Conveying arm structure

Abstract

The utility model provides a transfer arm structure, which relates to the technical field of mechanical arms, and comprises a bottom plate, a transfer mechanism is arranged above the bottom plate, the transfer mechanism comprises a support rod fixedly connected with the bottom plate, the inner wall of the support rod is hinged with a connecting rod through a pin shaft, and one side surface of the support rod is hinged with a first electric push rod through a pin shaft; the connecting rod is hinged to the first electric push rod, and a supporting block is hinged to the outer surface of the connecting rod through a pin shaft. According to the utility model, through the cooperative arrangement of the bottom plate and the conveying mechanism, when the conveying arm is used for conveying and transporting a workpiece to be processed, the circular crystal and other materials with smooth surfaces can be adsorbed and grabbed by using the annularly arranged suckers, so that the adsorption area is increased, the situation that the circular crystal falls off and is damaged in the conveying process is avoided, and the production efficiency is improved. And the problem that the fallen wafers need to be operated again by workers is avoided, so that the stability and the working efficiency when materials such as the wafers with smooth surfaces are conveyed and transported are improved.

Description

Technical Field

[0001] The utility model discloses a transmission arm structure, which relates to the field of mechanical arms. Background Art

[0002] The robot arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields.

[0003] The plasma degumming machine uses oxygen plasma to bombard the sample surface to remove residual glue on the sample surface. When the plasma degumming machine is in use, a robotic arm is required to transport the workpiece.

[0004] The existing patent document with authorization announcement number CN216152348U drives the left clamping plate and the right clamping plate to move synchronously in opposite directions respectively through the first driving gear and the second driving gear to clamp the square workpiece, and the circular workpiece is clamped through the arc-shaped end face on the inner side of the clamping block. It can be used for clamping and conveying workpieces of different shapes. However, when grabbing materials such as wafers, the wafer surface is relatively smooth, and the wafer is prone to fall during the conveying process. The fallen wafer needs to be operated again by the staff, which reduces the work efficiency. At the same time, the fallen wafer is also easy to be damaged. For this reason, we provide a conveying arm structure to solve the above problems. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of the utility model is to provide a conveying arm structure to solve the problems raised in the above-mentioned background technology. The utility model uses suction cups arranged in a ring to adsorb and grasp materials such as round wafers with smooth surfaces, thereby increasing the adsorption area, avoiding the situation where the round wafers fall and are damaged during the conveying process, and avoiding the problem that the fallen round wafers need to be operated again by the staff.

[0006] In order to achieve the above-mentioned purpose, the utility model is realized through the following technical scheme: a conveying arm structure, including a base plate, a conveying mechanism is arranged above the base plate, the conveying mechanism includes a support rod fixedly connected to the base plate, the inner wall of the support rod is hinged with a connecting rod through a pin shaft, a side surface of the support rod is hinged with a first electric push rod through a pin shaft, the connecting rod is hinged with the first electric push rod, the outer surface of the connecting rod is hinged with a support block through a pin shaft, the upper surface of the connecting rod is hinged with a second electric push rod through a pin shaft, the support block is hinged with the second electric push rod, a third electric push rod is installed on the bottom surface of the support block, the output end of the third electric push rod is fixedly connected with a connecting plate, a plurality of micro air pumps are installed on the upper surface of the connecting plate, the output end of each micro air pump passes through the connecting plate and extends to the bottom of the connecting plate, and the output end of the micro air pump is connected to a suction cup.

[0007] Furthermore, two reinforcing blocks are fixedly connected to the upper surface of the base plate, and both of the two reinforcing blocks are fixedly connected to the base plate. The reinforcing blocks can provide auxiliary support to the support rod, thereby enhancing the structural strength of the support rod, thereby improving the stability of the conveying arm during use.

[0008] Furthermore, two symmetrical telescopic rods are fixedly connected to the bottom surface of the support block, and both telescopic rods are fixedly connected to the connecting plate. The movement of the connecting plate can be guided by the telescopic rods, thereby improving the stability of the connecting plate during the up and down movement.

[0009] Furthermore, a servo motor is fixedly connected to the upper surface of the base plate, and the output shaft of the servo motor passes through the base plate and is rotatably connected to the base plate. A gear is fixedly connected to the output shaft end of the servo motor. The base plate provides fixed support for the servo motor. After the servo motor is started, it can drive the gear to rotate forward and reversely.

