Anti-collision manipulator

Abstract

The utility model belongs to the technical field of mechanical arm equipment, and particularly relates to an anti-collision mechanical arm which comprises a trigger line and an induction assembly. The other end of the trigger line is connected with the sensing assembly; the sensing assembly comprises a trigger plate, a sensor and an extension spring; the trigger plate is arranged at the other end of the trigger line, a notch is formed in the trigger plate, in an initial state, the trigger line is in a tensioned state, the inductor is suitable for sending out a signal to penetrate through the notch, and the inductor is electrically connected with the industrial personal computer; by arranging the anti-collision part, when the manipulator moves, a worker can preferentially touch a trigger line, the trigger line is lifted after being stressed, the trigger line drives a trigger plate to be lifted, a notch does not correspond to the position of an inductor any more, the inductor sends a control signal to the industrial personal computer, the industrial personal computer can stop the manipulator in time, and the worker and the manipulator are protected; the maintenance cost of equipment is reduced; and after the external force disappears, the extension spring restores the trigger line to the tensioned state, so that the manipulator works normally.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulator equipment, and in particular relates to an anti-collision manipulator. Background Art

[0002] In the production and processing of semiconductor silicon wafers, a robot device is required to carry and move the silicon wafers so that the silicon wafers can enter the next operation procedure. The prior art is to clamp the flower basket with a robot to assist in moving the silicon wafers placed inside the flower basket. During the movement of the robot, if the staff does not pay attention to the running track of the robot, the robot will hit the staff. Since there is no anti-collision device inside the robot, the robot will not stop running when it hits the operator, thereby further causing greater harm to the staff and damaging the robot, resulting in increased maintenance costs and injuries to the staff, and reduced work efficiency.

[0003] Therefore, it is necessary to provide an anti-collision manipulator that can be equipped with an anti-collision device. Utility Model Content

[0004] The utility model aims to provide an anti-collision manipulator.

[0005] In order to solve the above technical problems, the utility model provides an anti-collision manipulator, comprising: a support box, an L-shaped manipulator is arranged on the support box, an anti-collision part is connected to the vertical arm of the manipulator, and the anti-collision part comprises a trigger wire and a sensing component; the trigger wire is arranged on the outside of the manipulator, one end of the trigger wire is connected to the support box, and the other end of the trigger wire is connected to the sensing component; the sensing component comprises a trigger plate, a sensor and a tension spring; the trigger plate is arranged on the other end of the trigger wire, a notch is arranged on the trigger plate, the end of the trigger wire extends out of the trigger plate, the trigger plate and the protruding end is connected to the tension spring, the other end of the tension spring is connected to the support box, and the sensor is arranged on the side wall of the support box, wherein, in the initial state, the trigger wire is in a tensioned state, the sensor is suitable for sending a signal through the notch, and the sensor is electrically connected to the industrial control machine.

[0006] Furthermore, the anti-collision part also includes a support frame and a plurality of auxiliary rollers. A transmission box is arranged on the top of the vertical arm of the manipulator. The support frame is sleeved on the outside of the transmission box. The auxiliary rollers are circumferentially arranged on the support frame, wherein the trigger line passes through each of the auxiliary rollers in sequence.

[0007] Furthermore, a support block is provided on the side wall of the support box, and one end of the trigger line is connected to the top of the support block; a support column is provided on the side wall of the support block, and a stretching notch is provided at the bottom of the other end of the trigger line, wherein the hook at the top of the stretch spring is connected to the stretching notch, and the hook at the bottom of the stretch spring is connected to the support column.

[0008] Further, a first guide rail is disposed on a side wall of the support block, and a first guide block is disposed on a side wall of the trigger plate, wherein the first guide block is slidably disposed on the first guide rail.

[0009] Furthermore, a second guide rail is disposed on the side wall of the support box, and a second slider is disposed on the side wall of the support block, wherein the second slider is slidably disposed on the second guide rail.

[0010] Furthermore, a nut is provided at the bottom of the support block, and a screw rod is rotatably provided on the horizontal plate of the support box, and the screw rod is threadedly connected to the nut, wherein the screw rod is suitable for being inserted into the vertical arm of the manipulator.

[0011] Furthermore, the bottom of the screw rod extends out of the support box and a passive wheel is arranged on the extended end, and a driving wheel is rotatably arranged at the bottom of the support box, wherein the driving wheel and the passive wheel are connected by a belt drive.

