end of the flat piston pipe 11 is seamlessly and slidably connected with one end of the piston frame 12, the other end of the piston frame 12 is bearing-mounted with the rubber wheel 14, and the end of the piston frame 12 extending into the opening of the flat piston pipe 11 is connected with the inner end of the flat piston pipe 11 through the spring 13. Figure 3 and Figure 4 The three air bag cushions 8 clamp the tray, and in the process of carrying the tray, the lower end of the rubber wheel 14 will be suspended, so as to be reset under the action of the spring 13, so that the rubber wheel 14 is supported on the lower surface of the tray. Since the tray has a light weight and the gravity of the tray is vertically downward, the moving direction of the rubber wheel 14 is horizontal, so only the gravity of the tray cannot make the rubber wheel 14 move, and then the stability of carrying the tray can be improved by relying on the support of the rubber wheel 14 on the tray.

[0039] When it is needed to put down the tray, the rubber wheel 14 first contacts the tray carried before, and then the rubber wheel 14 is extruded under the action of the mechanical arm 1, and moves away from each other, so as not to affect the putting down of the tray. In this process, the rubber wheel 14 can position the tray to ensure that the trays are aligned and stacked layer by layer.

[0040] In order to solve the problem that the previous carrying manipulator does not provide a falling prevention structure, the following technical scheme is provided, specifically, the falling prevention assembly includes pawls 21 arranged at equal angles on the outer side of the driven disc 7, the outer side of the driven disc 7 is provided with an outer frame 5, and the inner side of the outer frame 5 is provided with pawls 20 arranged at equal angles, the pawls 20 are meshingly connected with the pawls 21, and are used for limiting the rotating direction of the driven disc 7, so that the three mounting frames 10 can only move close to each other, the upper end side of the pawl 20 is provided with a wedge-shaped groove, which is used for extruding the pawl 21, and through the gravity of the outer frame 5, the driven disc 7 has a further rotating trend, so that the three mounting frames 10 have a further close trend, thereby ensuring the stability of clamping the tray.

[0041] The anti-falling assembly further comprises three groups of cylindrical piston pipes 18 arranged equiangularly on the upper surface of the supporting disc 3, each group of cylindrical piston pipes 18 is provided with two, and the three groups of cylindrical piston pipes 18 are also arranged one by one corresponding to the three strip-shaped grooves 9, the two cylindrical piston pipes 18 of each group are arranged on the two sides of the corresponding strip-shaped groove 9 respectively, the lower end of the piston column 17 is seamlessly and slidingly connected to the inner side of the upper end of each cylindrical piston pipe 18, and the upper end of the piston column 17 is fixedly connected to the inner side of the upper end of the outer frame 5, the extension range of the piston column 17 is greater than the thickness of the pawl 21, so as to facilitate the synchronous movement of the outer frame 5 driven by the piston column 17, so that the ratchet teeth 20 are completely disengaged from the pawl 21, so as to release the restriction on the rotation direction of the driven disc 7 (the ratchet teeth 20 and the pawl 21 are densely arranged on the inner side of the outer frame 5 and the outer side of the driven disc 7 respectively), the two cylindrical piston pipes 18 of the same group and the corresponding flat piston pipe 11 are connected through the three-way hose 6, the outer frame 5 is provided with three inverted L-shaped slot holes equiangularly, and the slot holes penetrate the inner and outer sides of the outer frame 5, the three three-way hoses 6 are movably penetrated through the outer frame 5 through the three slot holes respectively, according to Figures 3-10 During the carrying of the tray, the outer frame 5 has a tendency to drive the ratchet teeth 20 to move downward under the action of its gravity, the wedge-shaped groove arranged on the ratchet teeth 20 can make the driven disc 7 have a tendency to continue to rotate forward, so that the three air bag pads 8 have a tendency to approach each other, which helps to improve the stability of clamping the tray, in addition, through the meshing of the ratchet teeth 20 and the pawl 21, the driven disc 7 can be prevented from rotating reversely, so that the problem that the driven disc 7 reversely rotates due to the error start of the servo motor 4 during the carrying of the tray can be avoided, and in turn the tray can be prevented from falling during the carrying.

[0042] The contents not described in detail in the specification belong to the prior art known to those skilled in the art.

