Hand of transfer robot and transfer robot
By designing a hand of a conveying robot with a flexible support structure, the problem of particle residue caused by the contact between the robot and the substrate in the manufacturing of LCD panels is solved, and a higher substrate cleanliness is achieved.
Patent Information
- Application Number
- CN202421290319.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-07
- Publication Date
- 2025-03-04
- Estimated Expiration
- 2034-06-07
AI Technical Summary
During the manufacturing process of liquid crystal panels, the robot contacts the substrate when transporting the substrate, resulting in particles remaining and affecting the cleanliness of the substrate. The prior art is difficult to fundamentally solve this problem.
A hand of a transport robot is designed, including connecting arms, cross frames, support components and other structures. Through the interaction of components such as drive motors, drive lead screws, and mobile frames, the structural area and position are adjusted to achieve flexible support methods.
Through this structural adjustment, the area in contact with the substrate can be effectively reduced, the risk of particle residue can be reduced, and the cleanliness of the substrate can be improved.
Smart Images
Figure CN222555945U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of liquid crystal panel manufacturing, in particular to a hand of a transport robot and the transport robot. Background Art
[0002] In the field of LCD panel manufacturing, automated production lines all use robots to transfer substrates between various processes. With the development of industry technology, the cleanliness requirements for the substrate surface are getting higher and higher. Robots must contact the substrates during the process of transporting the substrates. At the contact position, particles will remain on the substrates, affecting the cleanliness of the substrates.
[0003] In order to improve cleanliness and reduce particle residue, the prior art often reduces the amount of particle release by improving the material properties of the pad at the contact point or reduces the supporting area of the pad at the contact point with the substrate to reduce the affected area of the substrate. However, it cannot fundamentally solve the problem of particle residue after contact. Utility Model Content
[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is as follows: the utility model provides a hand of a handling robot and a handling robot, including a robot body and a connecting arm, wherein the connecting arm is arranged on the robot body, a cross frame is arranged at one end of the connecting arm, and a docking assembly is arranged between the cross frame and the connecting arm;
[0005] A support assembly is provided on the cross frame, and the support assembly includes an inner cavity, which is opened inside the cross frame, and a long groove is opened on the side surface of the cross frame. A drive motor is installed in the inner cavity, a slide is installed in the long groove, and a drive screw is provided in the long groove, and the drive screw is connected to the output end of the drive motor.
[0006] As a further technical solution, a movable frame is slidably connected to the slideway, the movable frame is connected to the driving screw through threaded cooperation, an installation groove is provided on the cross frame, a through groove is provided on the outer surface of the cross frame, and the through groove is connected to the inside of the installation groove.
[0007] As a further technical solution, a moving rod is slidably connected in the installation groove and the through groove, an internal thread block is provided on the side end surface of the moving rod, and a locking block is screwedly connected in the internal thread block.
[0008] As a further technical solution, the side end surface of the cross frame is rotatably connected to a docking rod through a pin shaft, and the side end surface of the docking rod is provided with a long hole, and one end of the moving rod is movably sleeved in the long hole.
[0009] As a further technical solution, the docking assembly includes a sleeve frame, which is fixed at one end of the connecting arm. The side end surface of the cross frame is provided with an insert block, which is inserted and connected in the sleeve frame, and the insert block and the sleeve frame are fixedly connected by bolts.
[0010] As a further technical solution, the docking rod can be rotated 90° through the pin connection.
[0011] Compared with the prior art, the advantages and positive effects of the utility model are that a support assembly is provided, and the overall structural area can be adjusted according to liquid crystal panels of different sizes through the interaction of structures such as a drive motor, a drive screw, a movable frame, a mounting groove, a movable rod and a docking rod. The docking rod can be rotated and folded and retracted at the connection, and it has a variety of flexible support methods, is highly practical, and is simple and convenient to operate. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.
[0013] Figure 1 A schematic diagram of the structure of a handling robot and a handling robot provided in this embodiment;
[0014] Figure 2 A hand of a transport robot and an accessory of the transport robot provided in this embodiment Figure 1 A partial enlarged view of part A;
[0015] As shown in the figure: 1. Robot body; 2. Connecting arm; 3. Horizontal frame; 4. Support assembly; 4-1. Inner cavity; 4-2. Long slot; 4-3. Driving motor; 4-4. Slide; 4-5. Driving screw; 4-6. Moving frame; 4-7. Mounting slot; 4-8. Through slot; 4-9. Moving rod; 4-10. Internal thread block; 4-11. Locking block; 4-12. Docking rod; 4-13. Long hole; 5. Docking assembly; 5-1. Sleeve; 5-2. Insert block. DETAILED DESCRIPTION
[0016] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.
[0017] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.