[0012] Furthermore, the cross arm of the manipulator is a pair of clamping columns, which are rotatably arranged on the side walls of the transmission box, and a plurality of pairs of "U"-shaped clamping frames are arranged facing each other on the clamping columns, wherein the cross bars of the clamping frames are adapted to the flanges on the top of the flower basket.

[0013] Furthermore, a driving member is arranged in the transmission box, a driving gear is arranged on the output end of the driving member, the clamping column extends into the transmission box and a passive gear is sleeved on the extending end, wherein the driving gear is meshed with the passive gear.

[0014] Beneficial effects of the utility model:

[0015] 1. By setting a support box, the support box has a simple and reliable structure, can stably support the manipulator and the anti-collision part, and provides a good working environment for the anti-collision manipulator of the utility model; the support box is suitable for connecting with the transverse movement component so that the support box can move, and after the flower basket is placed on the manipulator, the movement of the support box can drive the manipulator to move, so as to transport the flower basket to the working position; the vertical arm of the manipulator extends into the support box and can be lifted and lowered in the support box, so that the flower basket can be lifted and lowered to the processing position;

[0016] 2. By setting up the anti-collision part, when the manipulator moves, if a worker approaches the manipulator, the worker will first touch the trigger wire, and the taut trigger wire will be subjected to external force. The trigger wire will be lifted after being subjected to the force, and the trigger wire will drive the trigger plate to lift. The notch no longer corresponds to the position of the sensor, and the sensor sends a control signal to the industrial computer. The industrial computer can stop the manipulator in time, which greatly reduces the risk factor of the worker being accidentally hit, protects the worker and the manipulator, reduces the maintenance cost of the equipment, and thus improves the work efficiency; when the external force disappears, the tension spring will restore the trigger wire to the taut state, so that the manipulator can work normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of the overall structure of the anti-collision manipulator of the utility model;

[0019] Figure 2 This is a schematic diagram of the internal structure of the anti-collision manipulator of the utility model;

[0020] Figure 3 This is a schematic diagram of the internal structure of the side of the anti-collision manipulator of the utility model;

[0021] Figure 4 It is a front view schematic diagram of the internal structure of the anti-collision manipulator of the utility model.

[0022] In the figure:

[0023] Support box, 110, manipulator, 120, support block, 121, support column, 122, first guide rail, 123, nut, 130, transmission box, 140, passive wheel, 150, driving wheel, 160, belt, 170, clamping column, 180, clamping frame, 190, screw rod;

[0024] 200, anti-collision part, 210, auxiliary roller, 220, trigger line, 221, stretching notch, 230, sensing component, 231, trigger plate, 2311, notch, 2312, first guide block, 232, sensor, 233, stretching spring, 240, support frame. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] Embodiment 1, as Figure 1-4As shown, the utility model provides an anti-collision manipulator, comprising: a support box 100, on which an L-shaped manipulator 110 is arranged. By setting the support box 100, the support box 100 has a simple and reliable structure, can stably support the manipulator 110 and the anti-collision part 200, and provides a good working environment for the anti-collision manipulator 110 of the utility model; the support box 100 is suitable for being connected with the transverse movement component so that the support box 100 can move, and after the flower basket is placed on the manipulator 110, the movement of the support box 100 can drive the manipulator 110 to move, so as to transport the flower basket to the working position; the vertical arm of the manipulator 110 extends into the support The robot 110 is in the support box 100 and can be lifted and lowered in the support box 100, so that the flower basket can be lifted and lowered to the processing position; the vertical arm of the robot 110 is connected with an anti-collision part 200, and the anti-collision part 200 includes a trigger line 220 and a sensing component 230; the trigger line 220 is arranged on the outside of the robot 110, one end of the trigger line 220 is connected to the support box 100, and the other end of the trigger line 220 is connected to the sensing component 230; the sensing component 230 includes a trigger plate 231, a sensor 232 and a tension spring 233; the trigger plate 231 is arranged on the other end of the trigger line 220 , a notch 2311 is provided on the trigger plate 231, and the end of the trigger line 220 extends out of the trigger plate 231. The trigger plate 231 and the extended end are connected to a tension spring 233, and the other end of the tension spring 233 is connected to the support box 100. The sensor 232 is arranged on the side wall of the support box 100, wherein, in the initial state, the trigger line 220 is in a tensioned state, and the sensor 232 is suitable for sending a signal through the notch 2311, and the sensor 232 is electrically connected to the industrial control machine; by setting the anti-collision part 200, when the manipulator 110 moves, if a staff member approaches the manipulator 110 10. The staff will first touch the trigger wire 220. The taut trigger wire 220 is subjected to external force. The trigger wire 220 is lifted after being subjected to the force. The trigger wire 220 drives the trigger plate 231 to lift. The notch 2311 and the position of the sensor 232 no longer correspond. The sensor 232 sends a control signal to the industrial computer. The industrial computer can stop the manipulator 110 in time, which greatly reduces the risk factor of the staff being accidentally hit, protects the staff and the manipulator 110, reduces the maintenance cost of the equipment, and thus improves the work efficiency. When the external force disappears, the tension spring 233 will restore the trigger wire 220 to the taut state, so that the manipulator 110 can work normally.