[0043] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A carrying robot provided with a fall-preventing structure, comprising a robot arm (1) and a support disc (3) connected to one end of the robot arm (1) through a coupling bracket (2), characterized in that: The connecting frame (2) is further provided with a servo motor (4), and the shaft end bearing of the servo motor (4) penetrates to the lower side of the supporting disc (3), the shaft end of the servo motor (4) is provided with a driven disc (7) coaxial with the shaft end, and the driven disc (7) is coaxially arranged below the supporting disc (3), the supporting disc (3) and the driven disc (7) are provided with a clamping assembly penetrating therethrough, and the clamping assembly comprises an air bag pad (8), the clamping assembly comprises a strip-shaped groove (9) penetrating through the upper and lower sides of the supporting disc (3), and the strip-shaped groove (9) is arranged at three equal angles about the axis of the supporting disc (3), the driven disc (7) is provided with an arc-shaped groove (19) penetrating through the upper and lower sides thereof, and the arc-shaped groove (19) is arranged at three equal angles about the axis of the driven disc (7), the strip-shaped groove (9) and the arc-shaped groove (19) are arranged one by one, and the corresponding strip-shaped groove (9) and arc-shaped groove (19) are provided with a corresponding mounting frame (10) penetrating therethrough, and the air bag pad (8) is arranged at the lower end of each mounting frame (10), the supporting disc (3) is provided with an anti-falling assembly for preventing the clamping assembly from loosening the tray, the anti-falling assembly further comprises three groups of cylindrical piston pipes (18) arranged at equal angles on the upper surface of the supporting disc (3), each group of cylindrical piston pipes (18) is provided with two, and the three groups of cylindrical piston pipes (18) are arranged one by one corresponding to the three strip-shaped grooves (9), and the two cylindrical piston pipes (18) of each group are arranged on the two sides of the corresponding strip-shaped groove (9), respectively, the lower end of the piston column (17) is slidably connected to the inner side of the opening of the upper end of each cylindrical piston pipe (18), and the upper end of the piston column (17) is fixedly connected to the inner side of the upper end of the outer frame (5), the anti-falling assembly further comprises a flat piston pipe (11) fixedly connected to the vertical plate body structure at the lower end of each mounting frame (10), and one end of the flat piston pipe (11) is slidably connected to the inner side of the opening end of the flat piston pipe (11), the other end of the piston frame (12) is provided with a rubber wheel (14), and the other end of the piston frame (12) is connected to the inner end of the flat piston pipe (11) through the spring (13), the two cylindrical piston pipes (18) of the same group and the corresponding flat piston pipe (11) are connected through the three-way hose (6), and the outer frame (5) is provided with three inverted L-shaped slot holes arranged at equal angles, and the slot holes penetrate through the inner and outer sides of the outer frame (5), and the three three-way hoses (6) are respectively arranged through the three slot holes and penetrate through the outer frame (5).

2. The handling robot with a fall-preventing structure according to claim 1, characterized in that: The clamping assembly further comprises a sliding groove (16) arranged on the upper surface of the supporting disc (3), the sliding groove (16) is provided with three groups, and each group of sliding grooves (16) is provided with two, the three groups of sliding grooves (16) are arranged one by one corresponding to the three strip-shaped grooves (9), and the two sliding grooves (16) of each group are arranged on the two sides of the corresponding strip-shaped groove (9), respectively, the top end of each mounting frame (10) is fixedly connected with a sliding block (15), and the sliding block (15) is n-shaped, and the two ends of the sliding block (15) are respectively connected with the sliding grooves (16) on the two sides of the corresponding strip-shaped groove (9).

3. The handling robot with a fall-preventing structure according to claim 2, characterized in that: The mounting frame (10) is composed of a rod-shaped structure, a vertical plate body structure and an inverted L-shaped arc plate, wherein the inverted L-shaped arc plate is used for mounting the air bag cushion (8), the rod-shaped structure penetrates the strip-shaped groove (9) and the arc-shaped groove (19) in sequence, the slider (15) is installed at the upper end of the rod-shaped structure, the lower end of the rod-shaped structure is fixedly penetrated through the protrusion arranged on the side surface of the L-shaped arc plate, and the vertical plate body structure is coaxially fixedly installed at the lower end of the rod-shaped structure.

4. The handling robot with a fall-preventing structure according to claim 3, characterized in that: The anti-falling assembly comprises pawls (21) arranged at equal angles on the outer side of the driven disc (7), the outer side of the driven disc (7) is provided with an outer frame (5), the inner side of the outer frame (5) is provided with ratchets (20) at equal angles, the ratchets (20) are in meshing connection with the pawls (21), and the ratchets (20) are used for limiting the rotating direction of the driven disc (7).

5. The handling robot with a fall-prevention structure according to claim 4, characterized in that: The upper end side surface of the ratchet (20) is provided with a wedge-shaped groove, the pawl (21) is extruded, the driven disc (7) has a further rotating trend through the gravity of the outer frame (5), so that the three mounting frames (10) have a further close trend, and the stability of clamping the tray is ensured.

6. The handling robot with a fall-prevention structure according to claim 5, characterized in that: The extension range of the piston column (17) is greater than the thickness of the pawl (21), the piston column (17) is used for driving the outer frame (5) to move synchronously, the ratchet (20) is completely disengaged from the pawl (21), and the rotating direction of the driven disc (7) is released.

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