[0018] Embodiment, attached by the specification Figure 1-2 It can be seen that the present solution is a hand of a handling robot and a handling robot, comprising a robot body 1 and a connecting arm 2, wherein the connecting arm 2 is arranged on the robot body 1, a cross frame 3 is arranged at one end of the connecting arm 2, and a docking assembly 5 is arranged between the cross frame 3 and the connecting arm 2;
[0019] The cross frame 3 is provided with a support assembly 4, and the support assembly 4 includes an inner cavity 4-1, and the inner cavity 4-1 is opened inside the cross frame 3. The side surface of the cross frame 3 is provided with a long groove 4-2, and a driving motor 4-3 is installed in the inner cavity 4-1. A slideway 4-4 is installed in the long groove 4-2, and a driving screw 4-5 is arranged in the long groove 4-2. The driving screw 4-5 is connected to the output end of the driving motor 4-3, and a moving frame 4-6 is slidably connected to the slideway 4-4. The moving frame 4-6 is connected to the driving screw 4-5 by threaded cooperation. A mounting groove 4-7 is provided, and a through groove 4-8 is provided on the outer surface of the cross frame 3, and the through groove 4-8 is connected with the inside of the mounting groove 4-7, and a moving rod 4-9 is slidably connected in the mounting groove 4-7 and the through groove 4-8, and an internal thread block 4-10 is provided on the side end face of the moving rod 4-9, and a locking block 4-11 is screwed in the internal thread block 4-10, and the side end face of the cross frame 3 is rotatably connected to a docking rod 4-12 through a pin shaft, and a long hole 4-13 is provided on the side end face of the docking rod 4-12, and one end of the moving rod 4-9 is movably sleeved in the long hole 4-13.
[0020] The docking assembly 5 includes a sleeve 5-1, which is fixed at one end of the connecting arm 2. The side end face of the cross frame 3 is provided with an insert block 5-2, which is inserted and connected in the sleeve 5-1. The insert block 5-2 and the sleeve 5-1 are fixedly connected by bolts.
[0021] It can be seen from the above content that the docking rod 4-12 can be rotated 90° through the pin connection, and the docking rod 4-12 can be rotated and retracted by rotating at an angle of 90°.
[0022] Among them, it is important to point out that in the specific implementation process, the robot body 1 operates the connecting arm 2 to control the lifting and lowering. According to the size of the liquid crystal panel, the driving motor 4-3 is started to rotate the driving screw 4-5 to drive the moving frame 4-6 to adjust the spacing, and the moving rod 4-9 moves in the long hole 4-13 of the docking rod 4-12. When adjusting the lateral position, the locking block 4-11 can be loosened, and then the moving rod 4-9 can be pushed to slide in the installation groove 4-7. The overall structure is connected to the plug block 5-2 through the sleeve 5-1 and fixed with bolts.
[0023] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.
Claims
1. A hand of a handling robot and a handling robot, comprising a robot body (1) and a connecting arm (2), wherein the connecting arm (2) is arranged on the robot body (1), and characterized in that: A cross frame (3) is provided at one end of the connecting arm (2), and a docking assembly (5) is provided between the cross frame (3) and the connecting arm (2); A support assembly (4) is arranged on the cross frame (3), and the support assembly (4) comprises an inner cavity (4-1), wherein the inner cavity (4-1) is opened inside the cross frame (3), and a long groove (4-2) is opened on the side surface of the cross frame (3), a driving motor (4-3) is installed in the inner cavity (4-1), a slideway (4-4) is installed in the long groove (4-2), a driving screw (4-5) is arranged in the long groove (4-2), and the driving screw (4-5) is connected to the output end of the driving motor (4-3).
2. The hand of a handling robot and the handling robot according to claim 1, characterized in that: A movable frame (4-6) is slidably connected to the slideway (4-4), and the movable frame (4-6) is connected to the driving screw (4-5) through threaded matching. A mounting groove (4-7) is provided on the cross frame (3), and a through groove (4-8) is provided on the outer surface of the cross frame (3), and the through groove (4-8) is connected to the inside of the mounting groove (4-7).
3. The hand of a handling robot and the handling robot according to claim 2, characterized in that: A moving rod (4-9) is slidably connected in the installation groove (4-7) and the through groove (4-8), an internal thread block (4-10) is provided on the side end surface of the moving rod (4-9), and a locking block (4-11) is screwed in the internal thread block (4-10).
4. The hand of a handling robot and the handling robot according to claim 3, characterized in that: The side end surface of the cross frame (3) is rotatably connected to a docking rod (4-12) via a pin shaft, and a long hole (4-13) is provided on the side end surface of the docking rod (4-12), and one end of the moving rod (4-9) is movably sleeved in the long hole (4-13).
5. The hand of a handling robot and the handling robot according to claim 1, characterized in that: The docking assembly (5) comprises a sleeve frame (5-1), the sleeve frame (5-1) is fixed to one end of the connecting arm (2), a plug block (5-2) is provided on the side end surface of the cross frame (3), the plug block (5-2) is plugged and connected in the sleeve frame (5-1), and the plug block (5-2) and the sleeve frame (5-1) are fixedly connected by bolts.
6. The hand of a handling robot and the handling robot according to claim 4, characterized in that: The docking rod (4-12) can be rotated 90 degrees through the pin connection.