[0027] The anti-collision part 200 also includes a support frame 240 and a plurality of auxiliary rollers 210. A transmission box 130 is arranged on the top of the vertical arm of the manipulator 110. The support frame 240 is sleeved on the outside of the transmission box 130. The auxiliary rollers 210 are circumferentially arranged on the support frame 240, wherein the trigger line 220 passes through each of the auxiliary rollers 210 in sequence; the support frame 240130 provides good supporting force for the auxiliary rollers 210, so that the auxiliary rollers 210 can rotate smoothly. The rotation of the auxiliary rollers 210 can make the trigger line 220 rise smoothly, thereby improving the working stability of the trigger line 220 and thereby quickly driving the trigger plate 231 to rise.

[0028] The side wall of the support box 100 is provided with a support block 120, and one end of the trigger line 220 is connected to the top of the support block 120; the side wall of the support block 120 is provided with a support column 121, and the bottom of the other end of the trigger line 220 is provided with a stretching notch 221, wherein the hook at the top of the stretch spring 233 is connected to the stretching notch 221, and the hook at the bottom of the stretch spring 233 is connected to the support column 121; the support block 120 is connected to one end of the trigger line 220, and the trigger line 220 can be stably installed; the stretch spring 233 is respectively connected to the stretching notch 221 and the support column 121, and can stably connect the trigger line 220 and the support column 121, so that the trigger line 220 is in a tensioned state in the initial state, and when the external force disappears, the stretch spring 233 will restore the trigger line 220 to the tensioned state, so that the manipulator 110 can work normally.

[0029] The side wall of the support block 120 is provided with a first guide rail 122, and the side wall of the trigger plate 231 is provided with a first guide block 2312, wherein the first guide block 2312 is slidably set on the first guide rail 122; the side wall of the first guide block 2312 is provided with a guide notch (not shown in the figure), and the first guide rail 122 is adapted to the guide notch, and the first guide block 2312 can slide smoothly on the first guide rail 122, thereby avoiding shaking of the trigger plate 231 when moving, and improving the working accuracy.

[0030] The side wall of the support box 100 is provided with a second guide rail (not shown in the figure), and the side wall of the support block 120 is provided with a second slider (not shown in the figure), wherein the second slider is slidably set on the second guide rail; the vertical arm of the manipulator 110 extends into the support box 100 and is lifted and lowered in the support box 100, and the second guide rail and the second slider of the support box 100 are adapted, and the second guide block can slide smoothly on the first guide rail 122, thereby avoiding shaking of the manipulator 110 during movement, thereby improving the conveying efficiency of the manipulator 110.

[0031] A nut 123 is provided at the bottom of the support block 120, and a screw rod 190 is rotatably provided on the horizontal plate of the support box 100, and the screw rod 190 is threadedly connected to the nut 123, wherein the screw rod 190 is suitable for being inserted into the vertical arm of the manipulator 110; when the screw rod 190 rotates, due to the threaded connection with the nut 123, the support block 120 can be raised and lowered on the side wall of the support box 100, and the screw rod 190 is suitable for being inserted into the vertical arm of the manipulator 110, leaving an avoidance space for the lifting and lowering of the manipulator 110.

[0032] The bottom of the screw rod 190 extends out of the support box 100 and a passive wheel 140 is arranged on the extended end. A driving wheel 150 is rotatably arranged at the bottom of the support box 100, wherein the driving wheel 150 is connected to the passive wheel 140 through a belt 160. The power source of the driving wheel 150 may be a driving motor (not shown in the figure). The driving motor drives the driving wheel 150 to rotate, and the driving wheel 150 drives the passive wheel 140 to rotate through the belt 160. The rotation of the passive wheel 140 drives the screw rod 190 to rotate, so that the manipulator 110 can be stably lifted and lowered.