[0010] Furthermore, the bottom surface of the base plate is rotatably connected to a gear ring, the gear is meshed with the gear ring, and the bottom surface of the gear ring is fixedly connected to a support plate, the support plate provides fixed support for the gear ring, and the gear ring provides limited support for the base plate. After the gear rotates, through the meshing with the gear ring, it can drive the base plate to reciprocate 360 ​​degrees, thereby increasing the material conveying and transfer range of the conveying arm.

[0011] Furthermore, a bearing is embedded in the inner wall of the base plate, and the inner ring of the bearing is fixedly connected to the outer surface of the output shaft of the servo motor. The bearing can make the gear more stable when rotating, avoiding the gear from getting stuck and swinging during use.

[0012] Furthermore, universal wheels are fixedly connected to the four corners of the bottom surface of the support plate, and every two universal wheels form a group. The two groups of universal wheels are symmetrically arranged with the mid-vertical line of the support plate as the symmetry axis. The universal wheels have a self-locking function, which can limit and fix the position of the conveying arm after movement and facilitate the movement of the conveying arm.

[0013] Furthermore, the inner wall of the support plate is threadedly connected to two symmetrical threaded rods, the top ends of the two threaded rods are equipped with handles, and the bottom ends of the two threaded rods are fixedly connected to limit plates. By rotating the handles, the limit plates can be driven up and down by the threaded rods, thereby limiting and fixing the conveying arm after movement, thereby improving the stability of the conveying arm during use.

[0014] Beneficial effects of the utility model:

[0015] 1. The utility model, through the coordinated arrangement between the bottom plate and the conveying mechanism, can use the suction cups arranged in a ring to adsorb and grab materials such as round wafers with smooth surfaces when the conveying arm is used to convey and transport the processed workpiece, thereby increasing the adsorption area, avoiding the situation in which the round wafers fall and are damaged during the conveying process, and avoiding the problem that the fallen round wafers need to be operated again by the staff, thereby improving the stability and work efficiency when conveying and transporting materials such as round wafers with smooth surfaces.

[0016] 2. The utility model can provide auxiliary support to the support rod and enhance the structural strength of the support rod by providing a reinforcing block; can guide the movement of the connecting plate and improve the stability of the connecting plate during the up and down movement by providing a telescopic rod; can rotate the conveying arm and increase the material conveying and transfer range of the conveying arm by providing a servo motor, a gear, a support plate and a gear ring; can make the gear more stable when rotating and avoid the jamming and swinging of the gear during use; can facilitate the movement of the conveying arm by providing a universal wheel; can conveniently limit and fix the conveying arm after movement by providing a cooperative arrangement between the threaded rod, the handle and the limit plate, thereby improving the stability of the conveying arm when in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0018] Figure 1 It is a front view schematic diagram of a three-dimensional structure in a transmission arm structure of the utility model;

[0019] Figure 2 It is a connection diagram of an arm structure in a transmission arm structure of the utility model;

[0020] Figure 3 This is a schematic diagram of the local structure of a transmission arm structure of the utility model Figure 1 ;

[0021] Figure 4 This is a schematic diagram of the local structure of a transmission arm structure of the utility model Figure 2 ;

[0022] Figure 5 This is a schematic diagram of the local structure of a transmission arm structure of the utility model Figure 3 .

[0023] In the figure: 1-bottom plate, 2-transmission mechanism, 201-support rod, 202-connecting rod, 203-first electric push rod, 204-support block, 205-second electric push rod, 206-third electric push rod, 207-connecting plate, 208-micro air pump, 209-suction cup, 3-reinforcement block, 4-telescopic rod, 5-servo motor, 6-gear, 7-support plate, 8-gear ring, 9-bearing, 10-universal wheel, 11-threaded rod, 12-handle, 13-limiting plate. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0025] See also Figure 1-Figure 5 This embodiment proposes a transmission arm structure, including a base plate 1, a servo motor 5 is fixedly connected to the upper surface of the base plate 1, the output shaft of the servo motor 5 passes through the base plate 1 and is rotatably connected to the base plate 1, a gear 6 is fixedly connected to the output shaft end of the servo motor 5, the base plate 1 fixedly supports the servo motor 5, and after the servo motor 5 is started, it can drive the gear 6 to rotate forward and reversely.

[0026] The bottom surface of the base plate 1 is rotatably connected to a ring gear 8, and the gear 6 is meshed with the ring gear 8. The bottom surface of the ring gear 8 is fixedly connected to a support plate 7, and the support plate 7 provides fixed support for the ring gear 8, and the ring gear 8 provides limited support for the base plate 1. After the gear 6 rotates, it can drive the base plate 1 to reciprocate 360 ​​degrees through its meshing with the ring gear 8, thereby increasing the material conveying and transfer range of the conveying arm.

[0027] The inner wall of the base plate 1 is inlaid with a bearing 9, and the inner ring of the bearing 9 is fixedly connected to the outer surface of the output shaft of the servo motor 5. The bearing 9 can make the gear 6 more stable when rotating, avoiding the gear 6 from getting stuck and swinging during use.

[0028] A conveying mechanism 2 is arranged above the base plate 1, and the conveying mechanism 2 includes a support rod 201 fixedly connected to the base plate 1, an inner wall of the support rod 201 is hinged with a connecting rod 202 through a pin shaft, a side surface of the support rod 201 is hinged with a first electric push rod 203 through a pin shaft, and the connecting rod 202 is hinged to the first electric push rod 203.

[0029] The bottom plate 1 provides fixed support for the support rod 201, and the support rod 201 provides limited support for the connecting rod 202. The first electric push rod 203 is started, and its output end is extended and retracted, which can drive the connecting rod 202 to swing back and forth up and down with the hinge between the support rod 201 and the connecting rod 202 as the center.

[0030] Two reinforcing blocks 3 are fixedly connected to the upper surface of the base plate 1, and both reinforcing blocks 3 are fixedly connected to the base plate 1. The reinforcing blocks 3 can provide auxiliary support to the support rod 201, thereby enhancing the structural strength of the support rod 201, thereby improving the stability of the conveying arm during use.

[0031] The outer surface of the connecting rod 202 is hinged with a support block 204 through a pin shaft, and the upper surface of the connecting rod 202 is hinged with a second electric push rod 205 through a pin shaft. The support block 204 is hinged with the second electric push rod 205, and the connecting rod 202 provides limited support for the support block 204. When the second electric push rod 205 is started, its output end is extended and retracted, which can drive the support block 204 to swing back and forth up and down with the hinge between the connecting rod 202 and the support block 204 as the center of the circle.

[0032] A third electric push rod 206 is installed on the bottom surface of the support block 204, and the output end of the third electric push rod 206 is fixedly connected to a connecting plate 207. A number of micro air pumps 208 are installed on the upper surface of the connecting plate 207. The output end of each micro air pump 208 passes through the connecting plate 207 and extends to the bottom of the connecting plate 207. The output end of the micro air pump 208 is connected to a suction cup 209.

[0033] The support block 204 provides fixed support for the third electric push rod 206. When the third electric push rod 206 is started, its output end is extended and retracted, which can drive the connecting plate 207 to move up and down. When the micro air pump 208 is started, suction can be generated at the suction cup 209, thereby adsorbing and grabbing materials such as round wafers with smooth surfaces.

[0034] Two symmetrical telescopic rods 4 are fixedly connected to the bottom surface of the support block 204. Both telescopic rods 4 are fixedly connected to the connecting plate 207. The movement of the connecting plate 207 can be guided by the telescopic rods 4, thereby improving the stability of the connecting plate 207 during the up and down movement.

[0035] Universal wheels 10 are fixedly connected to the four corners of the bottom surface of the support plate 7, and every two universal wheels 10 form a group. The two groups of universal wheels 10 are symmetrically arranged with the mid-vertical line of the support plate 7 as the symmetry axis. The universal wheels 10 have a self-locking function, which can limit and fix the position of the conveying arm after movement and facilitate the movement of the conveying arm.

[0036] The inner wall of the support plate 7 is threadedly connected to two symmetrical threaded rods 11, and handles 12 are installed on the top of the two threaded rods 11. The bottom ends of the two threaded rods 11 are fixedly connected to limit plates 13. By rotating the handles 12, the limit plates 13 can be driven up and down by the threaded rods 11, thereby limiting and fixing the conveying arm after movement, thereby improving the stability of the conveying arm during use.

[0037] The components in the drawings of the present invention are only for style reference and are not used as specific size standards. The specific sizes are determined according to the actual requirements of production.