[0033] The cross arm of the manipulator 110 is a pair of clamping columns 170, and the clamping columns 170 are rotatably arranged on the side walls of the transmission box 130. A plurality of pairs of "U"-shaped clamping frames 180 are arranged facing each other on the clamping columns 170, wherein the cross bars of the clamping frames 180 are adapted to the flanges at the top of the flower basket. When the flower basket needs to be clamped, the clamping columns 170 are rotated to drive the clamping frames 180180 to rotate so that the cross bars at the bottom of the clamping frames 180 move away from each other, leaving space for clamping the flower basket. The cross bars at the bottom of the clamping frames 180 drop to both sides of the flanges of the flower basket, and then move toward each other and extend into the bottom of the flanges of the flower basket, so as to clamp the flower basket, avoid shaking during the transportation of the flower basket, and improve the efficiency and quality of transporting the flower baskets by the manipulator 110.

[0034] The transmission box 130 is provided with a driving member (not shown in the figure), and a driving gear (not shown in the figure) is provided on the output end of the driving member. The clamping column 170 extends into the transmission box 130 and a passive gear (not shown in the figure) is sleeved on the extending end, wherein the active gear is meshed with the passive gear; the driving member may be a driving motor, and the output shaft of the driving motor rotates to drive the active gear to rotate, thereby driving the passive gear to rotate, and the rotation of the passive gear enables the clamping column 170 to rotate so that the clamping frame 180 can clamp and release the flower basket.

[0035] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An anti-collision manipulator, characterized in that: include: A support box, wherein an L-shaped manipulator is arranged on the support box, an anti-collision part is connected to the vertical arm of the manipulator, and the anti-collision part includes a trigger line and a sensing component; the trigger line is arranged on the outside of the manipulator, one end of the trigger line is connected to the support box, and the other end of the trigger line is connected to the sensing component; The induction component includes a trigger plate, an inductor and a tension spring; the trigger plate is arranged on the other end of the trigger line, a notch is arranged on the trigger plate, the end of the trigger line extends out of the trigger plate and the protruding end is connected to the tension spring, the other end of the tension spring is connected to the support box, and the inductor is arranged on the side wall of the support box, wherein, In an initial state, the trigger line is in a tensioned state, the sensor is suitable for sending a signal through the notch, and the sensor is electrically connected to the industrial control machine.

2. An anti-collision manipulator as claimed in claim 1, characterized in that: The anti-collision part also includes a support frame and a plurality of auxiliary rollers. A transmission box is arranged on the top of the vertical arm of the manipulator. The support frame is sleeved on the outside of the transmission box. The auxiliary rollers are circumferentially arranged on the support frame. The trigger line passes through each of the auxiliary rollers in sequence.

3. An anti-collision manipulator as claimed in claim 2, characterized in that: The side wall of the support box is provided with a support block, and one end of the trigger line is connected to the top of the support block; the side wall of the support block is provided with a support column, and the bottom of the other end of the trigger line is provided with a stretching notch, wherein, The hook at the top of the stretch spring is connected to the stretch notch, and the hook at the bottom of the stretch spring is connected to the support column.

4. An anti-collision manipulator as claimed in claim 3, characterized in that: The side wall of the support block is provided with a first guide rail, and the side wall of the trigger plate is provided with a first guide block, wherein: The first guide block is slidably disposed on the first guide rail.

5. An anti-collision manipulator as claimed in claim 4, characterized in that: The side wall of the support box is provided with a second guide rail, and the side wall of the support block is provided with a second slide block, wherein: The second sliding block is slidably disposed on the second guide rail.

6. An anti-collision manipulator as claimed in claim 5, characterized in that: A nut is provided at the bottom of the support block, and a screw rod is rotatably provided on the horizontal plate of the support box, and the screw rod is threadedly connected with the nut, wherein: The screw rod is suitable for being inserted into the vertical arm of the robot.

7. An anti-collision manipulator as claimed in claim 6, characterized in that: The bottom of the screw rod extends out of the support box and a passive wheel is arranged on the extended end, and a driving wheel is rotatably arranged at the bottom of the support box, wherein: The driving wheel is connected to the driven wheel through a belt transmission.

8. An anti-collision manipulator as claimed in claim 7, characterized in that: The cross arm of the manipulator is a pair of clamping columns, which are rotatably arranged on the side wall of the transmission box, and a plurality of pairs of "U"-shaped clamping frames are arranged on the clamping columns facing each other, wherein: The crossbar of the clamping frame is adapted to the flange at the top of the flower basket.

9. An anti-collision manipulator as claimed in claim 8, characterized in that: The transmission box is provided with a driving member, the output end of which is provided with a driving gear, the clamping column extends into the transmission box and a passive gear is sleeved on the extending end, wherein: The driving gear is meshed with the driven gear.

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