[0038] Working principle: When using the conveying arm to convey and transport materials such as round wafers with smooth surfaces, the third electric push rod 206 is controlled to start, and its output end is extended and retracted, which can drive the connecting plate 207 to move up and down, thereby driving the suction cup 209 to move to the top of the round wafers with smooth surfaces through the micro air pump 208, and then the micro air pump 208 is controlled to start, which can generate suction at the suction cup 209, thereby adsorbing and grabbing the round wafers with smooth surfaces, and the first electric push rod 203 is controlled to start, and its output end is extended and retracted, which can drive the connecting rod 202 to take the hinge between the support rod 201 and the connecting rod 202 as the center of the circle. The second electric push rod 205 is controlled to start by swinging back and forth up and down, and its output end is extended and retracted, which can drive the support block 204 to swing back and forth up and down with the hinge between the connecting rod 202 and the support block 204 as the center. Through the cooperation of the above structure, it is possible to adsorb and grab materials such as round wafers with smooth surfaces at different angles. At the same time, the suction cups 209 arranged in a ring shape increase the adsorption area, thereby avoiding the situation where the round wafer falls and is damaged during the transmission process, and avoiding the problem that the fallen round wafer needs to be operated again by the staff, thereby improving the stability and work efficiency of conveying and transporting materials such as round wafers with smooth surfaces.

[0039] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A conveying arm structure, comprising a base plate (1), characterized in that: A conveying mechanism (2) is arranged above the base plate (1), the conveying mechanism (2) comprising a support rod (201) fixedly connected to the base plate (1), the inner wall of the support rod (201) being hinged with a connecting rod (202) via a pin shaft, a side surface of the support rod (201) being hinged with a first electric push rod (203) via a pin shaft, the connecting rod (202) being hinged with the first electric push rod (203), the outer surface of the connecting rod (202) being hinged with a supporting block (204) via a pin shaft, and the upper surface of the connecting rod (202) being hinged with a second electric push rod (205) via a pin shaft; The support block (204) is hinged to the second electric push rod (205); a third electric push rod (206) is installed on the bottom surface of the support block (204); an output end of the third electric push rod (206) is fixedly connected to a connecting plate (207); a plurality of micro air pumps (208) are installed on the upper surface of the connecting plate (207); an output end of each micro air pump (208) passes through the connecting plate (207) and extends to the bottom of the connecting plate (207); and the output end of the micro air pump (208) is connected to a suction cup (209).

2. The transmission arm structure according to claim 1, characterized in that: Two reinforcement blocks (3) are fixedly connected to the upper surface of the bottom plate (1), and the two reinforcement blocks (3) are both fixedly connected to the bottom plate (1).

3. The transmission arm structure according to claim 1, characterized in that: Two symmetrical telescopic rods (4) are fixedly connected to the bottom surface of the support block (204), and the two telescopic rods (4) are fixedly connected to the connecting plate (207).

4. The transmission arm structure according to claim 1, characterized in that: A servo motor (5) is fixedly connected to the upper surface of the base plate (1); an output shaft of the servo motor (5) passes through the base plate (1) and is rotationally connected to the base plate (1); and a gear (6) is fixedly connected to the output shaft end of the servo motor (5).

5. The transmission arm structure according to claim 4, characterized in that: The bottom surface of the bottom plate (1) is rotatably connected to a gear ring (8), the gear (6) is meshed with the gear ring (8), and the bottom surface of the gear ring (8) is fixedly connected to a support plate (7).

6. The transmission arm structure according to claim 4, characterized in that: A bearing (9) is inlaid on the inner wall of the base plate (1), and the inner ring of the bearing (9) is fixedly connected to the outer surface of the output shaft of the servo motor (5).

7. The transmission arm structure according to claim 5, characterized in that: Universal wheels (10) are fixedly connected to the four corners of the bottom surface of the support plate (7), and every two universal wheels (10) form a group. The two groups of universal wheels (10) are symmetrically arranged with the mid-vertical line of the support plate (7) as the symmetry axis.

8. The transmission arm structure according to claim 5, characterized in that: The inner wall of the support plate (7) is threadedly connected to two symmetrical threaded rods (11), the top ends of the two threaded rods (11) are both equipped with handles (12), and the bottom ends of the two threaded rods (11) are both fixedly connected to a limiting plate (13).

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